CN207300300U - A kind of robot and underwater observation system for underwater observation - Google Patents
A kind of robot and underwater observation system for underwater observation Download PDFInfo
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- CN207300300U CN207300300U CN201720808239.0U CN201720808239U CN207300300U CN 207300300 U CN207300300 U CN 207300300U CN 201720808239 U CN201720808239 U CN 201720808239U CN 207300300 U CN207300300 U CN 207300300U
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Abstract
The utility model discloses a kind of robot for underwater observation and underwater observation system, robot includes machine body, and machine body includes：Controller, and be connected with controller three axis propulsion systems, camera device, sensing device；The control in machine body arbitrary motion direction is realized by the cooperation of three axis propulsion systems and controller；Visible scene information is obtained by camera device collection；The detection of environmental information and range information is realized by sensing device；The interaction of above- mentioned information data is realized by controller；So that relative to marine geophysical prospecting, technical requirements are reduced, make machine body simple in structure, it is easy to control, and reduce production cost；The blank of civil field has been filled up, masses is met underwater observation demand.System includes machine body, modem and intelligent end, also has the following effects that：By wire transmission make data transfer faster, it is more stable；Generating and sending for control signal is realized by keyboard.
Description
Technical field
It the utility model is related to civilian underwater observation field, and in particular to a kind of robot for underwater observation and underwater
Observation system.
Background technology
Prolonged arms race after World War II, makes military field obtain unprecedented development.Meanwhile with science and technology
Development is with ripe, using the technology in military field more and more with to civil field, such as：GNSS alignment systems,
Unmanned air vehicle technique and it is interspace exploration etc., to promote the well-being of mankind play the role of it is conclusive.
But in the prior art, for the science demand or military project prospected is carried out to deep-sea lake in terms of demand,
Marine geophysical prospecting still main exploration oil and natural gas construction and some sea-bottom deposit mineral deposits.It includes marine gravity, ocean magnetic
The methods of survey and offshore earthquake.The operation principle of marine geophysical prospecting is identical with ground geophysical prospecting method, because work-yard be at sea, therefore
Have for instrument and equipment and method of work and distinguishingly require, need to use equipped with special ship string gravimeter, ocean nucleon precession
The exploration ship of the instruments such as magnetometer, marine seismometer works, and sea exploration vessel is also equipped with various radionavigations, defends
Star navigator fix etc. is equipped.
It is in place of the deficiencies in the prior art, the technical requirements of marine geophysical prospecting are very high, and function is more, cause structure excessively multiple
It is miscellaneous；Marine geophysical prospecting is new industry in China, and many accessories all do not standardize, causes that the price is very expensive；In civil field still
Blank stage so is in, can not meet popular growing underwater observation demand.
Utility model content
The purpose of this utility model is to provide a kind of robot and system for underwater observation, to solve above-mentioned deficiency
Place.
To achieve these goals, the utility model provides following technical solution：
A kind of robot for underwater observation, including machine body, it is characterised in that the machine body includes：Storage
Water tank, buoyancy compartment, sealed compartment and three axis propulsion systems, are carried out into water and draining by the current mouth opened up on the water storage cabin,
The balance of the machine body is adjusted by the buoyancy compartment；
Controller, the camera device and sensing device that are connected with the controller, the control are provided with the sealed compartment
Device processed is also connected with the three axis propulsion system；
The sensing device, to detect the environmental information obtained around the range information and the machine body of scenery；
The camera device, to be illuminated the adjusting with camera angle according to the control signal, and shoots acquisition
Scene information；
The controller, to receive the control signal from intelligent end, and sends the range information, environmental information
And scene information；
The three axis propulsion system, to control the movement of machine body progress any direction according to control signal.
The above-mentioned robot for underwater observation, the machine body further include power supply cabin, the power supply cabin, the sealing
Cabin is sealed by rubber o-ring；Lithium battery is provided with the power supply cabin, the lithium battery is to the fortune for machine body
Row provides electric energy.
