CN212588523U - Internet of things underwater operation system - Google Patents
Internet of things underwater operation system Download PDFInfo
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- CN212588523U CN212588523U CN202021606498.3U CN202021606498U CN212588523U CN 212588523 U CN212588523 U CN 212588523U CN 202021606498 U CN202021606498 U CN 202021606498U CN 212588523 U CN212588523 U CN 212588523U
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Abstract
The utility model relates to an unmanned underwater vehicle field provides thing networking underwater operation system, and this system includes: the underwater robot is provided with a camera device for observing an underwater environment, a sensor for acquiring underwater environment information and a mechanical claw for grabbing a sample; the upper computer is in communication connection with the underwater robot, can control the underwater robot to move underwater and the mechanical claw to act, and can also receive pictures shot by a camera device in the underwater robot and underwater environment information collected by a sensor; the Internet of things system comprises an NB-IoT module and an NB-IoT base station, the NB-IoT module is in communication connection with the upper computer and can collect data collected by the upper computer, and the NB-IoT base station is in communication connection with the NB-IoT module and can transmit the data collected by the NB-IoT module to an Internet network or a server. The utility model provides a thing networking underwater operation system can satisfy long-range, deep sea aquaculture production and scientific research demand to the robot.
Description
Technical Field
The utility model relates to an unmanned submersible field, concretely relates to thing networking underwater operation system.
Background
With the development of the domestic mariculture industry, aquaculture enterprises and individuals urgently need to apply underwater robots to aquaculture production and scientific research to monitor the underwater aquaculture water quality and the growth condition of plants in real time. The existing underwater robots are divided into two types, one type is called as ROV (remote operated vehicle), the existing ROV technology is mature, and a complete industry is formed, so that the existing underwater robots are widely applied to the aspects of emergency rescue, seabed exploration, marine oil exploration, seabed pipeline laying and the like; the other underwater robot is a cabled robot, the underwater robot is controlled in a mode of directly connecting a cable, and due to the safety, the high efficiency and the sustainability of the underwater robot, the underwater robot is suitable for aquaculture in shallow sea close to the shore.
In the present stage, the requirements of high labor intensity, poor operation environment, large modern mariculture area and more manpower for detecting and acquiring information exist in culture and harvest seasons, culture enterprises and individuals urgently need to apply the underwater robot to remote and deep sea aquaculture production and scientific research, and the robot needs to perform underwater operation and can also perform real-time monitoring on the underwater culture water quality and the plant growth condition.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to improve a thing networking underwater operation system to satisfy long-range, deep sea aquaculture production and scientific research demand to the robot.
In order to achieve the above object, the utility model provides a thing networking underwater operation system adopts following technical scheme:
an internet of things underwater operation system, comprising:
the underwater robot is provided with a camera device for observing an underwater environment, a sensor for acquiring underwater environment information and a mechanical claw for grabbing a sample;
the upper computer is in communication connection with the underwater robot, can control the underwater robot to move underwater and the mechanical claw to act, and can also receive pictures shot by a camera device in the underwater robot and underwater environment information collected by a sensor;
the Internet of things system comprises an NB-IoT module and an NB-IoT base station, wherein the NB-IoT module is in communication connection with an upper computer and can collect data collected by the upper computer, and the NB-IoT base station is in communication connection with the NB-IoT module and can transmit the data collected by the NB-IoT module to an Internet network or a server.
Further, underwater robot includes the shell, the top of shell is the rectangle, and all is provided with first rotor in four edges on shell top, and first rotor includes the revolving axle and sets up the screw on the revolving axle outer peripheral face, can drive underwater robot during first rotor action and move on the upper and lower direction, and underwater robot advances the both sides of retreating the direction and is provided with the second rotor in the front, and the second rotor includes the revolving axle and sets up the screw on the revolving axle outer peripheral face, can drive underwater robot during the second rotor action in the front rear direction.
