CN207725592U - Unmanned remotely controlled submersible vehicle - Google Patents
Unmanned remotely controlled submersible vehicle Download PDFInfo
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- CN207725592U CN207725592U CN201721850732.5U CN201721850732U CN207725592U CN 207725592 U CN207725592 U CN 207725592U CN 201721850732 U CN201721850732 U CN 201721850732U CN 207725592 U CN207725592 U CN 207725592U
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- ontology
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- remotely controlled
- submersible vehicle
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Abstract
The application provides a kind of unmanned remotely controlled submersible vehicle, includes the ontology with camera unit and control unit；The power unit being set on ontology；Beacon element for being worn on a certain position of user's body, the beacon element can emit multiple optics control signal of different light and shade brightness；Described control unit can control the power unit according to the collected optics control signal of the camera unit and make corresponding response, to adjust the movement posture of the ontology.Unmanned remotely controlled submersible vehicle provided by the present application and its control method can be acted accordingly by receiving the external optics control signal transmitted, realize spot hover, from motion tracking, floating, the functions such as dive, overlook, look up, turn left, turn right, advance, retreat, avoid when being controlled using cable that there is a phenomenon where wind.
Description
Technical field
The utility model is related to submersible field, more particularly to a kind of submersible and its controlling party using optical communication
Method.
Background technology
Diving personnel or swimming fan find after beautiful splendid scenery or memorable thing generally in water
It will recognize that souvenir of taking pictures, they can carry Underwater Camera and record in general.But this style of shooting without
Oneself is fused together by method completely with background, cannot allow and oneself personally be dissolved into fine view.Therefore, be merely able to according to
It is oneself shooting by companion or is shot by underwater cable man-controlled mobile robot.
Currently, common unmanned remotely controlled submersible vehicle (ROV, Remotely operated underwater vehicle) is adopted
ROV ontologies are connected with cable, with terminal control unit control ROV movements.Which needs user to be controlled to ROV by cable
System, cable easy to produce winding, knot, and inconvenient to carry.
Utility model content
In view of defect existing in the prior art, the utility model provides a kind of unmanned remotely controlled submersible vehicle, including：
Ontology with camera unit and control unit；
The power unit being set on ontology；
Beacon element for being worn on a certain position of user's body, the beacon element can emit different light and shades
Multiple optics of brightness control signal；
Described control unit can control the power according to the collected optics control signal of the camera unit
Unit makes corresponding response, to adjust the movement posture of the ontology.
In some embodiments of the utility model, the beacon element can be sent out in a manner of the flicker of different frequency
Send multiple optics control signals.
In some embodiments of the utility model, the spy of multiple beacon elements is preset in described control unit
Determine the shape of movement locus composition, and correspondence is established into shape movement corresponding with the ontology；When described
When the movement locus that camera unit collects the beacon element meets preset shape, described control unit controls the ontology
Complete corresponding movement.
In the present embodiment, using luminous light bar as beacon element, pass through the different light and shade luminance transformations of light bar
Signal is controlled as different optics is switched, or switching command is used as by the identification of the different movement locus of light bar,
Such as the slow instruction as spot hover as instruction, flicker from motion tracking soon of light bar flicker.This method can be bright
Aobvious distinguishes object and background objects, excludes the interference that environment controls optics signal.
In some embodiments of the utility model, the power unit has multiple, and is set on the ontology
Different location；Described control unit can control signal according to the collected optics of the camera unit, and control is corresponding
Power unit make a response, to adjust the movement posture of the ontology.
In some embodiments of the utility model, the unmanned remotely controlled submersible vehicle includes being set on the ontology
For perceiving the sensor unit of submerged depth and the hovering posture of the ontology.
In addition, the utility model additionally provides a kind of control method of unmanned remotely controlled submersible vehicle, including：
The beacon element on a certain position of user's body is worn on the multiple optics control letters of different light and shade brightness emissions
Number；
The control unit being set on unmanned remotely controlled submersible vehicle ontology is controlled according to the collected optics of camera unit
Signal controls the power unit and makes corresponding response, to adjust the movement posture of the ontology.