The above-mentioned robot for underwater observation, the current mouth include：Strip-type grille and circular gratings, the bar shaped lattice
Grid are arranged at the top of the machine body, and the circular gratings are arranged at the both sides of the machine body.
The above-mentioned robot for underwater observation, the streamlined structure in top of the machine body.
The above-mentioned robot for underwater observation, the sensing device include：Laser range sensor and temperature sensor,
The laser range sensor, to be detected according to control signal to the distance of machine body and scenery；
The temperature sensor, to be detected according to control signal to the temperature around machine body.
The above-mentioned robot for underwater observation, the three axis propulsion system include：Horizontal drive apparatus and vertical drive
Device,
The horizontal drive apparatus, to control the machine body on residing horizontal plane it is front and rear, move left and right；
The vertical drive, to control the machine body to be moved up and down on residing vertical plane.
The above-mentioned robot for underwater observation, the horizontal drive apparatus includes two driving motors and two spiral
Paddle, the vertical drive include a driving motor and a propeller,
The driving motor is connected with the propeller, the controller, driving the propeller to be rotated forward or
Reversion.
The above-mentioned robot for underwater observation, the camera device include：Camera, steering engine, illumination driver and
Lighting device,
The steering engine is connected with the controller, to adjust the camera angle of the camera；
The camera is connected with the steering engine, to the scenery record a video/take pictures；
The illumination driver is connected with the controller, to provide driving current for the lighting device；
The lighting device is connected with the illumination driver, to shine the environment around the machine body
It is bright.
The above-mentioned robot for underwater observation, goes back packet function expansion interface, the Function Extension interface and the control
Device connects, to be connected with exterior sensor.
A kind of robot for underwater observation provided by the utility model, including machine body, the machine body bag
Include：Controller, and be connected with the controller three axis propulsion systems, camera device, sensing device；Promoted by three axis and be
The control in machine body arbitrary motion direction is realized in the cooperation of system and controller；Realized by the cooperation of camera device and controller
Illumination and the control of shooting, so as to obtain visible scene information；Environment is realized by the cooperation of sensing device and controller
The detection of information and range information；The interaction of above- mentioned information data is realized by controller, enable personnel observe scene information,
Environmental information and range information.So as to relative to marine geophysical prospecting, reduce technical requirements, make machine body simple in structure, control
System is convenient, and reduces production cost；It is suitable for civilian, has filled up the blank of civil field, makes popular to need underwater observation
Ask and be met.
A kind of underwater observation system, including robot, modem and intelligent end for underwater observation are also provided,
The robot for underwater observation includes machine body,
The intelligent end is connected by cable with the modem, to send control letter to the machine body
Number, and the range information from the machine body, environmental information and scene information are received, and show accordingly；
The modem is connected by twisted-pair feeder with the machine body, to modulate information data in transmitting terminal
For transmit data, and receiving terminal by it is described transmission data demodulation be described information data.
The utility model also puies forward a kind of robot beneficial effect for supplying underwater observation system, underwater observation being used for described in
While, also have the following effects that：Realize that the information data machine between intelligent end and machine body is interacted by modem, have
Line transmission make data transfer faster, it is more stable；Generating and sending for control signal is realized by intelligent end keyboard, so that control machine
Device body detect, move and shoot accordingly, and control is simple, is easily received by users.
Brief description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only described in the utility model
Some embodiments, for those of ordinary skill in the art, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram for the robot for underwater observation that the utility model embodiment provides；
Fig. 2 is the structure diagram for the robot for underwater observation that one preferred embodiment of the utility model provides；
Fig. 3 is the structure diagram for the machine body that the utility model embodiment provides；
Fig. 4 is the front view for the machine body that the utility model embodiment provides；
Fig. 5 is the bottom view for the machine body that the utility model embodiment provides；
Fig. 6 is the internal structure schematic diagram for the machine body that the utility model embodiment provides；
Fig. 7 is the structure diagram for the underwater observation system that the utility model embodiment provides.