Furthermore, the direction of the rotation axis of the rotating shaft in the first rotor and/or the second rotor is adjustable so as to adjust the reaction force of the propellers in the corresponding rotors in contact with water flow.
Furthermore, more than two groups of propellers are arranged in the first rotor wing and/or the second rotor wing at intervals along the axial direction of the rotating shaft, and the propellers are uniformly distributed along the circumferential direction of the corresponding rotating shaft.
Further, the first and/or second rotor is provided with a hover fast power response unit.
Furthermore, the shell of the underwater robot comprises a top plate and a bottom plate which are opposite in the up-down direction, and two side plates which can be connected with the top plate and the bottom plate respectively, the extending direction of the side plates is parallel to the advancing direction of the underwater robot, the top plate, the bottom plate and the two side plates form a square tubular structure in a surrounding mode, and openings are formed in two ends of the square tubular structure in the advancing direction of the underwater robot.
Furthermore, the second rotor wing is arranged in a space surrounded by the side plate, the top plate and the bottom plate.
Furthermore, be provided with control module in the square tubular structure, control module includes the control module casing, is provided with the controller in the control module casing, controller and camera device, sensor, gripper and first, second rotor communication connection, and camera device installs in the control module casing.
Furthermore, the control module shell comprises a cylinder, the axis of the cylinder is parallel to the advancing direction of the underwater robot, a hemispherical transparent cover is hermetically installed at the front end of the cylinder, the camera device is located in a hemispherical space surrounded by the hemispherical transparent cover, and an opening for allowing a cable and an electric wire to pass through is formed in the rear end of the cylinder.
Furthermore, the sensor includes a humidity sensor which is located in the control module shell and used for acquiring humidity information of the circuit environment in the control module, and a PH sensor, a temperature sensor and a pressure sensor which are located outside the control module shell and soaked in water.
Has the advantages that: the utility model provides a host computer and underwater robot communication connection can control underwater robot and carry out underwater operation, and control underwater robot monitors marine product growth situation and sea water information, has effectively reduced mariculture operation personnel's intensity of labour. Meanwhile, the sensor is fixed on the robot and moves along with the robot, so that the environmental information of any place in the underwater culture area can be movably detected, the cost is effectively reduced, and the problem of maintenance difficulty is solved. In addition, the upper computer is in communication connection with the Internet of things, and information is sent to the Internet network or the server to form an intelligent monitoring management system, so that the detection capability of a user on a marine ranch is enhanced, and the underwater robot can become a tool widely applied to the mariculture industry. Compared with the traditional Internet of things communication mode, the NB-IoT technology improves the gain by 20dB, namely improves the capability of a coverage area by 100 times, has the characteristics of strong link, high coverage and low power consumption, and is more suitable for the communication requirements of wide offshore sea areas.
Drawings
Fig. 1 is a schematic structural view of an embodiment 1 of the underwater operation system of the internet of things in the utility model;
FIG. 2 is a schematic structural diagram of the underwater robot shown in FIG. 1;
FIG. 3 is a schematic diagram of the interface of the EODS software of FIG. 1;
FIG. 4 is a schematic diagram of data collected by the underwater robot of FIG. 1;
in the figure:
10-underwater robot; 11-an upper end plate; 12-concave lower fixing plate; 13-side fixing plate; 14-a first rotor; 15-a second rotor; 16-a control module; 17-a gripper; 18-a power supply unit; 19-a lighting lamp; 20-an upper computer; a 30-NB-IoT module; a 40-NB-IoT base station; 50-a sensor group; 51-a pH sensor; 52-a pressure sensor; 53-a gyroscope; 54-temperature sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The following combines the embodiment to be right the utility model discloses well thing networking underwater operation system's characteristic and performance do further detailed description.
The utility model discloses well thing networking is embodiment 1 of operating system under water: as shown in fig. 1, the internet-of-things underwater operation system mainly includes three parts, namely an underwater robot 10 for performing operation in water, an upper computer 20 for an operator to use, and an internet-of-things system for establishing communication with the upper computer 20.
