CN209167861U - A kind of underwater robot, remote controler and underwater investigation system - Google Patents
A kind of underwater robot, remote controler and underwater investigation system Download PDFInfo
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- CN209167861U CN209167861U CN201821941529.3U CN201821941529U CN209167861U CN 209167861 U CN209167861 U CN 209167861U CN 201821941529 U CN201821941529 U CN 201821941529U CN 209167861 U CN209167861 U CN 209167861U
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- underwater robot
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Abstract
The utility model discloses a kind of underwater robot, remote controler and underwater investigation systems, wherein, the underwater robot, comprising: the first micro-control unit MCU, the first sonar module, first transducer, drive module, data acquisition facility and the first power line communication PLC module；The first transducer is electrically connected with the first sonar module, and the first transducer is wirelessly connect with remote controler；The first sonar module is electrically connected with the first MCU；First MCU is electrically connected with the drive module and data acquisition facility respectively；First PLC module is electrically connected by data line with the remote controler；First PLC module is electrically connected with the first MCU, and communication mode is flexible, easy to use, it is ensured that the stability and reliability of communication.
Description
Technical field
The utility model embodiment be related to undersea detection technical field more particularly to a kind of underwater robot, remote controler and
Underwater investigation system.
Background technique
Underwater robot is also referred to as unmanned diving under water device, it is a kind of dress that people can be replaced to complete certain task under water
It sets, in shape more like a microminiature submarine, the own shape of underwater robot is designed according to underwater operation requirement,
Underwater robot is to answer various technology concentrations such as artificial intelligence, detection identification information fusion, intelligent control, the system integration
For same underwater carrier.Underwater robot is in subsea topographic survey, environmental data collecting, resource investigation, underwater camera etc.
It is more and more applied in field.
Currently, underwater robot is mainly to have cable underwater robot, the communication mode of remote controler and underwater robot is only
It is single communication mode, communication mode is not flexible.
Utility model content
The utility model provides a kind of underwater robot, remote controler and underwater investigation system, and communication mode is flexible, uses
It is convenient, and guarantee the stability and reliability of communication.
In a first aspect, the utility model embodiment provides a kind of underwater robot, comprising:
First micro-control unit MCU, the first sonar module, first transducer, drive module, data acquisition facility and first
Power line communication PLC module；
The first transducer is electrically connected with the first sonar module, and the first transducer and remote controler pass through wirelessly
Mode connects；
The first sonar module is electrically connected with the first MCU；
First MCU is electrically connected with the drive module and data acquisition facility respectively.
First PLC module is electrically connected by data line with the remote controler；
First PLC module is electrically connected with the first MCU.
Second aspect, the utility model embodiment additionally provide a kind of for controlling the remote controler of underwater robot, comprising:
2nd MCU, the second sonar module, the second transducer and the second PLC module；
2nd MCU and the second sonar module be respectively provided with on the water surface；2nd MCU and the rising tone
Module electrical connection；
In water, the second transducer is electrically connected with the second sonar module for the second transducer setting；
The second transducer is wirelessly connect with underwater robot；
Second PLC module is electrically connected with the 2nd MCU；
Second PLC module is electrically connected by data line with underwater robot.
The third aspect, the utility model embodiment additionally provide a kind of underwater investigation system, including the utility model is implemented
The robot and remote controler provided by the embodiment of the utility model that example provides.
Technical solution provided by the embodiment of the utility model, underwater robot realize nothing by first transducer and remote controler
Line connection, and wired connection is realized by the first PLC module and remote controler, communication mode is flexible, and it is easy to use, it can be according to need
Communication mode is selected, when one of communication mode breaks down, it is also ensured that normal communication guarantees the stabilization of communication
Property and reliability.
