CN207078305U - A kind of unmanned diving system - Google Patents

A kind of unmanned diving system Download PDF

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Publication number
CN207078305U
CN207078305U CN201720933335.8U CN201720933335U CN207078305U CN 207078305 U CN207078305 U CN 207078305U CN 201720933335 U CN201720933335 U CN 201720933335U CN 207078305 U CN207078305 U CN 207078305U
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CN
China
Prior art keywords
flotation gear
submersible
cable
manipulator
communication module
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Application number
CN201720933335.8U
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Chinese (zh)
Inventor
王涛
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Shenzhen Silk Road Blue Creative Exhibition Co Ltd
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Shenzhen Silk Road Blue Creative Exhibition Co Ltd
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Priority to CN201720933335.8U priority Critical patent/CN207078305U/en
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Abstract

The utility model discloses a kind of unmanned diving system, including lower submersible device, flotation gear, bank base control device, the first cable;First cable is fixed on flotation gear after first end winding storage, and first the second end of cable is connected with lower submersible device;The flotation gear is communicated through the first cable and lower submersible device and power transmission;The motion of the control of bank base the control device flotation gear and lower submersible device in water.The utility model can move by the way that wired or wireless control flotation gear and lower submersible device are overall on the water surface, again by lower submersible device dive after arriving at.