Description of reference numerals：
1st, machine body；11st, water storage cabin；111st, current mouth；12nd, buoyancy compartment；13rd, sealed compartment；10th, controller；20th, take the photograph
As device；201st, camera；202nd, steering engine；203rd, illumination driver；204th, lighting device；30th, sensing device；301st, Laser Measuring
Away from sensor；302nd, temperature sensor；40th, lithium battery；50th, Function Extension interface；14th, three axis propulsion system；141st, it is horizontal to drive
Dynamic device；1411st, motor is driven；1412nd, propeller；142nd, vertical drive；15th, power cabin；2nd, modem；3rd, intelligence
Can end.
Embodiment
In order to make those skilled in the art more fully understand the technical solution of the utility model, below in conjunction with attached drawing pair
The utility model is further detailed.
As shown in Figs. 1-5, a kind of robot for underwater observation, including machine body 1, the machine body 1 are wrapped
Include：Water storage cabin 11, buoyancy compartment 12,13 and three axis propulsion system 14 of sealed compartment, pass through the current mouth opened up on the water storage cabin 11
111 carry out into water and draining, and the balance of the machine body 1 is adjusted by the buoyancy compartment 12；Set in the sealed compartment 13
There are controller 10, the camera device 20 and sensing device 30 that are connected with the controller 10, the controller 10 is also with described three
Axis propulsion system 14 connects；The sensing device 30, obtains around range information and the machine body 1 of scenery to detect
Environmental information；The camera device 20, to be illuminated the adjusting with camera angle according to the control signal, and shoots
Obtain scene information；The controller 10, to receive the control signal from intelligent end, and send the range information,
Environmental information and scene information；The three axis propulsion system 14, to control machine body 1 to carry out any side according to control signal
To movement.
Specifically, when by machine body 1 not in water, machine can be made to 11 water filling of water storage cabin by current mouth 111
Body 1 also can maintain static balance in the case where not stressing in underwater, so as to ensure three axis propulsion systems 14 in underwater
Action obtains enough propulsive forces；And when leaving the water surface, 111 draining of current mouth can be passed through.When machine body 1 is in fortune
During dynamic state, by external environment influence may disequilibrium, the operation balance of machine body 1 can be made by buoyancy compartment 12, from
And can refer to the distance of machine body 1 and scenery with range information during exercise, i.e., when robot works under water, pass through sensing
Device 30 sends ultrasonic wave, infrared light etc. and the distance of surrounding some scenery to machine body 1 is detected, when the ultrasound sent
Ripple, infrared light are scattered when meeting some scape or thing to surrounding, and sensing device 30 captures the ultrasonic wave of scattering, infrared light etc.,
Further according to the distance gone out from the time estimation for being issued to reception between machine body 1 and the scape or thing.Around environment include but not
It is limited to, the environmental information such as hydraulic pressure, water velocity, light intensity and temperature, the detection of above- mentioned information is completed by sensing device 30, real
The acquisition of existing information, so as to implement corresponding control according to detection, can also allow the personnel of distal end to recognize range information
And environmental information.Control signal refers to that controller 10 is identifiable, and can control three axis propulsion systems 14, camera device 20, pass
The signal that induction device 30 is accordingly detected or acted；Control signal can be sent by control device, smart machine etc., signal
Form can be infrared control, wireless communication control and data line transfer control etc.；Preferably, it is data line
Control, and data line is neutral buoyancy data cable.The movement of any direction refers to that machine body 1 passes through three axis propulsion systems 14
Driving, can carry out it is upward, downward, forward, backward, to the left, to the right, left rotation and right rotation and the above-mentioned movement combined,
Realize the control to movement；The track that movement is formed can be preset, and can also pass through control device, intelligence according to actual conditions
Energy equipment etc. implements the control of movement locus.Illumination refers to that light is poor, it is necessary to make scenery by illumination as it can be seen that ability under water
The collection of scene information is enough carried out by camera device 20；The equipment of illumination can be LED light, incandescent lamp etc..Camera angle tune
Section refers to that camera angle can be adjusted according to the species of scenery, to complete track up in the short time or to the near of large volume
Scape carries out pan-shot etc., so as to allow personnel to recognize underwater scene information；Control can be passed through by adjusting camera angle
The control camera device 20 such as device processed, smart machine is completed.Shooting refers to take the photograph scape or thing in the form of video or picture
The scene information of acquisition is taken, and is converted into the information data that can be transmitted.