Detailed description of the invention
Fig. 1 is a kind of underwater robot structure schematic diagram provided by the embodiment of the utility model；
Fig. 2 is a kind of underwater robot structure schematic diagram provided by the embodiment of the utility model；
Fig. 3 is provided by the embodiment of the utility model a kind of for controlling the remote controller structure schematic diagram of underwater robot；
Fig. 4 is a kind of underwater investigation system structural schematic diagram provided by the embodiment of the utility model；
Fig. 5 is the interaction schematic diagram that remote controler and underwater robot provided by the embodiment of the utility model establish communication；
Fig. 6 is a kind of underwater investigation system topology example figure provided by the embodiment of the utility model；
Fig. 7 is a kind of remote controler and underwater robot wire communication schematic diagram provided by the embodiment of the utility model；
Fig. 8 is a kind of remote controler and underwater robot wireless communication schematic diagram provided by the embodiment of the utility model.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Fig. 1 is a kind of underwater robot structure schematic diagram provided by the embodiment of the utility model, as shown in Figure 1, this is practical
The underwater robot that new embodiment provides includes: the first micro-control unit MCU 11, the first sonar module 12, first transducer
13, drive module 14, data acquisition facility 15 and the first power line communication PLC module 16.
Wherein, first transducer 13 is electrically connected with the first sonar module 12, and first transducer 13 and remote controler pass through wirelessly
Mode connects；First sonar module 12 is electrically connected with the first MCU 11；First MCU 11 is obtained with drive module 14 and data respectively
Device 15 is taken to be electrically connected；First PLC module 16 is electrically connected by data line with remote controler；First PLC module 16 and the first MCU
11 electrical connections.Wherein, optionally, first transducer 13 is wirelessly connect with the second transducer in remote controler；First
PLC module 16 is electrically connected by data line with the second PLC module in remote controler.
Wherein, underwater robot can be communicated wirelessly with remote controler, specifically may is that the first transducing
Device 13 receives the acoustic signals for the control underwater robot that remote controler is sent, and acoustic signals are converted into electric signal, and by the electricity
Signal is sent to the first sonar module 12.First sonar module 12, handles the electric signal, and the electric signal of processing is sent out
Give the first MCU 11；Wherein, the first sonar module 12 such as can be filtered to electric signal, be depressured at the processing.First MCU 11
It is worked based on the electric signal control drive module 14 received, so that underwater robot is moved.Or can be specifically: number
Obtain the exercise data and the data such as external environment of underwater robot according to acquisition device 15, the data that will acquire are sent to the
One MCU 11, the first MCU 11 receive the data that data acquisition facility 15 is sent, and data are sent to the as electronic signals
One sonar module 12, the first sonar module 12 such as can boost to the electric signal, be filtered at the processing, and by the electric signal of processing
It is sent to first transducer 13, the electric signal received is converted into acoustic signals by first transducer 13, and is sent to remote controler,
So that remote controler obtains the data of underwater robot.
Wherein, underwater robot can also be communicated by wired mode with remote controler.Specifically: underwater robot
The control signal that remote controler is sent is received by the first PLC module 16, or can also be by the first PLC module 16 to remote controler
Send data.
Underwater robot provided by the embodiment of the utility model realizes wireless connection by first transducer and remote controler,
And wired connection is realized by the first PLC module and remote controler, and communication mode is flexible, and it is easy to use, it can according to need selection
Communication mode, when one of communication mode breaks down, it is also ensured that normal communication, guarantee communication stability and can
By property.
Optionally, on the basis of underwater robot provided by the above embodiment, as shown in Fig. 2, underwater robot also wraps
Include the first hub 17；First PLC module 16 is electrically connected by the first hub 17 with the first MCU 11.
Optionally, data acquisition facility includes: sensor 152 and underwater camera 151；Sensor 152 and the first MCU 11
Electrical connection；Underwater camera 151 is electrically connected by the first hub 17 with the first MCU 11.Optionally, drive module includes motor
141。
Wherein, underwater camera 151 can shoot the picture or video of underwater robot ambient enviroment.Sensor 152 can
To obtain the exercise data of underwater robot and the environmental data of position etc., for example, speed data, water pressure data etc..
