CN209833919U - Autonomous cruising robot on water surface - Google Patents
Autonomous cruising robot on water surface Download PDFInfo
- Publication number
- CN209833919U CN209833919U CN201920646389.5U CN201920646389U CN209833919U CN 209833919 U CN209833919 U CN 209833919U CN 201920646389 U CN201920646389 U CN 201920646389U CN 209833919 U CN209833919 U CN 209833919U
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- Prior art keywords
- cavity
- motor
- water
- ship body
- threaded rod
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 63
- 230000001681 protective effect Effects 0.000 claims description 7
- 102220527236 Sphingosine 1-phosphate receptor 1_T80I_mutation Human genes 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 claims 1
- 239000003643 water by type Substances 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000009792 diffusion process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the robot, especially, for surface of water robot that independently cruises, which comprises a ship body, first cavity has been seted up on the hull, seted up on the top inner wall of first cavity and rotated the hole, rotate downthehole rotation and install the internal thread pipe, the threaded rod is installed to internal thread intraductal thread, the top of threaded rod extends to the internal thread outside of the tubes, the bottom of internal thread pipe extends to in the first cavity and fixed mounting has first conical gear, fixed mounting has first motor in the first cavity, fixed mounting has second conical gear on the output shaft of first motor, second conical gear and first conical gear meshing, the top fixed mounting of threaded rod has panoramic camera and three-dimensional laser radar. The utility model is simple in operation, the practicality is strong, can liberate the manpower effectively, raise the efficiency, reduce the operation cost, make waters detection management more comprehensive, high-efficient.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to the surface of water robot that independently cruises.
Background
When waters such as rivers, lakes and seas are monitored and managed, water quality of the managed waters needs to be monitored, and meanwhile, the managed waters need to be patrolled regularly, so that measures can be taken timely when accidents happen to the waters.
However, in the prior art, the water area is managed by people, the efficiency is low, the cost is high, and the managed water area cannot be well monitored, so that the water surface autonomous cruise robot is provided.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a solve the shortcoming that exists among the prior art, and the surface of water robot that independently cruises that provides.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the autonomous cruising robot on the water surface comprises a ship body, wherein a first cavity is formed in the ship body, a rotating hole is formed in the inner wall of the top of the first cavity, an internal thread pipe is rotatably arranged in the rotating hole, a threaded rod is arranged in the internal thread of the internal thread pipe, the top end of the threaded rod extends out of the internal thread pipe, the bottom end of the internal thread pipe extends into the first cavity and is fixedly provided with a first bevel gear, a first motor is fixedly arranged in the first cavity, a second bevel gear is fixedly arranged on an output shaft of the first motor and is meshed with the first bevel gear, a panoramic camera and a three-dimensional laser radar are fixedly arranged at the top end of the threaded rod, the three-dimensional laser radar is positioned above the panoramic camera, a second cavity is formed in the ship body, and a water pump and a support are fixedly arranged in the second, the water pump is characterized in that a rotating wheel is rotatably mounted on the support, a hose is arranged on the rotating wheel and is communicated with a water inlet of the water pump, a second motor is fixedly mounted on the support, an output shaft of the second motor is fixedly connected with the rotating wheel, a third cavity is formed in the ship body, a water outlet of the water pump is communicated with the third cavity, two floating blocks are symmetrically and fixedly mounted at the bottom of the ship body, a propeller is fixedly mounted at the bottoms of the two floating blocks, and a protective net is fixedly sleeved on the outer side of the propeller.
Preferably, the internal thread pipe is fixedly sleeved with a bearing, and an outer ring of the bearing is fixedly connected with the inner wall of the rotating hole.
Preferably, one end of the hose extends out of the second cavity and is fixedly provided with a balancing weight.
Preferably, the threaded rod is symmetrically provided with limiting grooves, the top of the ship body is symmetrically and fixedly provided with two limiting rods, and the limiting rods are connected with the inner walls of the corresponding limiting grooves in a sliding mode.
Preferably, the protective net is made of iron materials.
Preferably, a sonar is fixedly installed at the bottom of the ship body, and the model of the sonar is T80F.
Preferably, a differential GPS module is arranged on the ship body, and the model of the differential GPS module is XW-GI 5651.