Description

A kind of unmanned diving system
Technical field
It the utility model is related to diving apparatus technical field, more particularly to a kind of unmanned diving system.
Background technology
As the mankind deepen continuously to ocean understanding, the exploration to ocean is gradually turned to by sea under sea and seabed, dives Water system turns into the necessary equipment of ocean underwater scientific investigation.But diving system large-scale at present, typically is dragged toward destination from ship Row dive, it all also needs to lash ship be connected in order to manipulate with cable in spite of with battery power propeller;Small-sized is latent Water system, typically it is connected by cable with the control device on bank or manned ship, it is difficult to accomplish Wireless remote control.
In summary, the diving system, in practice in the presence of it is inconvenient the problem of, it is therefore necessary to improved.
Utility model content
The purpose of this utility model is to provide a kind of unmanned diving system, and it can pass through wired or wireless control flotation gear Moved with lower submersible device entirety on the water surface, again by lower submersible device dive after arriving at.
To achieve the above object, using following technical scheme:
A kind of unmanned diving system, including lower submersible device, flotation gear, bank base control device, the first cable;Described first Cable is fixed on flotation gear after first end winding storage, and first the second end of cable is connected with lower submersible device;The drift Floating device is communicated through the first cable and lower submersible device and power transmission;The bank base control device control flotation gear is with Motion of the submersible device in water.
It is preferred that the flotation gear floats including flotation gear controller, flotation gear propeller group, second support, two Cylinder, the second communication module, GPS module, directional light;The flotation gear controller respectively with flotation gear propeller group, Second communication module, GPS module, directional light are electrically connected with;Two floating drum is respectively arranged at the two of second support bottom Outside;The flotation gear propeller group is arranged at floating drum bottom.
It is preferred that the lower submersible device includes dive Setup Controller, first support, lower submersible device propeller group, the 3rd Communication module;The dive Setup Controller is electrically connected with lower submersible device propeller group, the 3rd communication module respectively;Described Three communication modules are electrically connected with through the first cable and the second communication module;The lower submersible device propeller group is arranged at first support Internal downside.
It is preferred that the lower submersible device also includes the first submarine light, manipulator submarine light, manipulator, sampler, feeding Device, full-view camera group, three-dimensional camera group, manipulator camera group, image passback processing module;First submarine light, Manipulator submarine light, manipulator, sampler include two;The dive Setup Controller respectively with the first submarine light, machinery Hand submarine light, image passback processing module, manipulator, sampler, feeder are electrically connected with;Described image passback processing module point It is not electrically connected with full-view camera group, three-dimensional camera group, manipulator camera group;The sampler, feeder are respectively provided with The opening of opening and closing can be controlled by dive Setup Controller;The manipulator is arranged on the downside of first support one end;The manipulator Submarine light, manipulator camera group may be contained within the arm of manipulator;The sampler, feeder may be contained within two manipulators Arm between, and two samplers are respectively arranged at feeder both ends;First submarine light is arranged at the upper of manipulator one end Side;The three-dimensional camera group, full-view camera group may be contained between manipulator, the first submarine light.
It is preferred that the bank base control device includes casing, bank base controller, the first communication module, control terminal, first Battery, monitoring terminal, the first battery charging and discharging management module;The bank base controller is whole with the first communication module, control respectively End, the first battery, monitoring terminal are electrically connected with;First battery connects civil power through the first battery charging and discharging management module;Institute The first communication module is stated to be electrically connected with through the second cable and the second communication module;The bank base controller, the first communication module, control Terminal processed, the first battery, monitoring terminal, the first battery charging and discharging management module may be contained within casing.
It is preferred that the diving system also includes the second cable;Second cable is fixed after first end winding storage On flotation gear, second the second end of cable is connected with bank base control device;The bank base control device through the second cable with Flotation gear is communicated and power transmission.