A kind of robot for underwater observation in the present embodiment, including machine body 1, the machine body 1 include：
Controller 10, and be connected with the controller 10 three axis propulsion systems 14, camera device 20, sensing device 30；Pass through three
The control in 1 arbitrary motion direction of machine body is realized in the cooperation of axis propulsion system 14 and controller 10；By camera device 20 with
The control of illumination and shooting is realized in the cooperation of controller 10, so as to obtain visible scene information；By sensing device 30 with
The detection of environmental information and range information is realized in the cooperation of controller 10；The friendship of above- mentioned information data is realized by controller 10
Mutually, personnel are enable to observe scene information, environmental information and range information.So as to relative to marine geophysical prospecting, reduce technology
It is required that make machine body 1 simple in structure, it is easy to control, and reduce production cost；It is suitable for civilian, has filled up civilian neck
The blank in domain, makes masses be met underwater observation demand.
In certain embodiments, gravitation tank is further included, hydraulic pressure is detected by hydraulic pressure sensor, and detection is obtained water
Pressure information sends to controller 10, controller 10 and controls gravitation tank to carry out draining according to the information or enter water, is when three axis promote
When system 14 is failure to actuate (in the case of being not driven power), hovering (stopping at some horizontal plane) in water still can be maintained.Section
Power saving energy, or need not only need minimum driving force when hovering and shooting.
In certain embodiments, water velocity can be detected by water flow sensor and calculate acquisition, work as needs
In water, it is necessary to consider water currents during hovering shooting, controller 10 controls three axis propulsion systems 14 according to water velocity information
Acted with certain driving force, thus allow for hovering shooting, and save electric energy.
In certain embodiments, light intensity can be detected by light intensity sensor, by controller 10 according to intensity signal control
Camera device 20 processed is illuminated auxiliary/lighting-off.At the position nearer from the water surface of machine body 1, light conditions compare
It is good, it is not turned on illumination auxiliary；When from the water surface farther out, light conditions are poor, even without light, open illumination auxiliary, make to shoot
The scene information arrived has optimal effect.
In certain embodiments, temperature can be detected by temperature sensor 302, by controller 10 according to temperature information
Control three axis propulsion systems, 14 on/off Drive Protecting Circuit.When entering profundal zone, excessively cold environment can be to three axis
The work of driving device in propulsion system 14 impacts, it is therefore desirable to which Drive Protecting Circuit carries out cold-proof.
In certain embodiments, above-mentioned hydraulic pressure, water velocity, light intensity and temperature information are sent to intelligent end 3, are passed through
Intelligent end 3 generates control signal and issues machine body 1, implements above-mentioned control.
In certain embodiments, master further includes current feedback circuit and voltage protection circuit, to ensure the normal fortune of system
OK.