As shown in fig. 2, the underwater robot 10 includes a housing including an upper end plate 11 as a top plate, a concave lower fixing plate 12 as a bottom plate, and a side fixing plate 13 as a side plate. The upper end plate 11 is rectangular and has four corners, and the projection of the concave lower fixing plate 12 in the vertical direction is concave and has a notch. The number of the side fixing plates 13 of the shell is two, the upper end face and the lower end face of each side fixing plate 13 are respectively connected with the upper end plate 11 and the concave lower fixing plate 12 through threaded fasteners, the extending direction of each side fixing plate 13 is parallel to the advancing direction of the underwater robot 10, so that the shell of the underwater robot 10 is surrounded to form a square-tube-shaped structure, the front end and the rear end of the square-tube-shaped structure in the advancing direction of the underwater robot 10 are provided with an opening, and the openings at the two ends are communicated with the inner space of the square-tube-shaped structure.
Four corners of the upper end plate 11 are provided with first rotors 14 capable of driving the underwater robot 10 to move in the up-down direction, the first rotors 14 include rotating shafts, and propellers arranged at intervals around the axes of the rotating shafts are arranged on the outer peripheral surfaces of the rotating shafts. Inside the side fixing plate 13, two second rotary wings 15 are arranged in a left-right manner, and the second rotary wings 15 are located at the middle position of the side fixing plate 13, i.e., the waist. The second rotor 15 includes a rotating shaft, and propellers arranged around the axis of the rotating shaft at intervals are provided on the outer circumferential surface of the rotating shaft, and the second rotor 15 can drive the underwater robot 10 to move in the front-rear direction when moving. The first rotor 14 and the second rotor 15 further include a protective casing to prevent the propeller from being damaged by foreign matter when rotating. Meanwhile, the axes of the rotating shafts in the first rotor wing 14 and the second rotor wing 15 are adjustable to adjust the reaction force of the propeller in the corresponding rotor wing contacting with water flow, and the first rotor wing 14 and the second rotor wing 15 are provided with a quick power response system capable of hovering based on PID (proportion integration differentiation), so that when a fault occurs, the machine can be suddenly stopped and emergently floated, and each rotor wing is provided with an independent driving motor.
A control module 16 is provided within the housing of the underwater robot 10, the control module 16 comprising a control module housing having a controller provided therein. The control module casing includes the drum, and the axis of drum is parallel with underwater robot 10 direction of advance, and the opening part of drum front end passes through leather packing seal installation and has hemispherical translucent cover, installs camera device in the hemisphere space that hemispherical translucent cover encloses, and camera device includes main camera and cloud platform. The main camera is fixed on the cloud platform, and the cloud platform has two degrees of freedom, can realize level and vertically rotation, is connected through the USB wire between main camera and the controller, can transmit the image of gathering for the controller.
The rear end of drum is provided with the opening that supplies cable and electric wire to pass through, and the controller passes through the electric wire to be connected with first rotor 14, second rotor 15 to the control corresponds rotor work. Illumination lamps 19 are further provided on the left and right sides of the control module 16 to help the underwater robot 10 to capture a clear underwater picture.
The underwater robot 10 is provided with a sensor group 50, which is divided into a humidity sensor located in the control module housing to acquire humidity information of the circuit environment in the control module 16, and a PH sensor 51, a temperature sensor 54 and a pressure sensor 52 located outside the control module housing and immersed in water according to different collected data. And the sensor positioned outside the control module shell is connected with the controller through a corresponding signal wire. Meanwhile, a gyroscope 53 is also provided in the underwater robot 10.
The concave lower fixing plate 12 is provided with a mechanical claw 17, the extending position of the mechanical claw 17 corresponds to the gap of the concave lower fixing plate 12, and the tail part of the mechanical claw 17 is of a telescopic rod structure and can extend 30cm out of the robot main body. And the mechanical claw 17 can be opened and closed within the range of 0-180 degrees at a higher speed, and can effectively grab a sample underwater. A power source specially used for providing power for the mechanical claw 17 is also fixed on the shell.