It is preferred that the control terminal includes control panel, touch screen, action bars, button;The control panel respectively with Touch screen, action bars, button, bank base controller are electrically connected with;The monitoring terminal includes image output processing module, highlighted prison Visual organ, panoramic video glasses, anaglyph spectacles;Described image output processing module respectively with highlighted monitor, panoramic video glasses, Anaglyph spectacles, bank base controller are electrically connected with.
It is preferred that the bank base control device also includes the first wireless antenna;First wireless antenna is through the first communication Module is electrically connected with bank base controller;The flotation gear also includes the second wireless antenna, the second battery, the second battery charge and discharge Electric management module, two solar panels;Second battery one end the second battery charging and discharging management module and solar-electricity Pond plate is electrically connected with, and the other end is electrically connected with flotation gear controller;The solar panel is arranged in second support Two outsides in portion;Second wireless antenna is electrically connected with through the second communication module and flotation gear controller;First nothing Wire antenna communicates wirelessly with the second wireless antenna.
It is preferred that the solar panel is folding solar battery plate, it can be folded along its length.
It is preferred that the diving system also includes two capstan winches, the top of flotation gear is arranged at;The two capstan winches difference It is wound with the first cable, the second cable;The flotation gear propeller group, lower submersible device propeller group include four propulsions Device.
Using such scheme, the beneficial effects of the utility model are:
1) system includes flotation gear and lower submersible device, system arrive at after again by lower submersible device dive, avoid Lower submersible device is manually transported to the trouble of destination dive again, and both flotation gear and lower submersible device are moved to mesh simultaneously Ground after lower submersible device is sunk again, avoid the second cable from being caught in moving process by debris in water;
2) course line of flotation gear and lower submersible device can be set by GPS module, and can be according to default when out of control Route makes a return voyage;
3) not only can be by having line traffic control but also being controlled by controlled in wireless between bank base control device and flotation gear It is various informative;
4) solar panel is folding solar battery plate, and it can be folded along its length, run into stormy waves When it can be controlled to carry out folding self-insurance;
5) flotation gear and lower submersible device each have propeller, are advantageous to the navigation information with reference to GPS module in circulating water The functions such as face positioning holding;
6) full-view camera group, three-dimensional camera group, manipulator camera group return image during scientific investigation, bank base control Highlighted monitor, panoramic video glasses, anaglyph spectacles in device can observe and experience well underwater scene, and control terminal There is various control equipment can use.
Brief description of the drawings
Fig. 1 is stereogram of the present utility model;
Fig. 2 saves bank base control device stereogram to be of the present utility model;
Fig. 3 is the stereogram that Fig. 2 saves lower submersible device;
Fig. 4 is lower submersible device stereogram of the present utility model;
Fig. 5 is schematic diagram of the present utility model;
Wherein, accompanying drawing identifier declaration:
1-lower submersible device, 2-flotation gear,
3-bank base control device, the 4-the first cable,
5-the second cable, 6-capstan winch,
101-dive Setup Controller, 102-first support,
103-lower submersible device propeller group, the 104-the three communication module,
105-the first submarine light, 106-manipulator submarine light,
107-manipulator, 108-sampler,
109-feeder, 110-full-view camera group,
111-three-dimensional camera group, 112-manipulator camera group,
113-image passback processing module, 201-flotation gear controller,
202-flotation gear propeller group, 203-second support,
204-floating drum, the 205-the second communication module,
206-GPS module, 207-directional light,
208-the second wireless antenna, the 209-the second battery,
210-solar panel, the 211-the second battery charging and discharging management module,
301-casing, 302-bank base control cabinet,
303-the first communication module, 304-control terminal,
305-the first battery, 306-monitoring terminal,
307-the first wireless antenna, the 308-the first battery charging and discharging management module,
3041-control panel, 3042-touch screen,
3043-action bars, 3044-button,
3061-image output processing module, 3062-monitor is highlighted,
3063-panoramic video glasses, 3064-anaglyph spectacles.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Referring to figs. 1 to shown in 5, the utility model provides a kind of unmanned diving system, including lower submersible device 1, flotation gear 2nd, bank base control device 3, the first cable 4;First cable 4 is fixed on flotation gear 2 after first end winding storage, The end of first cable 4 second is connected with lower submersible device 1;The flotation gear 2 through the first cable 4 and lower submersible device 1 carry out communication and Power transmission;The bank base control device 3 controls the motion of flotation gear 2 and lower submersible device 1 in water.