In some embodiments of the utility model, the beacon element can be sent out in a manner of the flicker of different frequency
Send multiple optics control signals.
In some embodiments of the utility model, the spy of multiple beacon elements is preset in described control unit
Determine the shape of movement locus composition, and correspondence is established into shape movement corresponding with the ontology；When described
When the movement locus that camera unit collects the beacon element meets preset shape, described control unit controls the ontology
Complete corresponding movement.
In some embodiments of the utility model, when the optics that the beacon element emits trace command controls letter
Number, and when the beacon element is in the focal position of the camera unit, described control unit controls the power unit and makees
Go out corresponding response, so that beacon element described in described volume tracing moves；
When the optics control signal of beacon element transmitting trace command, and the beacon element is not in the camera shooting
When the focal position of unit, described control unit first controls the power unit and makes corresponding response, so that the beacon
Unit is located at the focal position of the camera unit, then controls the power unit and makes corresponding response, so that described
Beacon element described in this volume tracing moves.
In some embodiments of the utility model, when the optics that the beacon element emits spot hover controls letter
Number, described control unit can control the power unit according to the collected optics control signal of the camera unit and make
Go out corresponding response, so that the ontology spot hover is to corresponding position；If the submerged depth that sensor unit perception obtains
With the optics of the hovering posture of the ontology and spot hover control signal there are error, then described control unit controls institute
It states power unit and makes corresponding compensation campaign.
Unmanned remotely controlled submersible vehicle provided by the utility model and its control method are controlled by receiving the external optics transmitted
Signal can be acted accordingly, realize spot hover, from motion tracking, floating, dive, overlook, look up, turn left, turn right, preceding
Into, the functions such as retreat, avoid when being controlled using cable that there is a phenomenon where wind.Meanwhile this unmanned remotely controlled submersible vehicle is with more
A extensive interface is, it can be achieved that Underwater Camera, underwater luminaire, laser, infrared, acoustic equipment carrying.
Description of the drawings
Fig. 1 is the communication scheme of the unmanned remotely controlled submersible vehicle of one embodiment of the utility model；
Fig. 2 is the unmanned remotely controlled submersible vehicle of one embodiment of the utility model according to the workflow of automatic tracking control signal
Cheng Tu；
Fig. 3 is the unmanned remotely controlled submersible vehicle of one embodiment of the utility model according to the workflow of fixed point suspension control signal
Cheng Tu；
Fig. 4 is the unmanned remotely controlled submersible vehicle of one embodiment of the utility model according to advance, the work of retrogressing control signal
Flow chart.
Specific implementation mode
In order to keep the purpose, technical scheme and advantage of utility model clearer, in the following with reference to the drawings and specific embodiments
Utility model is described in further detail.Although showing disclosure exemplary embodiment in attached drawing, it being understood, however, that
The utility model be may be realized in various forms without should be limited by embodiments set forth here.On the contrary, providing these implementations
Example is to be able to more thorough explanation the utility model, and can the scope of the utility model be completely communicated to ability
The technical staff in domain.
As shown in Figure 1, the utility model embodiment provides a kind of unmanned remotely controlled submersible vehicle comprising have camera shooting single
Member 11 and control unit ontology 1, be set on ontology power unit 12, for being worn on a certain position of user's body
Beacon element 2 in (such as wrist).
Beacon element 2 can emit multiple optics control signal of different light and shade brightness, and camera unit 11 collects the light
It learns control signal and is sent to control unit, control unit controls signal control power unit 12 according to the optics and makes phase
The response answered, to adjust the movement posture of ontology 1.
Beacon element 2 can also send multiple optics control signals in a manner of the flicker of different frequency.