Preferably, the hull is fixedly provided with an ultraviolet lamp, and the hull is fixedly provided with a plurality of ultrasonic distance measuring sensors.
Compared with the prior art, the beneficial effects of the utility model are that: through the cooperation of the three-dimensional laser radar, the ultrasonic distance measuring sensor, the sonar, the differential GPS module, the ultraviolet lamp and the panoramic camera, when the device is used, perfect obstacle avoidance can be realized by depending on the three-dimensional laser radar, the ultrasonic distance measuring sensor and the sonar, once an obstacle exists on a flight path, the device can automatically detour to avoid collision, the flight path can be accurately determined by the differential GPS module, the ultraviolet lamp can realize very obvious fluorescent reaction, the diffusion condition of oil stains in water can be accurately observed, the device is very effective in monitoring water body pollution, and the panoramic camera can transmit images in real time;
the propellers can be controlled to rotate by the automatic control system to realize the movement of the ship body, and meanwhile, the rotating speeds of the two propellers can be controlled to realize the steering of the ship body;
the water pump, the rotating wheel, the hose, the balancing weight, the second motor and the third cavity are matched, the second motor is started, the second motor drives the rotating wheel to rotate, the hose enters the water under the action of the balancing weight, the depth of the hose in the water can be adjusted, the water pump is started, the water pump pumps the water into the third cavity, and water samples with different water levels can be collected;
the height of the panoramic camera and the height of the three-dimensional laser radar can be changed, observation is convenient, meanwhile, the gravity center of the ship body is reduced, and the ship body moves more stably;
the utility model is simple in operation, the practicality is strong, can liberate the manpower effectively, raise the efficiency, reduce the operation cost, make waters detection management more comprehensive, high-efficient.
Drawings
FIG. 1 is a schematic sectional view of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic cross-sectional view of the middle reel of the present invention;
FIG. 4 is a side cross-sectional structural view of FIG. 1;
fig. 5 is a schematic top view of the structure shown in fig. 1.
In the figure: 1. a hull; 2. a first cavity; 3. rotating the hole; 4. an internally threaded tube; 5. a threaded rod; 6. a first bevel gear; 7. a first motor; 8. a second bevel gear; 9. a panoramic camera; 10. a three-dimensional laser radar; 11. a second cavity; 12. a water pump; 13. a support; 14. a rotating wheel; 15. a hose; 16. a second motor; 17. a third cavity; 18. floating blocks; 19. a propeller; 20. and (4) a protective net.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, the embodiment provides an autonomous cruising robot on water surface, which includes a hull 1, the hull 1 is provided with a first cavity 2, the inner wall of the top of the first cavity 2 is provided with a rotation hole 3, an internal thread tube 4 is rotatably installed in the rotation hole 3, a threaded rod 5 is installed in the internal thread of the internal thread tube 4, the top end of the threaded rod 5 extends out of the internal thread tube 4, the bottom end of the internal thread tube 4 extends into the first cavity 2 and is fixedly installed with a first bevel gear 6, a first motor 7 is fixedly installed in the first cavity 2, an output shaft of the first motor 7 is fixedly installed with a second bevel gear 8, the second bevel gear 8 is engaged with the first bevel gear 6, the top end of the threaded rod 5 is fixedly installed with a panoramic camera 9 and a three-dimensional laser radar 10, the three-dimensional laser radar 10 is located above the panoramic camera 9, the hull 1 is, a water pump 12 and a support 13 are fixedly installed in the second cavity 11, a rotating wheel 14 is rotatably installed on the support 13, a hose 15 is arranged on the rotating wheel 14, the hose 15 is communicated with a water inlet of the water pump 12, a second motor 16 is fixedly installed on the support 13, an output shaft of the second motor 16 is fixedly connected with the rotating wheel 14, a third cavity 17 is formed in the ship body 1, a water outlet of the water pump 12 is communicated with the third cavity 17, two floating blocks 18 are symmetrically and fixedly installed at the bottom of the ship body 1, propellers 19 are fixedly installed at the bottoms of the two floating blocks 18, and protective nets 20 are fixedly sleeved on the outer sides of the propellers 19;