The effect of first hub can be the effect of interface, connect multiple equipment with the first MCU, reduce the number of ports of the first MCU
Amount makes the first MCU have general applicability, reduces the cost of manufacture of the first MCU.
Fig. 3 be it is provided by the embodiment of the utility model a kind of for controlling the remote controller structure schematic diagram of underwater robot,
As shown in figure 3, remote controler provided by the embodiment of the utility model includes: the 2nd MCU 21, the second sonar module 22, the second transducing
Device 23 and the second PLC module 24.
Wherein, the 2nd MCU 21 and the second sonar module 22 be respectively provided with on the water surface；2nd MCU 21 and the second sonar
Module 22 is electrically connected；Second transducer 23 is arranged in water, and second transducer 23 is electrically connected with the second sonar module 22；Second changes
Energy device 23 is wirelessly connect with underwater robot；2nd PLC module 24 is electrically connected with the 2nd MCU 21；2nd PLC mould
Block 24 is electrically connected by data line with underwater robot.
In the utility model embodiment, in water due to underwater robot setting, when underwater robot and remote controler into
When row wireless communication, need to transmit signal of communication by water, as a result, by the way that second transducer 23 to be arranged in water, Ke Yibao
The communication quality of card and underwater robot, and electric wire number is converted by acoustic signals by second transducer 23, using sound wave
Signal is communicated with underwater robot, can more preferably be communicated, avoid electric signal decay in water it is more caused by communication
Second-rate problem.
Optionally, second transducer 23 is wirelessly connect with the first transducer in underwater robot；2nd PLC
Module 24 is electrically connected by data line with the first PLC module in underwater robot.Remote controler passes through second transducer 23 as a result,
It is wirelessly connect with the first transducer in underwater robot, and by the second PLC module 24 and underwater robot
The connection of the first PLC module, communication mode is flexible, easy to use, can according to need selection communication mode, when one of which is logical
When letter mode breaks down, it is also ensured that normal communication guarantees the stability and reliability of communication, and passes through the second transducing
Electric wire number is converted into acoustic signals by device, is communicated using acoustic signals with the first transducer in underwater robot, can be with
More preferably carry out wireless communication, avoid electric signal decay in water it is more caused by the poor problem of communication quality.
Optionally, as shown in figure 3, remote controler further includes the second hub 25；Second PLC module 24 passes through the second hub
25 are electrically connected with the 2nd MCU 21.Wherein, the second hub 25 can provide multiple interfaces, for multiple equipment and the 2nd PLC
Module 24 is attached.Optionally, remote controler further include: switching push button (does not regard out) in Fig. 3, for switching remote controler and underwater
The communication pattern of robot.Wherein, user can stir switching push button, to select the communication mould of remote controler and underwater robot
Formula.Wherein, the communication pattern of remote controler and underwater robot includes wired communication mode and communication.
Wherein, when remote controler and underwater robot are wirelessly communicated, the 2nd MCU 21 can send use
In the control signal of control underwater robot, and the second sonar module 22 is sent control signals to, the second sonar module 22 can
It is handled so that signal will be controlled, and the control signal of processing is sent to second transducer 23, second transducer 23 will control
Signal is converted into acoustic signals, and is sent to underwater robot.Or it can be second transducer 23 and send underwater robot
Acoustic signals be converted into electric signal, wherein acoustic signals carrying underwater robot data；And it is passed through the second sonar module 22
It is defeated by the 2nd MCU 21, so that the 2nd MCU 21 obtains the data of underwater robot.
When remote controler and underwater robot are communicated by wired mode, it may is that the 2nd MCU 21 believes control
It number is sent to the second PLC module 24, the second PLC module 24 will control signal and be sent to underwater robot by data line, so that
Underwater robot executes corresponding movement, or can be the 2nd MCU 21 and receive underwater robot by the second PLC module 24
The data of transmission.