A power supply unit 18 for supplying power to the underwater robot 10 is arranged on the top surface of the upper end plate 11, and the power supply unit 18 comprises a voltage stabilizing module, a lithium battery, a power switch, a power transmission line and the like; the output voltage of the lithium battery is converted into power supply by the control module 16 through the voltage stabilizing module. The output voltage of the lithium battery is converted into the voltage required by the controller through the voltage stabilizing module and the output power port, the voltage required by the sensor, the main camera and the rotor motor is provided by converting the voltage of the battery through the controller module, and the voltage required by the power supply of the battery is provided by 220v industrial voltage from the input power port. The rear portion of the power supply unit 18 is provided with a charging interface, the input end of the charging interface is connected with the input end of the power switch in parallel and is respectively connected with the anode and the cathode of the output end of the lithium battery, and direct power supply and independent power supply of the battery can be achieved when the power supply unit is charged externally. The output end of the switch is connected with the input end of the voltage stabilizing module; the normally open interface of the starting switch, the normally closed interface of the emergency stop switch, the driver power interface and the controller power interface are sequentially connected in series and then connected to the output end of the voltage stabilizing module. Both the first rotor 14 and the second rotor 15 have separate supply lines connected to the power supply unit 18.
The utility model provides a host computer 20 includes fuselage hardware and EODS software. The hardware of the machine body can realize the functions of a touch screen, networking and software running, and the control is realized through the function keys; the EODS software consists of a control interface and a display interface, wherein the display interface is divided into a data display interface and an image display interface. The upper computer 20 is connected with a controller of the underwater robot 10 through a cable, and can send instructions to control corresponding actions of the underwater robot 10 like the controller. Meanwhile, the images shot by the underwater robot 10 and the underwater environment information collected by the sensor can also be transmitted to the upper computer 20.
As shown in fig. 3, the EODS software includes three modules, i.e., device monitoring, video monitoring, and map monitoring. The equipment monitoring comprises the humidity in a cabin (a control module shell), the temperature outside the cabin, the temperature in the cabin, the pH value of seawater, the seawater pressure, the oxygen content, the speed control, the illumination control, the push rod and the manipulator state display; the video monitoring can display images shot by the machine in real time; monitoring a map, namely displaying the longitude and latitude of the robot and a plane map of the area; accessible host computer 20 keyboard carries out the function to the robot and controls, advances W, retreats S, and rising Q descends E, and the left and right turns respectively is A, D, opens light K, closes light T, gripper 17 protraction F, the shrink back G, Y that hovers, all functions scram U, gripper 17 open and close respectively Z and X.
And an NB-IoT switching module, a starting NB-IoT switching module and an upper computer 20 interface which are connected are also arranged at the interface of the upper computer 20. The EODS software information is connected with the NB-IoT switching module through wifi or a switching line.
The utility model provides an Internet of things system includes NB-IoT module 30 and NB-IoT basic station 40, and NB-IoT module 30 and host computer 20 communication connection can collect the data that host computer 20 gathered, and NB-IoT basic station 40 and NB-IoT module 30 communication connection can transmit the data that NB-IoT module 30 collected to Internet network or server.
In this embodiment, the underwater robot 10 is connected to the upper computer 20 through a wired cable; the underwater robot 10 provided with the main camera and the sensor group is placed in a marine ranch, underwater images and operation environment information in the marine ranch are acquired in real time through client software EODS installed on an upper computer 20 in the control of the upper computer 20, instructions are sent to the underwater robot 10 through a series of wired cables by using the client software EODS, the instructions are sent to a controller through a control module 16 on the underwater robot 10, the controller controls a rotor and a mechanical claw 17 driver according to the instructions, and further the motor is controlled to operate, so that the operation of monitoring seawater indexes and marine product images in real time in the marine product growth process of the robot is realized.