Wherein, the flotation gear 2 includes flotation gear controller 201, flotation gear propeller group 202, second support 203rd, two floating drums 204, the second communication module 205, GPS module 206, directional light 207;The flotation gear controller 201 It is electrically connected with respectively with flotation gear propeller group 202, the second communication module 205, GPS module 206, directional light 207;Institute State two outsides that two floating drums 204 are respectively arranged at the bottom of second support 203;The flotation gear propeller group 202 is arranged at floating 204 bottoms of cylinder.
The lower submersible device 1 includes dive Setup Controller 101, first support 102, lower submersible device propeller group 103, the Three communication modules 104;The dive Setup Controller 101 respectively with lower submersible device propeller group 103, the 3rd communication module 104 It is electrically connected with;3rd communication module 104 is electrically connected with through the first cable 4 and the second communication module 205;The lower submersible device Propeller group 103 is arranged at the downside inside first support 102.The lower submersible device 1 also includes the first submarine light 105, machinery Hand submarine light 106, manipulator 107, sampler 108, feeder 109, full-view camera group 110, three-dimensional camera group 111, machine Tool hand camera group 112, image passback processing module 113;First submarine light 105, manipulator submarine light, manipulator, adopt Sample device includes two;The dive Setup Controller respectively with the first submarine light, manipulator submarine light 106, image passback Reason module 113, manipulator 107, sampler 108, feeder 109 are electrically connected with;Described image passback processing module 113 respectively with Full-view camera group 110, three-dimensional camera group 111, manipulator camera group 112 are electrically connected with;The sampler 108, feeding Device 109 is respectively provided with the opening that opening and closing can be controlled by dive Setup Controller 101;The manipulator 107 is arranged at first support 102 On the downside of one end;The manipulator submarine light 106, manipulator camera group 112 may be contained within the arm of manipulator 107;It is described Between sampler 108, feeder 109 may be contained within the arm of two manipulators 107, and two samplers 108 are respectively arranged at feeding The both ends of device 109;First submarine light 105 is arranged at the upside of the one end of manipulator 107;The three-dimensional camera group 111, panorama Camera group 110 may be contained between manipulator 107, the first submarine light 105.
The bank base control device 3 includes casing 301, bank base controller 302, the first communication module 303, control terminal 304th, the first battery 305, monitoring terminal 306, the first battery charging and discharging management module 308;The bank base controller 302 respectively with First communication module 303, control terminal 304, the first battery 305, monitoring terminal 306 are electrically connected with;First battery 305 passes through First battery charging and discharging management module 308 connects civil power;First communication module 303 is through the second cable 5 and the second communication mould Block 205 is electrically connected with;The bank base controller 302, the first communication module 303, control terminal 304, the first battery 305, monitoring Terminal 306, the first battery charging and discharging management module 308 may be contained within casing 301.
The diving system also includes the second cable 5;Second cable 5 is fixed on floating after first end winding storage On device 2, the end of the second cable 5 second is connected with bank base control device 3;The bank base control device 3 is through the second cable 5 and drift Floating device 2 is communicated and power transmission.The control terminal 304 includes control panel 3041, touch screen 3042, action bars 3043rd, button 3044;The control panel 3041 respectively with touch screen 3042, action bars 3043, button 3044, bank base controller 302 are electrically connected with;The monitoring terminal 306 includes image output processing module 3061, highlighted monitor 3062, panoramic video eye Mirror 3063, anaglyph spectacles 3064;Described image output processing module 3061 respectively with highlighted monitor 3062, panoramic video glasses 3063rd, anaglyph spectacles 3064, bank base controller 302 are electrically connected with.
The bank base control device 3 also includes the first wireless antenna 307;First wireless antenna 307 is through the first communication Module 303 is electrically connected with bank base controller 302;The flotation gear 2 also includes the second wireless antenna 208, the second battery 209th, the second battery charging and discharging management module 211, two solar panels 210;Second battery 209, second battery of one end Management of charging and discharging module 211 is electrically connected with solar panel 210, and the other end is electrically connected with flotation gear controller 201; The solar panel 210 is arranged at two outsides on the top of second support 203;Second wireless antenna 208 is logical through second News module 205 is electrically connected with flotation gear controller 201;First wireless antenna 307 is carried out with the second wireless antenna 208 Wireless telecommunications.