the bearing is fixedly sleeved on the internal thread pipe 4, the outer ring of the bearing is fixedly connected with the inner wall of the rotating hole 3, one end of the hose 15 extends out of the second cavity 11 and is fixedly provided with a balancing weight, the threaded rod 5 is symmetrically provided with a limiting groove, the top of the ship body 1 is symmetrically and fixedly provided with two limiting rods, the limiting rods are in sliding connection with the inner walls of the corresponding limiting grooves, the protective net 20 is made of iron material, the bottom of the ship body 1 is fixedly provided with a sonar of which the model is T80F, the ship body 1 is provided with a differential GPS module of which the model is XW-GI5651, the ship body 1 is fixedly provided with an ultraviolet lamp, the ship body 1 is fixedly provided with a plurality of ultrasonic ranging sensors, and when the device is used, the device depends on the three-dimensional laser radar, the ultrasonic ranging sensors and the sonar, can realize perfect obstacle avoidance, once the barrier exists on the navigation line, the navigation line can automatically detour to avoid collision, the navigation line can be accurately determined through a differential GPS module, an ultraviolet lamp can realize very obvious fluorescent reaction, the diffusion condition of oil stain in water can be accurately observed, the monitoring on water pollution is very effective, a panoramic camera 9 can transmit images in real time, an automatic control system can control a propeller 19 to rotate to realize the motion of a ship body 1, meanwhile, the rotating speed of two propellers 19 can be controlled to realize the steering of the ship body 1, a second motor is started through the matching of a water pump, a rotating wheel, a hose, a balancing weight, a second motor and a third cavity, the second motor drives the rotating wheel to rotate, the hose enters the water under the action of the balancing weight, the depth of the hose in the water can be adjusted, the water pump is started, the water pump pumps the water into the third cavity, can gather the water sample of different water levels, through the hull, the internal thread pipe, the threaded rod, first bevel gear, first motor and second bevel gear cooperate, and simultaneously, start first motor, first motor drives second bevel gear and rotates, second bevel gear drives first bevel gear and rotates, first bevel gear drives the internal thread pipe and rotates, the internal thread pipe drives the threaded rod up-and-down motion, can change panoramic camera 9 and three-dimensional laser radar's height, conveniently observe, and simultaneously, reduce the focus of hull, make the hull motion more stable, the utility model is simple in operation, the practicality is strong, can liberate the manpower effectively, raise the efficiency, reduce the operation cost, make the waters detect the management more comprehensive, high-efficient.
The working principle is as follows: the utility model discloses an outside is equipped with automatic control system and dock, and control system controls the normal work of robot, and the dock can charge to the robot, is equipped with robotic arm in the dock, can take sample and rubbish in the hull 1 automatically, the utility model discloses in, the specification of hull 1 is 4.4m 2.5m, and the model of three-dimensional laser radar 10 is VLP-16, and the model of panoramic camera 9 is Insta360PRO, and the model of ultrasonic ranging sensor is KS 136;
when the system is used, the three-dimensional laser radar 10, the ultrasonic distance measuring sensor and the sonar are used, so that the complete obstacle avoidance can be realized, once an obstacle exists on a flight path, the flight path can automatically detour to avoid collision, the flight path can be accurately determined through the differential GPS module, the ultraviolet lamp can realize very obvious fluorescence reaction, the diffusion condition of oil stains in water can be accurately observed, the system is very effective in monitoring water body pollution, and the panoramic camera 9 can transmit images in real time;
the propellers 19 can be controlled to rotate by an automatic control system to realize the movement of the ship body 1, and meanwhile, the rotating speeds of the two propellers 19 can be controlled to realize the steering of the ship body 1;
the second motor 16 is started, the second motor 16 drives the rotating wheel 14 to rotate, the hose 15 enters the water under the action of the balancing weight, the depth of the hose 15 in the water can be adjusted, the water pump 12 is started, the water pump 12 pumps the water into the third cavity 17, and water samples with different water levels can be collected;