A kind of remote controler provided by the embodiment of the utility model, remote controler are passed through by second transducer and underwater robot
Wireless mode connection, and be electrically connected with underwater robot by data line by the second PLC module, communication mode is flexible, uses
It is convenient, it can according to need selection communication mode, when one of communication mode breaks down, it is also ensured that positive normal open
Letter guarantees the stability and reliability of communication, and electric wire number is converted into acoustic signals by second transducer, using sound wave
Signal is communicated with underwater robot, can more preferably be carried out wireless communication, and avoids electric signal from decaying in water more caused
The poor problem of communication quality
Fig. 4 is a kind of underwater investigation system structural schematic diagram provided by the embodiment of the utility model, as shown in figure 4, this reality
It include that underwater robot 1 and the utility model provided by the embodiment of the utility model are real with the underwater investigation system of novel offer
The remote controler 2 of example offer is provided.
As shown in figure 5, the process that remote controler 2 and underwater robot 1 establish communication can be following process: user can lead to
Cross the communication pattern of switching push button the selection remote controler and underwater robot of remote controler.Communication pattern can be wired communication mode
And communication.When user is switched to communication pattern by switching push button, remote controler 2 sends logical to underwater robot 1
Letter instruction when underwater robot 1 receives the communication instruction, is identified with notifying 1 communication pattern of underwater robot based on communication instruction
Communication pattern sends feedback information, when remote controler 2 receives the feedback information, remote controler 2 and underwater to remote controler 2
People 1 establishes communication connection.Wherein, when switching push button is switched to wired communication modes by user, remote controler 2 passes through wire communication
Mode to underwater robot 1 send communication instruction, and underwater robot 1 by way of wire communication to remote controler 2 send out
Send feedback message.Similarly, when switching push button is switched to wireless communications mode by user, the side of remote controler 2 by wireless communication
Formula sends communication instruction to underwater robot 1, and underwater robot 1 is sent instead to remote controler 2 through wireless communication
Present message.
Fig. 6 is a kind of underwater investigation system topology example figure provided by the embodiment of the utility model, and Fig. 7 is the utility model
A kind of remote controler and underwater robot wire communication schematic diagram that embodiment provides.When remote controler and underwater robot pass through it is wired
When communication mode communicates, as shown in Figure 6 and Figure 7, remote controler can send control signal to underwater robot, wherein by second
MCU 21 issues control signal, controls signal through the second hub 25 and the second PLC module 24, is transferred to underwater robot.Water
Lower robot receives control signal by the first PLC module 16, controls signal through the first hub 17 and is transmitted to the first MCU 11,
First MCU 11 is based on control signal control motor 141 and works, so that underwater robot executes corresponding actions.Work as underwater robot
When sending data to remote controler, the data that the first MCU 11 obtains underwater camera 151, sensor 152 is sent, by data through first
Hub 17 and the first PLC module 16 are sent to remote controler.The second PLC module 24 in remote controler receives underwater robot and sends
Data, and the 2nd MCU 21 is transmitted to by the second hub 25, so that remote controler obtains the data of underwater robot, to water
Lower robot is controlled.
Fig. 8 is a kind of remote controler and underwater robot wireless communication schematic diagram provided by the embodiment of the utility model.Such as Fig. 6
With shown in Fig. 8, when remote controler wirelessly sends control signal to underwater robot, the 2nd MCU 21 can be sent
For controlling the control signal of underwater robot, and the second sonar module 22 is sent control signals to, the second sonar module 22
Control signal can be handled, and the control signal of processing is sent to second transducer 23, second transducer 23 will be controlled
Signal processed is converted into acoustic signals, and is sent to underwater robot, and underwater robot receives the sound wave by first transducer 13
Signal, and acoustic signals are converted into electric signal, the electric signal processing such as are filtered, are depressured through the first sonar module 12, will
The electric signal transmission of processing gives the first MCU 11, and the first MCU 11 controls motor 141 based on the electric signal received, to control
The movement of underwater robot.Or the data that underwater robot will acquire are sent to the first sonar module as electronic signals
12, which is handled through the first sonar module 12, is transferred to first transducer 13, and first transducer 13 turns the electric signal
It changes acoustic signals into, and is sent to remote controler.The acoustic signals that second transducer 23 in remote controler sends underwater robot
It is converted into electric signal, wherein the data of acoustic signals carrying underwater robot；And second is transferred to through the second sonar module 22
MCU 21, so that the 2nd MCU 21 obtains the data of underwater robot.