The solar panel 210 is folding solar battery plate, and it can be folded along its length.The diving System also includes two capstan winches 6, is arranged at the top of flotation gear 2;Two capstan winch 6 is wound with the first cable 4, second respectively Cable 5;The flotation gear propeller group 202, lower submersible device propeller group 103 include four propellers.
Utility model works principle:
Whole system connects civil power through the first battery charging and discharging management module 308, the first battery 305, is online connection, Prevent from needing Switching power to cause system in case of system halt in mains-supplied exception that (backup type i.e. civil power is without battery directly to system The switching of power supply needs the time, even 0.1 second, also easily cause system in case of system halt).
Connection between bank base control device 3 and flotation gear 2 can be wired or wireless.During wired connection, bank base control Device 3 processed connects flotation gear 2 by the second cable 5, is powered by the second cable 5 and transmission signal;During wireless connection, pass through First wireless antenna 307 and the second wireless antenna 208 communicate wirelessly, and solar panel 210 is through the second battery charging and discharging Management module 211 charges to the second battery 209, can be charged when when the second 209 not enough power supply of battery for the second battery 209, Lifting system cruising time.
It can only be connected, prevented by the first cable 4 by way of wired connection between flotation gear 2 and lower submersible device 1 Lower submersible device 1 loses (under water without signal) under water.
Carried out between bank base control device 3 and flotation gear 2 through the first communication module 303, the second communication module 205 wired Or wireless telecommunications, carried out between flotation gear 2 and lower submersible device 1 through the second communication module 205, the 3rd communication module 104 wired Communication.
Directly control flotation gear 2 and lower submersible device 1 is controlled to navigate by water by the control terminal 304 in bank base control device 3 (distance to go is nearer, it can be seen that in the case of) or navigated by water according to course line predetermined in GPS module 206 (navigate by water away from From farther out), reach the lower dive of submersible device 1 behind appointed place.Full-view camera group 110, three-dimensional camera group 111, manipulator The image that camera group 112 photographs is logical by the 3rd communication module 104, second after image passback processing module 113 is handled News module 205, the first communication module 303 are back to bank base control device 3.The water surface is observed that by monitoring terminal 306 Situation, the control machinery hand 107 of situation operational control terminal 304 observed according to monitoring terminal 306, sampler 108, feeder 109 carry out scientific investigation, and the first submarine light 105 (a wide range of), manipulator submarine light 106 (manipulator environs) auxiliary see water Under situation, when if desired for water sampling is carried out, the opening of control sampler 108 is opened, and sample water closes after entering, prevent Lower submersible device 1 reaches another waters post-sampling water by sample mixing;For another example when needing observe biochron in a certain waters, first controlling Feeder 109 opens mouth, attracts biology to be observed close to convenient afterwards, passes through full-view camera group 110, three-dimensional camera group 111, machine The image that tool hand camera group 112 returns, the situation of aquatic organism is clear that in monitoring terminal 306.
Directional light 207 is set on flotation gear 2, so that other people can see that the diving system and be unlikely to Collided in dark.Flotation gear 2 and each own propeller of lower submersible device 1, be advantageous to the navigation information with reference to GPS module 206 Carry out flowing the functions such as water surface positioning holding;When running into stormy waves, control solar panel 210 folds along its length, Prevent from being damaged by stormy waves.
In the utility model, the first cable 4, the second cable 5 (using direct current carrier technology, transmission signal while power supply) Take-up and unwrapping wire can be controlled respectively by the two miniature motor (not shown)s on flotation gear 2, two cables 4,5 independently twine It is around on two capstan winches 6 of arranged in parallel, two miniature motors are controlled by bank base control device 3, by driving two capstan winches 6 to realize two lines The take-up of cable 4,5 and unwrapping wire.
Preferred embodiment of the present utility model is these are only, is not limited to the utility model, it is all in this practicality All any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model Within the scope of shield.