simultaneously, start first motor 7, first motor 7 drives second bevel gear 8 and rotates, and second bevel gear 8 drives first bevel gear 6 and rotates, and first bevel gear 6 drives internal thread pipe 4 and rotates, and internal thread pipe 4 drives threaded rod 5 and moves from top to bottom, can change the height that panorama was made a video recording 9 and three-dimensional laser radar 10, conveniently observes, simultaneously, reduces the focus of hull 1, makes the motion of hull 1 more stable.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. The water surface autonomous cruising robot comprises a ship body (1) and is characterized in that a first cavity (2) is formed in the ship body (1), a rotating hole (3) is formed in the inner wall of the top of the first cavity (2), an internal threaded pipe (4) is installed in the rotating hole (3), a threaded rod (5) is installed in the internal thread of the internal threaded pipe (4), the top end of the threaded rod (5) extends out of the internal threaded pipe (4), the bottom end of the internal threaded pipe (4) extends into the first cavity (2) and is fixedly provided with a first bevel gear (6), a first motor (7) is fixedly installed in the first cavity (2), a second bevel gear (8) is fixedly installed on an output shaft of the first motor (7), the second bevel gear (8) is meshed with the first bevel gear (6), and a panoramic camera (9) and a three-dimensional laser radar (10) are fixedly installed at the top end of the threaded rod (5), the three-dimensional laser radar (10) is positioned above the panoramic camera (9), a second cavity (11) is formed in the ship body (1), a water pump (12) and a support (13) are fixedly installed in the second cavity (11), a rotating wheel (14) is installed on the support (13) in a rotating mode, a hose (15) is arranged on the rotating wheel (14), the hose (15) is communicated with a water inlet of the water pump (12), a second motor (16) is fixedly installed on the support (13), an output shaft of the second motor (16) is fixedly connected with the rotating wheel (14), a third cavity (17) is formed in the ship body (1), a water outlet of the water pump (12) is communicated with the third cavity (17), two floating blocks (18) are symmetrically and fixedly installed at the bottom of the ship body (1), and propellers (19) are fixedly installed at the bottoms of the two floating blocks (18), and a protective net (20) is fixedly sleeved on the outer side of the propeller (19).
2. The water surface autonomous cruise robot according to claim 1, characterized in that a bearing is fixedly sleeved on the internal threaded pipe (4), and the outer ring of the bearing is fixedly connected with the inner wall of the rotating hole (3).
3. The surface autonomous cruise robot according to claim 1, characterized in that one end of said hose (15) extends outside the second cavity (11) and is fixedly mounted with a counterweight.
4. The water surface autonomous cruise robot according to claim 1, characterized in that the threaded rod (5) is symmetrically provided with a limiting groove, the top of the hull (1) is symmetrically and fixedly provided with two limiting rods, and the limiting rods are slidably connected with the inner wall of the corresponding limiting groove.
5. The water surface autonomous cruise robot according to claim 1, characterized in that the protective net (20) is made of ferrous material.
6. The water surface autonomous cruise robot according to claim 1, characterized in that a sonar with model number T80F is fixedly installed at the bottom of the hull (1).
7. The water surface autonomous cruise robot according to claim 1, characterized in that a differential GPS module is arranged on said hull (1) and the model number of the differential GPS module is XW-GI 5651.
8. The water surface autonomous cruise robot according to claim 1, characterized in that an ultraviolet lamp is fixedly mounted on the hull (1), and a plurality of ultrasonic distance measuring sensors are fixedly mounted on the hull (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920646389.5U CN209833919U (en) | 2019-05-08 | 2019-05-08 | Autonomous cruising robot on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920646389.5U CN209833919U (en) | 2019-05-08 | 2019-05-08 | Autonomous cruising robot on water surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209833919U true CN209833919U (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920646389.5U Expired - Fee Related CN209833919U (en) | 2019-05-08 | 2019-05-08 | Autonomous cruising robot on water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209833919U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053722A (en) * | 2019-05-08 | 2019-07-26 | 麦普锐思(深圳)智能科技有限公司 | Water surface autonomous cruise robot |
| CN111003109A (en) * | 2019-12-26 | 2020-04-14 | 成都清妙创意设计有限公司 | Multi-angle shooting remote control ship |
-
2019
- 2019-05-08 CN CN201920646389.5U patent/CN209833919U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053722A (en) * | 2019-05-08 | 2019-07-26 | 麦普锐思(深圳)智能科技有限公司 | Water surface autonomous cruise robot |
| CN111003109A (en) * | 2019-12-26 | 2020-04-14 | 成都清妙创意设计有限公司 | Multi-angle shooting remote control ship |
| CN111003109B (en) * | 2019-12-26 | 2021-06-15 | 嵊州市雾非雾机械设备商行 | Multi-angle shooting remote control ship |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191224 |