Further, the shape (such as three that the special exercise track of multiple beacon elements is constituted is preset in control unit
Angular track, circular trace, square track etc.), and corresponding close is established into the movement corresponding with ontology 1 of above-mentioned shape
System.When the movement locus that camera unit 11 collects beacon element 2 meets preset shape, control unit controls power unit
12 so that ontology 1 is completed to move accordingly.
Above-mentioned power unit 12 has different locations that are multiple, and being set on ontology 1, power unit in present embodiment
There are four 12, they are respectively to be set to the vertical direction propeller of 1 head end of ontology and tail end, and be set to ontology 1 or so
Horizontal direction propeller on the wing of both sides.Control unit can control signal, control according to 11 collected optics of camera unit
Make corresponding power unit 12 make a response (such as left side horizontal direction propeller start, then ontology rotates to the right；It hangs down front end
Histogram starts to propeller, then ontology is faced upward), to adjust the movement posture of ontology 1.
Further, the sensor list of the hovering posture for perceiving submerged depth and ontology can also be installed on ontology 1
Member.
As in Figure 2-4, the utility model additionally provides a kind of control method of unmanned remotely controlled submersible vehicle, including：
The beacon element 2 on a certain position of user's body is worn on the multiple optics control letters of different light and shade brightness emissions
Number；
The control unit being set on unmanned remotely controlled submersible vehicle ontology 1 is controlled according to 11 collected optics of camera unit to be believed
Number control power unit 12 make corresponding response, to adjust the movement posture of ontology.
Beacon element 2 can send multiple optics control signals in a manner of the flicker of different frequency.
Further, the shape that the special exercise track of multiple beacon elements 2 is constituted is preset in control unit, and will
Correspondence is established in shape movement corresponding with ontology.When the movement locus that camera unit 11 collects beacon element 2 meets
When preset shape, control unit control ontology 1 is completed to move accordingly.
When the optics control signal of the transmitting trace command of beacon element 2, and beacon element 2 is in the focus of camera unit 11
When position, control unit control power unit 12 makes corresponding response, so that 1 tracking beacon unit 2 of ontology moves.Work as letter
It marks unit 2 and emits the optics of trace command and control signal, and when beacon element 2 is not in the focal position of camera unit 11, control
Unit processed first controls power unit 12 and makes corresponding response, so that beacon element 2 is located at the focal position of camera unit 11,
Then control power unit 12 makes corresponding response, so that ontology 1 tracks the beacon element movement.
With reference to Fig. 2, specifically, control unit receives optics control signal and starts to execute trace routine, first determines whether letter
The center whether unit 2 is in camera unit 11 is marked, if it is in the left side of center, the propeller on right side is to pusher
Water, left side propeller are realized quickly to turn left, beacon element 2 are made to be located at the center of camera unit 11 to water is pushed forward.If its
Right side in center, then to pusher water, right-side propellers to water is pushed forward, realization is quick to turn right the propeller in left side, makes
Beacon element 2 is located at the center of camera unit 11.If it is pushed down in the top of center, former and later two propellers
Water is realized and quickly floats, beacon element 2 is made to be located at the center of camera unit 11.If it is in the lower section of center,
Former and later two propellers push up water, realize quick dive, and beacon element 2 is made to be located at the center of camera unit 11.
With reference to Fig. 3, further, when the optics that beacon element 2 emits spot hover controls signal, control unit 12 can
Signal control power unit 12 is controlled according to 11 collected optics of institute's camera unit and makes corresponding response, so that ontology 1
Spot hover is to corresponding position.If at this point, the hovering posture for the submerged depth and ontology that sensor unit perception obtains and fixed point
There are errors, then control unit control power unit 12 to make corresponding compensation campaign for the optics control signal of hovering.
With reference to Fig. 4, signal is controlled when beacon element 2 emits the optics moved forward or back surely, control unit controls power list
Member 12 pushes ontology 1 to move forward or back corresponding distance or time.It is missed if its distance moved forward or back or time exist
Difference, then control unit control power unit 12 make corresponding compensation campaign.
Finally it should be noted that above example being merely intended for describing the technical solutions of the present application, but not for limiting the present application property.