As preferable in the present embodiment, the machine body 1 further includes power supply cabin 15, the power supply cabin 15, described close
Batten down 13 is sealed by rubber o-ring；Be provided with lithium battery 40 in the power supply cabin 15, the lithium battery 40 to for
The operation of machine body 1 provides electric energy.Itself charging and the purpose powered for machine body 1 are reached for by lithium battery 40；
Sealed compartment 13, power supply cabin 15 are isolated from the outside world by rubber o-ring, failed so as to prevent electrical equipment from entering water；
When rubber o-ring is compressed, always tend to recover the section of its original, automatically compress stress effect so as to produce, reach power supply
Sealing effect between cabin 15 and sealed compartment 13；And it has the good, long lifespan of elasticity, good corrosion resistance, is simple to manufacture, is economical
Advantage.Further, power supply cabin 15 is equipped with charging interface, is connected with waterproof jacket on charging interface, prevents water from entering the interface
Cause the situation of failure；Preferably, sealed compartment 13 is equipped with the biography that controller 10 is connected with external world's control device, smart machine etc.
The hole of defeated lines matching, the gap in the hole are filled up using epoxide-resin glue, and epoxide-resin glue is versatile, can fill larger sky
Gap, Applicable temperature is generally all in -50 to+150 degree, and be suitable for general environment, waterproof, oil resistant, resistance to strong acid, highly basic.
As preferably, the current mouth 111 includes in the present embodiment：Strip-type grille and circular gratings, the bar shaped lattice
Grid are arranged at the top of the machine body 1, and the circular gratings are arranged at the both sides of the machine body 1.When by machine sheet
When body 1 is not in water, to 11 water filling of water storage cabin machine body 1 can be made also in the case where not stressing by current mouth 111
Static balance is maintained in underwater, so as to ensure that action obtains enough propulsive forces to three axis propulsion systems 14 in underwater；Pass through
The circular gratings of both sides also can improve the effect that water enters water storage cabin 11 when not submerging completely in water to 11 water filling of water storage cabin
Rate, can reach static balance faster；By the strip-type grille at top when submerging in water, water intake velocity is further lifted；Together
When, the efficiency of draining can be also lifted by circular gratings, strip-type grille.Further, water storage cabin 11 is except power supply cabin 15, floats
The inner space of machine body 1 beyond power cabin 12, sealed compartment 13, ensures that, when it is filled up with water, water can be submerged completely
In, and reach static balance (hovering) at some position of underwater by approximately level.
As preferable in the present embodiment, the streamlined structure in top of the shell.Ensure machine body 1 under water to
During preceding navigation, the resistance being subject to is sufficiently small, so as to save electric energy to a certain extent, and improves the speed of navigation；Into one
Step, electronic compass is provided with machine body 1, to ensure that heading is consistent with navigation direction, so as to ensure machine sheet
When body 1 moves in any direction, fairshaped effect can be made to reach optimal, in this way, movement can ensure to hinder in any direction
Power is sufficiently small.
As preferably, the sensing device 30 includes in the present embodiment：Laser range sensor 301 and temperature sensor
302, the laser range sensor 301, to be detected according to control signal to machine body 1 and the distance of scenery；Institute
Temperature sensor 302 is stated, to be detected according to control signal to the temperature of surrounding.Surveyed by laser range sensor 301
Range information is measured, so that personnel can interpolate that the scenery photographed with a distance from machine body 1, or even passes through the distance and machine
The diving depth of device body 1 estimate scenery from the water surface, with a distance from itself, in this way, may determine that the size of scenery；Such as
The activity of fish is photographed at the 70m of seabed, it is estimated that the size of fish, reduces the sense of reality.Personnel can pass through temperature
The temperature information that sensor 302 measures judges underwater temperature, and sending control signal by control device, electronic equipment etc. carries out
Corresponding three axis propulsion system, 14 safeguard measure, can also understand the water temperature information of different depth by it, so as to judge underwater
Biology is adapted to live under which kind of temperature environment and hydraulic pressure respectively.