Underwater investigation system provided by the embodiment of the utility model, underwater robot pass through in first transducer and remote controler
Second transducer realize and be wirelessly connected that underwater robot is realized by the second PLC module in the first PLC module and remote controler
Wired connection, communication mode is flexible, easy to use, can according to need selection communication mode, when one of communication mode is sent out
When raw failure, it is also ensured that normal communication guarantees the stability and reliability of communication.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (10)
1. a kind of underwater robot characterized by comprising
First micro-control unit MCU, the first sonar module, first transducer, drive module, data acquisition facility and the first electric power
Line communicates PLC module；
The first transducer is electrically connected with the first sonar module, and the first transducer and remote controler are wirelessly
Connection；
The first sonar module is electrically connected with the first MCU；
First MCU is electrically connected with the drive module and data acquisition facility respectively；
First PLC module is electrically connected by data line with the remote controler；
First PLC module is electrically connected with the first MCU.
2. underwater robot according to claim 1, which is characterized in that
The first transducer is wirelessly connect with the second transducer in the remote controler；
First PLC module is electrically connected by data line with the second PLC module in the remote controler.
3. underwater robot according to claim 1 or 2, which is characterized in that further include: the first hub；
First PLC module is electrically connected by first hub with the first MCU.
4. underwater robot according to claim 3, which is characterized in that the data acquisition facility include: sensor and
Underwater camera；
The sensor is electrically connected with the first MCU；
The underwater camera is electrically connected by first hub with the first MCU.
5. underwater robot according to claim 1, which is characterized in that the drive module includes motor.
6. a kind of for controlling the remote controler of underwater robot characterized by comprising the 2nd MCU, the second sonar module,
Two energy converters and the second PLC module；
2nd MCU and the second sonar module be respectively provided with on the water surface；2nd MCU and the second sonar mould
Block electrical connection；
In water, the second transducer is electrically connected with the second sonar module for the second transducer setting；
The second transducer is wirelessly connect with underwater robot；
Second PLC module is electrically connected with the 2nd MCU；
Second PLC module is electrically connected by data line with underwater robot.
7. remote controler according to claim 6, which is characterized in that
The second transducer is wirelessly connect with the first transducer in underwater robot；
Second PLC module is electrically connected by data line with the first PLC module in the underwater robot.
8. remote controler according to claim 6 or 7, which is characterized in that the remote controler further includes the second hub；
Second PLC module is electrically connected by second hub with the 2nd MCU.
9. remote controler according to claim 8, which is characterized in that further include: switching push button；
The switching push button, for switching the communication pattern of the remote controler and underwater robot.
10. a kind of underwater investigation system, which is characterized in that including robot as described in any one in claim 1-5 and as weighed
Benefit requires the described in any item remote controlers of 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821941529.3U CN209167861U (en) | 2018-11-23 | 2018-11-23 | A kind of underwater robot, remote controler and underwater investigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821941529.3U CN209167861U (en) | 2018-11-23 | 2018-11-23 | A kind of underwater robot, remote controler and underwater investigation system |
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| Publication Number | Publication Date |
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| CN209167861U true CN209167861U (en) | 2019-07-26 |
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| CN201821941529.3U Active CN209167861U (en) | 2018-11-23 | 2018-11-23 | A kind of underwater robot, remote controler and underwater investigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111681407A (en) * | 2020-06-17 | 2020-09-18 | 恒为科技（上海）股份有限公司 | Remote control method, device and system for robot |
-
2018
- 2018-11-23 CN CN201821941529.3U patent/CN209167861U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111681407A (en) * | 2020-06-17 | 2020-09-18 | 恒为科技（上海）股份有限公司 | Remote control method, device and system for robot |
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