Although the utility model is described in detail with reference to embodiment, it should be appreciated by those of ordinary skill in the art that this
The technical solution of utility model is modified or replaced equivalently, without departure from the spirit and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (5)
1. unmanned remotely controlled submersible vehicle, which is characterized in that including：
Ontology with camera unit and control unit；
The power unit being set on ontology；
Beacon element for being worn on a certain position of user's body, the beacon element can emit different light and shade brightness
Multiple optics control signal；
Described control unit can control the power unit according to the collected optics control signal of the camera unit
Corresponding response is made, to adjust the movement posture of the ontology.
2. unmanned remotely controlled submersible vehicle according to claim 1, it is characterised in that：
The beacon element can send multiple optics control signals in a manner of the flicker of different frequency.
3. unmanned remotely controlled submersible vehicle according to claim 2, it is characterised in that：
The shape that the special exercise track of multiple beacon elements is constituted is preset in described control unit, and by the shape
Correspondence is established in shape movement corresponding with the ontology；When the camera unit collects the movement rail of the beacon element
When mark meets preset shape, described control unit controls the ontology and completes corresponding movement.
4. unmanned remotely controlled submersible vehicle according to any one of claim 1-3, it is characterised in that：
The power unit has different locations that are multiple, and being set on the ontology；
Described control unit can control signal according to the collected optics of the camera unit, control corresponding power list
Member makes a response, to adjust the movement posture of the ontology.
5. unmanned remotely controlled submersible vehicle according to claim 1, which is characterized in that including：
The sensor unit for perceiving submerged depth and the hovering posture of the ontology being set on the ontology.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721850732.5U CN207725592U (en) | 2017-12-26 | 2017-12-26 | Unmanned remotely controlled submersible vehicle |
| AU2018394779A AU2018394779B2 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| EP18893605.8A EP3560814A4 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| PCT/CN2018/112476 WO2019128447A1 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| US16/483,742 US10988218B2 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| JP2019543942A JP6955568B2 (en) | 2017-12-26 | 2018-10-29 | Remote-controlled unmanned submersible and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721850732.5U CN207725592U (en) | 2017-12-26 | 2017-12-26 | Unmanned remotely controlled submersible vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207725592U true CN207725592U (en) | 2018-08-14 |
Family
ID=63086551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721850732.5U Withdrawn - After Issue CN207725592U (en) | 2017-12-26 | 2017-12-26 | Unmanned remotely controlled submersible vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207725592U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985533A (en) * | 2017-12-26 | 2018-05-04 | 天津深之蓝海洋设备科技有限公司 | Unmanned remotely controlled submersible vehicle and its control method |
| WO2019128447A1 (en) * | 2017-12-26 | 2019-07-04 | 天津深之蓝海洋设备科技有限公司 | Remotely operated underwater vehicle and control method therefor |
| CN116873129A (en) * | 2023-07-21 | 2023-10-13 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
-
2017
- 2017-12-26 CN CN201721850732.5U patent/CN207725592U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985533A (en) * | 2017-12-26 | 2018-05-04 | 天津深之蓝海洋设备科技有限公司 | Unmanned remotely controlled submersible vehicle and its control method |
| WO2019128447A1 (en) * | 2017-12-26 | 2019-07-04 | 天津深之蓝海洋设备科技有限公司 | Remotely operated underwater vehicle and control method therefor |
| CN107985533B (en) * | 2017-12-26 | 2020-06-09 | 天津深之蓝海洋设备科技有限公司 | Unmanned remote control submersible and control method thereof |
| US10988218B2 (en) | 2017-12-26 | 2021-04-27 | Tianjin Deepfar Ocean Technology Co., Ltd. | Remotely operated underwater vehicle and control method therefor |
| CN116873129A (en) * | 2023-07-21 | 2023-10-13 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
| CN116873129B (en) * | 2023-07-21 | 2023-12-19 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180814 Effective date of abandoning: 20200609 |