As preferably, the three axis propulsion system 14 includes in the present embodiment：Horizontal drive apparatus 141 and vertical drive
Device 142, the horizontal drive apparatus 141, to control the machine body 1 to be moved around on residing horizontal plane
It is dynamic；The vertical drive 142, to control the machine body 1 to be moved up and down on residing vertical plane.Pass through level
Driving device 141 can drive machine body 1 to be moved on some horizontal plane, it is preferred that receive 45 degree of angular movements to the left
During order, control driving device action, is directly moved in (uncomfortable entire machine head direction) along the direction at 45 degree of angles to the left；Optionally, when
When receiving order (one kind of control signal) of the 45 degree of angular movements to the left of controller 10, control driving device action, passes through electricity
Direction of the sub- compass by head rotating to 45 degree of angles to the left, 45 degree of angle (along the direction of the head) movements to the left of machine body 1.It is logical
Crossing vertical drive 142 can drive machine body 1 is upper and lower on a vertical plane to move (without considering water currents).So as to
The upper movement in any direction of machine body 1 can be controlled by above device,
As preferably, the horizontal drive apparatus 141 includes two driving motors 1411 and two spiral shells in the present embodiment
Paddle 1412 is revolved, the vertical drive 142 includes driving 1411 and one propeller 1412 of motor, the driving motor 1411
It is connected with the propeller 1412, the controller 10, to drive the propeller 1412 to carry out forward or reverse.Level is driven
Two driving motors 1411 on dynamic device 141 are respectively arranged at the left and right sides of machine body 1, further, horizontal drive
Propeller 1412 in device 141 is three-bladed propeller, and the propeller 1412 in vertical drive 142 is two vane propellers.
Preferably, left and right propeller 1412 is separately controlled to allow and is turned to the right for the robot of underwater observation and to the left
Turn to, the driving motor 1411 on the left side rotates forward control left-hand airscrew 1412 and machine body 1 is retreated, reversion control left-hand screw
Paddle 1412 is so that machine body 1 is advanced；The driving motor 1411 on the right rotates forward control right-hand screw paddle 1412 so that before machine body 1
Into reversion control right-hand screw paddle 1412 is so that machine body 1 retreats；The driving motor 1411 of vertical direction, which rotates forward, controls vertical spiral shell
Paddle 1412 is revolved so that fuselage floats, and reversion control vertical spin paddle 1412 is so that fuselage dive；Optionally, electronics can also be passed through
Compass adjusts heading, then carries out the movement along heading.Further, motor 1411 is driven as brushless external rotor electricity
Machine, and there is water-proof function, the copper wire outer layer on motor has used enamel coating, for waterproof.Further, drive
The rotating speed of motor 1411 is adjustable, and rotating speed can be adjusted by control device, electronic equipment etc.；Preferably, according to
The rotating speed of different driving motors 1411 is divided into 5 gears, uses maximal rate can be half with continuous work when navigating by water under water
Hour, being adjusted to 3 grades can be with continuous firing 2 more than hour；Make the operability of machine body 1 stronger.
As preferably, the camera device 20 includes in the present embodiment：Camera 201, steering engine 202, illumination driver
203 and lighting device 204, the steering engine 202 be connected with the controller 10, to adjust the shooting of the camera 201
Angle；The camera 201 is connected with the steering engine 202, to the scenery record a video/take pictures；The illumination driving
Device 203 is connected with the controller 10, to provide driving current for the lighting device 204；The lighting device 204 and institute
State illumination driver 203 to connect, to be illuminated the environment around the machine body 1.Preferably, camera 201 is
The varifocal camera 201 of high definition, can acquire the HD video or image data of 1280x720；202 rotatable angle of steering engine
Spend for 120 degree, each movement angle is programmed to as 15 degree, in this way, alloing the scope that camera 201 is shot wide enough；
Lighting device 204 is LED light, sends light by illumination driver 203, illuminates underwater environment, is obtained for shooting high-visible
Video or image data provide illumination guarantee.Further, laser lamp, camera 201 are included in laser range sensor 301
Stent both ends be equipped with two and be used to appear the holes of the laser beam of light, it is desirable to the light beam that laser lamp projects is parallel to each other, and ensures hair
The laser beam gone out ensures that the scenery of shooting acquisition and the reference scenery of laser ranging are same thing in camera watch region
Body, thus allows for the measuring and calculating of the distance of scape or thing；The present embodiment is preferable, the model of illumination driver 203
AL5812MP-13。
As preferable in the present embodiment, packet function expansion interface 50, the Function Extension interface 50 and the control are gone back
Device 10 connects, to be connected with exterior sensor.It is connected, is extended different with other sensors by Function Extension interface 50
Function, with the automatization level of the playability of hoisting machine body 1, the popularity of detection and control；Function Extension interface 50
To be multiple, it is preferred that be 6, can expanded function and the of simple structure and low cost of machine body 1, volume it is moderate；
Further, a power supply PWM passage and a SERVO CONTROL passage are preconfigured in 6 Function Extension interfaces 50.