A series of NB-IoT signal repeaters are arranged between the upper computer 20 and the Internet cloud to construct a wireless local area network; the data collected by the upper computer 20 are transmitted to the NB-IoT module and then transmitted to the Internet through the NB-IoT base station 40, and a user can directly read the data from the NB-IoT module, can also read the data from the Internet, or can read the required data from a server. When the data is transmitted to the Internet network, as shown in fig. 4, the specific data information can be directly obtained from the corresponding website.
When the underwater robot 10 needs to work, firstly, a power switch and a starting switch of the robot are started, robot operation software EODS on the upper computer 20 end is started, and a wifi connection button is selected to enable a wireless terminal to be connected with a wireless local area network (based on NB-IoT); the motion of the underwater robot 10 based on NB-IoT (narrowband Internet of things) is realized by operating each functional button on the upper computer 20 end; the camera and the sensor group feed back the acquired seawater information and image information to the user, the user can guide the robot to drive the robot to the next designated position through the functional buttons of the upper computer 20 according to the underwater information provided by the main camera, and the environmental information of the marine ranch is mastered according to the detection data provided by the sensor group.
When the underwater robot 10 runs into an underwater terrain which is not easy to pass through, the four first rotor wings 14 are controlled to drive to transmit power to the propellers of the corresponding rotor wings, the four rotor wings drive water flow by virtue of helical blades, the moving direction is changed by reacting force with seawater, and the four rotor wings can enable four opposite angles of the robot to rise at different heights by virtue of different rotating speeds, so that the inclination of a machine body is realized; the rotor propellers on the two sides of the waist rotate to provide advancing power, so that the flexible advancing of the robot body is guaranteed.
Of course, the utility model provides a thing networking underwater operation system is not limited to the technical scheme that above-mentioned embodiment 1 provided, can also adopt the technical scheme that following embodiment provided.
The utility model discloses well thing networking is embodiment 2 of operating system under water: the difference with the above embodiment is that in this embodiment, the top of the underwater robot is rectangular, six first rotors are correspondingly arranged, the six rotors include four rotors located at corners, and two rotors located at waist, and connecting lines between the six rotors form a shape like a Chinese character 'ri'.
The utility model discloses well thing networking is embodiment 3 of operating system under water: the difference from the above embodiment is that in this embodiment, the rotating shaft of at least one of the first rotor and the second rotor is fixed, extends only in the up-down direction or the front-back direction, and cannot swing.
The utility model discloses well thing networking is embodiment 4 of operating system under water: the difference from the above embodiment is that in this embodiment, more than two sets of propellers are arranged at intervals in the axial direction of the rotating shaft in the first rotor and/or the second rotor, and each set of propellers is uniformly distributed along the circumferential direction of the corresponding rotating shaft.
The utility model discloses well thing networking is embodiment 5 of operating system under water: the difference with the above described embodiment is that in this embodiment the first rotor and/or the second rotor is no longer provided with a hover fast power response unit.
The utility model discloses well thing networking is embodiment 6 of operating system under water: the difference from the above embodiments is that in this embodiment, the housing of the underwater robot is a cylindrical structure, both ends of the cylindrical structure are open, the control module is disposed inside the cylindrical structure, and the first rotor is disposed on the outer circumferential surface of the cylindrical structure.
The utility model discloses well thing networking is embodiment 7 of operating system under water: the difference from the above described embodiment is that in this embodiment the second rotor is arranged at the outer side of the side plate, i.e. the second rotor is located outside the underwater robot housing.