Claims (10)

1. a kind of unmanned diving system, it is characterised in that including lower submersible device, flotation gear, bank base control device, First Line Cable;First cable is fixed on flotation gear after first end winding storage, first the second end of cable and lower submersible device Connection;The flotation gear is communicated through the first cable and lower submersible device and power transmission;The bank base control device control The motion of flotation gear and lower submersible device in water.
2. unmanned diving system according to claim 1, it is characterised in that the flotation gear controls including flotation gear Device, flotation gear propeller group, second support, two floating drums, the second communication module, GPS module, directional light;The floating Setup Controller is electrically connected with flotation gear propeller group, the second communication module, GPS module, directional light respectively;It is described Two floating drums are respectively arranged at two outsides of second support bottom;The flotation gear propeller group is arranged at floating drum bottom.
3. unmanned diving system according to claim 2, it is characterised in that the lower submersible device controls including lower submersible device Device, first support, lower submersible device propeller group, the 3rd communication module;The dive Setup Controller pushes away with lower submersible device respectively Enter device group, the 3rd communication module is electrically connected with;3rd communication module is electrically connected with through the first cable and the second communication module; The lower submersible device propeller group is arranged at the downside inside first support.
4. unmanned diving system according to claim 3, it is characterised in that the lower submersible device also includes the first diving Lamp, manipulator submarine light, manipulator, sampler, feeder, full-view camera group, three-dimensional camera group, manipulator camera Group, image passback processing module;First submarine light, manipulator submarine light, manipulator, sampler include two;It is described Dive Setup Controller respectively with the first submarine light, manipulator submarine light, image passback processing module, manipulator, sampler, feed Feeder is electrically connected with;Described image passback processing module respectively with full-view camera group, three-dimensional camera group, manipulator camera Group is electrically connected with;The sampler, feeder are respectively provided with the opening that opening and closing can be controlled by dive Setup Controller;The manipulator It is arranged on the downside of first support one end;The manipulator submarine light, manipulator camera group may be contained within the arm of manipulator; Between the sampler, feeder may be contained within the arm of two manipulators, and two samplers are respectively arranged at feeder both ends;Institute State the upside that the first submarine light is arranged at manipulator one end;The three-dimensional camera group, full-view camera group may be contained within machinery Between hand, the first submarine light.
5. unmanned diving system according to claim 2, it is characterised in that the bank base control device includes casing, bank Base controller, the first communication module, control terminal, the first battery, monitoring terminal, the first battery charging and discharging management module;It is described Bank base controller is electrically connected with the first communication module, control terminal, the first battery, monitoring terminal respectively;First battery Civil power is connected through the first battery charging and discharging management module;First communication module is electrical through the second cable and the second communication module Connection;The bank base controller, the first communication module, control terminal, the first battery, monitoring terminal, the first battery charging and discharging pipe Reason module may be contained within casing.
6. unmanned diving system according to claim 3, it is characterised in that the diving system also includes the second cable; Second cable is fixed on flotation gear after first end winding storage, second the second end of cable and bank base control device Connection;The bank base control device is communicated through the second cable and flotation gear and power transmission.
7. unmanned diving system according to claim 5, it is characterised in that the control terminal includes control panel, touched Control screen, action bars, button;The control panel is electrically connected with touch screen, action bars, button, bank base controller respectively;It is described Monitoring terminal includes image output processing module, highlighted monitor, panoramic video glasses, anaglyph spectacles;At described image output Module is managed to be electrically connected with highlighted monitor, panoramic video glasses, anaglyph spectacles, bank base controller respectively.
8. unmanned diving system according to claim 5, it is characterised in that the bank base control device also includes the first nothing Wire antenna;First wireless antenna is electrically connected with through the first communication module and bank base controller;The flotation gear also includes Second wireless antenna, the second battery, the second battery charging and discharging management module, two solar panels;Described second battery one end It is electrically connected with through the second battery charging and discharging management module and solar panel, the other end electrically connects with flotation gear controller Connect;The solar panel is arranged at two outsides on second support top;Second wireless antenna is through the second communication module It is electrically connected with flotation gear controller;First wireless antenna communicates wirelessly with the second wireless antenna.
9. unmanned diving system according to claim 8, it is characterised in that the solar panel is foldable solar Cell panel, it can be folded along its length.
10. unmanned diving system according to claim 6, it is characterised in that the diving system also includes two capstan winches, It is arranged on the top of flotation gear;Two capstan winch is wound with the first cable, the second cable respectively;The flotation gear propeller Group, lower submersible device propeller group include four propellers.
CN201720933335.8U 2017-07-29 2017-07-29 A kind of unmanned diving system Active CN207078305U (en)

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Application Number Priority Date Filing Date Title
CN201720933335.8U CN207078305U (en) 2017-07-29 2017-07-29 A kind of unmanned diving system

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Application Number Priority Date Filing Date Title
CN201720933335.8U CN207078305U (en) 2017-07-29 2017-07-29 A kind of unmanned diving system

Publications (1)

Publication Number Publication Date
CN207078305U true CN207078305U (en) 2018-03-09

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109099854A (en) * 2018-08-29 2018-12-28 江苏省工程勘测研究院有限责任公司 A kind of measuring device and measuring method of Larger water depths
WO2020107273A1 (en) * 2018-11-28 2020-06-04 唐山哈船科技有限公司 Underwater robot having sonar detection device
CN112606977A (en) * 2020-12-23 2021-04-06 大连东软信息学院 Robot platform used in water area environment

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109099854A (en) * 2018-08-29 2018-12-28 江苏省工程勘测研究院有限责任公司 A kind of measuring device and measuring method of Larger water depths
WO2020107273A1 (en) * 2018-11-28 2020-06-04 唐山哈船科技有限公司 Underwater robot having sonar detection device
CN112606977A (en) * 2020-12-23 2021-04-06 大连东软信息学院 Robot platform used in water area environment

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