As shown in figures 1 to 6, the utility model embodiment also provides a kind of underwater observation system, including for underwater observation
Robot, modem 2 and intelligent end 3, the robot for underwater observation include machine body 1, the intelligence
End 3 is connected by cable with the modem 2, to send control signal to the machine body 1, and is received and is come from
Range information, environmental information and the scene information of the machine body 1, and show accordingly；The modem 2 is logical
Cross twisted-pair feeder to be connected with the machine body 1, information data is modulated to transmission data in transmitting terminal, and in receiving terminal
It is described information data by the transmission data demodulation.Transmitting terminal can be machine body 1 or intelligent end 3；When transmitting terminal is machine
When device body 1 and modem 2 (modulating action), receiving terminal is intelligent end 3 and modem 2 (playing demodulation)；
When transmitting terminal is intelligent end 3 and modem 2, receiving terminal is machine body 1 and modem 2.Pass through data transfer
Line carries out the information data interaction between machine body 1 and intelligent end 3, carries out turning for data by modem 2 between the two
(modulation, demodulation) is changed, can be transmitted on data line；Data line includes cable and twisted-pair feeder, cable connection
Modem 2 and intelligent end 3, twisted pair line connection modem 2 and machine body 1；Preferably, intelligent end 3 is intelligent hand
Machine, individual pc machines and tablet computer etc.；Control software or control app are installed on above-mentioned intelligent end 3, when pressing intelligent end 3
During some button of hardware keyboards, dummy keyboard, which is converted into by corresponding control by control software or control app
Signal processed；For example PgUp, PgDn on pc machines is pressed when button, send advance, the control signal retreated, robot conduct
After receiving terminal receives the control signal, the action being advanced, retreated of control machine body 1；By smart mobile phone control with
It is identical.
Underwater observation system in the present embodiment, the letter between intelligent end 3 and machine body 1 is realized by modem 2
Cease modem interaction, wire transmission make data transfer faster, it is more stable；The generation of control signal is realized by 3 keyboard of intelligent end
And send, so as to control machine body 1 to be detected, moved and shot accordingly, control is simple, is easily connect by users
By.
Some one exemplary embodiments of the utility model are only described by way of explanation above, undoubtedly, for
Those of ordinary skill in the art, can be with a variety of in the case of the spirit and scope without departing from the utility model
Mode is modified described embodiment.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as
Limitation to the utility model claims protection domain.
Claims (10)
1. a kind of robot for underwater observation, including machine body, it is characterised in that the machine body includes：Water storage
Cabin, buoyancy compartment, sealed compartment and three axis propulsion systems, are carried out into water and draining by the current mouth opened up on the water storage cabin, are led to
Cross the balance that the buoyancy compartment adjusts the machine body；
Controller, the camera device and sensing device that are connected with the controller, the controller are provided with the sealed compartment
Also it is connected with the three axis propulsion system；
The sensing device, to detect the environmental information obtained around the range information and the machine body of scenery；
The camera device, to be illuminated the adjusting with camera angle according to control signal, and shoots acquisition scene information；
The controller, to receive the control signal from intelligent end, and sends the range information, environmental information and scape
Thing information；
The three axis propulsion system, to control the movement of machine body progress any direction according to control signal.