The utility model discloses well thing networking is embodiment 8 of operating system under water: the difference from the above embodiment is that in this embodiment, the control module housing is of a box-type structure, and the front wall of the box-type structure facing the front of the underwater robot in the moving direction is a transparent plate, so that the camera device in the box-type structure can shoot underwater images through the front wall.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above-mentioned embodiments are only embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An internet of things underwater operation system is characterized by comprising:
the underwater robot is provided with a camera device for observing an underwater environment, a sensor for acquiring underwater environment information and a mechanical claw for grabbing a sample;
the upper computer is in communication connection with the underwater robot, can control the underwater robot to move underwater and the mechanical claw to act, and can also receive pictures shot by a camera device in the underwater robot and underwater environment information collected by a sensor;
the Internet of things system comprises an NB-IoT module and an NB-IoT base station, wherein the NB-IoT module is in communication connection with an upper computer and can collect data collected by the upper computer, and the NB-IoT base station is in communication connection with the NB-IoT module and can transmit the data collected by the NB-IoT module to an Internet network or a server;
the sensor is including being located the control module casing, in order to acquire the humidity transducer of control module internal circuit environment humidity information to and be located the control module casing outside and soak PH sensor, temperature sensor and the pressure sensor in aqueous.
2. The internet of things underwater operation system according to claim 1, wherein the underwater robot comprises a housing, the top of the housing is rectangular, four corners of the top of the housing are provided with first rotors, each first rotor comprises a rotating shaft and a propeller arranged on the outer peripheral surface of the rotating shaft, the underwater robot can be driven to move in the up-and-down direction when the first rotors move, the underwater robot is provided with second rotors on two sides in the forward and backward directions, each second rotor comprises a rotating shaft and a propeller arranged on the outer peripheral surface of the rotating shaft, and the underwater robot can be driven to move in the forward and backward directions when the second rotors move.
3. The internet of things underwater operation system of claim 2, wherein the direction of the axis of rotation of the rotor shaft in the first rotor and/or the second rotor is adjustable to adjust the reaction force of the propeller in the corresponding rotor in contact with water flow.
4. The internet of things underwater operation system according to claim 2 or 3, wherein more than two groups of propellers are arranged in the first rotor and/or the second rotor at intervals along the axial direction of the rotating shaft, and the propellers in each group are uniformly distributed along the circumferential direction of the corresponding rotating shaft.
5. The internet of things underwater working system according to claim 1, wherein the first rotor and/or the second rotor is provided with a hover-able fast power response unit.
6. The internet of things underwater operation system according to claim 2, wherein the housing of the underwater robot comprises a top plate and a bottom plate which are opposite in the up-down direction, and two side plates which can be connected with the top plate and the bottom plate respectively, the extending direction of the side plates is parallel to the advancing direction of the underwater robot, the top plate, the bottom plate and the two side plates form a square tubular structure, and two ends of the square tubular structure in the advancing direction of the underwater robot are provided with openings.
7. The internet of things underwater operation system of claim 6, wherein the second rotor wing is arranged in a space surrounded by the side plates, the top plate and the bottom plate.
8. The internet of things underwater operation system according to claim 6 or 7, wherein a control module is arranged in the square cylindrical structure, the control module comprises a control module shell, a controller is arranged in the control module shell, and the controller is in communication connection with the camera device, the sensor, the mechanical claw, the first rotor wing and the second rotor wing.
9. The internet of things underwater operation system according to claim 8, wherein the control module shell comprises a cylinder, the axis of the cylinder is parallel to the advancing direction of the underwater robot, a hemispherical transparent cover is hermetically mounted at the front end of the cylinder, the camera device is located in a hemispherical space surrounded by the hemispherical transparent cover, and an opening for allowing a cable and an electric wire to pass through is formed in the rear end of the cylinder.
10. The internet of things underwater operation system of claim 8, wherein the camera device is mounted within a control module housing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021606498.3U CN212588523U (en) | 2020-08-05 | 2020-08-05 | Internet of things underwater operation system |
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| CN202021606498.3U CN212588523U (en) | 2020-08-05 | 2020-08-05 | Internet of things underwater operation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
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Granted publication date: 20210223 Termination date: 20210805 |