2. the robot according to claim 1 for underwater observation, it is characterised in that the machine body further includes confession
Electric cabin, the power supply cabin, the sealed compartment are sealed by rubber o-ring；Lithium battery is provided with the power supply cabin, it is described
Lithium battery for the operation of machine body providing electric energy.
3. the robot according to claim 1 for underwater observation, it is characterised in that the current mouth includes：Bar shaped
Grid and circular gratings, the strip-type grille are arranged at the top of the machine body, and the circular gratings are arranged at the machine
The both sides of device body.
4. the robot according to claim 1 for underwater observation, it is characterised in that the top of the machine body is in
Streamlined structure.
5. the robot according to claim 1 for underwater observation, it is characterised in that the sensing device includes：Swash
Ligh-ranging sensor and temperature sensor,
The laser range sensor, to be detected according to control signal to the distance of machine body and scenery；
The temperature sensor, to be detected according to control signal to the temperature around machine body.
6. the robot according to claim 1 for underwater observation, it is characterised in that the three axis propulsion system bag
Include：Horizontal drive apparatus and vertical drive,
The horizontal drive apparatus, to control the machine body on residing horizontal plane it is front and rear, move left and right；
The vertical drive, to control the machine body to be moved up and down on residing vertical plane.
7. the robot according to claim 6 for underwater observation, it is characterised in that the horizontal drive apparatus includes
Two driving motors and two propellers, the vertical drive include a driving motor and a propeller,
The driving motor is connected with the propeller, the controller, to drive the propeller to carry out forward or reverse.
8. the robot according to claim 1 for underwater observation, it is characterised in that the camera device includes：Take the photograph
Picture head, steering engine, illumination driver and lighting device,
The steering engine is connected with the controller, to adjust the camera angle of the camera；
The camera is connected with the steering engine, to the scenery record a video/take pictures；
The illumination driver is connected with the controller, to provide driving current for the lighting device；
The lighting device is connected with the illumination driver, to be illuminated to the environment around the machine body.
9. the robot according to claim 1 for underwater observation, it is characterised in that go back packet function expansion interface, institute
State Function Extension interface to be connected with the controller, to be connected with exterior sensor.
10. a kind of underwater observation system, it is characterised in that including any machines for underwater observation of claim 1-8
Device people, modem and intelligent end, the robot for underwater observation include machine body,
The intelligent end is connected by cable with the modem, to send control signal to the machine body, with
And the range information from the machine body, environmental information and scene information are received, and show accordingly；
The modem is connected by twisted-pair feeder with the machine body, to be modulated to pass by information data in transmitting terminal
Transmission of data, and receiving terminal by it is described transmission data demodulation be described information data.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945353A (en) * | 2018-07-13 | 2018-12-07 | 史长江 | The diving boost motor of handheld tape shooting function |
| CN109141539A (en) * | 2018-10-26 | 2019-01-04 | 中国科学院深海科学与工程研究所 | A kind of underwater Multifunctional AC motor control and test device |
-
2017
- 2017-07-05 CN CN201720808239.0U patent/CN207300300U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945353A (en) * | 2018-07-13 | 2018-12-07 | 史长江 | The diving boost motor of handheld tape shooting function |
| CN109141539A (en) * | 2018-10-26 | 2019-01-04 | 中国科学院深海科学与工程研究所 | A kind of underwater Multifunctional AC motor control and test device |
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Denomination of utility model: A robot and underwater observation system for underwater observation Effective date of registration: 20191108 Granted publication date: 20180501 Pledgee: Ningbo Fujia Industrial Co., Ltd. Pledgor: Yueken robot (Shanghai) Co. Ltd. Registration number: Y2019330000177 |
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Date of cancellation: 20210729 Granted publication date: 20180501 Pledgee: NINGBO FUJIA INDUSTRIAL Co.,Ltd. Pledgor: YOUCAN ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2019330000177 |