CN213581346U - Underwater distance measuring device for underwater robot - Google Patents
Underwater distance measuring device for underwater robot Download PDFInfo
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- CN213581346U CN213581346U CN202022625877.3U CN202022625877U CN213581346U CN 213581346 U CN213581346 U CN 213581346U CN 202022625877 U CN202022625877 U CN 202022625877U CN 213581346 U CN213581346 U CN 213581346U
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Abstract
The utility model relates to the technical field of underwater measurement, in particular to an underwater distance measuring device for an underwater robot, which comprises an underwater distance measuring device main body, the underwater robot, an auxiliary floating barrel and an infrared distance measuring device, wherein the underwater robot is fixedly connected in the middle of the underwater distance measuring device main body, a main control table is fixedly connected in the middle of the top of the underwater robot, a wireless control terminal is embedded and connected in the middle of the front surface of the main control table, the two ends of the underwater robot are connected with the auxiliary floating barrel in an overlapping way, and the middle inner side of the bottom of the auxiliary floating barrel is embedded and connected with a distance measuring device mounting groove which embodies the disassembly and assembly property and the angle regulator of the utility model, greatly improves the flexibility degree of the internal structure of the infrared distance measuring device, the underwater robot plays the effect of auxiliary distance measuring and positioning, embodies the auxiliary infrared distance measuring device of the utility model, embodies the utility model discloses an applicability has extensive use prospect in the future.
Description
Technical Field
The utility model relates to an underwater surveying technical field specifically is an underwater ranging device for underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The underwater environment is in severe danger, and the diving depth of people is limited, so that the underwater robot becomes an important tool for developing oceans, and the unmanned remote control submersible mainly comprises the following components: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.
The underwater ranging device of the existing underwater robot is characterized in that the underwater ranging device generally adopts a single ranging laser structure to detect the distance of an object in water, any auxiliary ranging device positioning structure is not arranged to assist ranging work, follow-up measurement data cannot be ensured to be accurate, meanwhile, the underwater ranging device of the existing underwater robot is fixed and installed, and therefore the structure of the underwater ranging device is generally fixed and installed, follow-up underwater ranging work is caused, corresponding adjustment cannot be carried out according to measuring objects of different position angles, and certain use limitation exists.
Therefore, how to design an underwater distance measuring device for an underwater robot becomes a problem to be solved currently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an underwater ranging device for underwater robot to solve above-mentioned background art and propose that measured data's accurate degree is poor and have certain use limitation problem.
In order to achieve the above object, the utility model provides a following technical scheme: an underwater distance measuring device for an underwater robot comprises an underwater distance measuring device main body, the underwater robot, an auxiliary floating barrel and an infrared distance measuring device, wherein the underwater robot is fixedly connected in the middle of the underwater distance measuring device main body, a main control table is fixedly connected in the middle of the top of the underwater robot, a wireless control terminal is embedded and connected in the middle of the front side of the main control table, the floating table is connected in a nesting mode on the periphery of the bottom of the main control table, a drain hole is embedded and connected in the front side of the floating table, an ultrasonic probe is lapped and connected in the middle of the bottom of the main control table, the auxiliary floating barrel is lapped and connected at two ends of the underwater robot, an outer barrel protection barrel is connected in a nesting mode on the periphery of the auxiliary floating barrel, an air cabin is embedded and connected in the inner side of the outer protecting barrel, a splicing end is embedded and connected in the middle of the left end of the auxiliary floating barrel, and the, the utility model discloses an infrared distance measuring device, including infrared ray distancer, top fixedly connected with floats bucket installation end, fixedly connected with terminal block in the middle of infrared ray distancer's the inside, fixedly connected with motor in the middle of the bottom of terminal block, the bottom swing joint of motor has the horizontal platform of rotating, infrared ray distancer's inside bottom overlap joint links to each other has the infrared ray to visit the lamp.
Preferably, a waterproof inner barrel is embedded and connected in the middle of the inside of the outer protection barrel, a storage battery is fixedly connected to the left side of the inside of the waterproof inner barrel, and a circuit board is fixedly connected to the bottom end of the right side of the inside of the waterproof inner barrel.
Preferably, a stable disc is connected to the periphery of the floating platform in a nested manner.
Preferably, the inner side in the middle of the bottom end of the auxiliary floating barrel is embedded and connected with a distance meter mounting groove.
Preferably, two sides of the bottom end of the transverse rotating table are movably connected with angle adjusters.
Preferably, the underwater robot consists of a main control table in the middle of the top, a wireless control terminal on the inner side of the middle of the front face of the main control table, a floating table on the periphery of the bottom of the main control table, a drain hole on the inner side of the front face of the floating table, a stabilizing disc on the periphery of the floating table and an ultrasonic probe in the middle of the bottom end of the main control table.
Preferably, the infrared range finder comprises a floating barrel mounting end at the top, a wiring table in the middle of the inside, a motor at the bottom end of the wiring table, a transverse rotating table at the bottom end of the motor, angle regulators at two sides of the bottom end of the transverse rotating table and infrared detection lamps at the bottom end of the angle regulators.
Compared with the prior art, the beneficial effects of the utility model are that:
1. this kind of range unit under water for underwater robot, before the user measures the object distance under water through underwater robot, can be earlier through the ultrasonic transducer of its bottom, make to carry out preliminary ultrasonic positioning measurement to the environment under water, make reef or the barrier of shadow hiding under water in time to discover through ultrasonic transducer, can tentatively carry out preliminary positioning work to the measuring object of required range finding simultaneously, underwater robot touches the reef danger when can the follow-up distance measurement of greatly reduced, and the accurate degree of follow-up range finding data is improved to a certain extent, play the effect of supplementary range finding location, embodied the utility model discloses it is complementary.
2. This kind of a range unit under water for underwater robot, infrared range finder knows infrared range finder 4 and adopts infrared range finding structure itself to have with low costs, and energy consumption beneficial aspect such as little can very big degree reduce the range finding cost, and the user can be directed against the measuring object of different positions and angle simultaneously, visits the lamp through motor and angle adjuster to the infrared ray and carries out corresponding angle position control, and very big degree improves its follow-up application scope, has embodied the utility model discloses an suitability.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of a part of the structure of the underwater robot of the present invention;
FIG. 3 is a schematic sectional view of the auxiliary floating barrel of the present invention;
FIG. 4 is a schematic sectional view of the infrared range finder according to the present invention;
in the figure: 1. the underwater ranging device comprises an underwater ranging device body, 2, an underwater robot, 201, a main control console, 202, a wireless control terminal, 203, a floating platform, 204, a water drainage hole, 205, a stabilizing disc, 206, an ultrasonic probe, 3, an auxiliary floating barrel, 301, a protective outer barrel, 302, an air cabin, 303, a splicing end, 304, a waterproof inner barrel, 305, a storage battery, 306, a circuit board, 307, a range finder mounting groove, 4, an infrared range finder, 401, a floating barrel mounting end, 402, a wiring board, 403, a motor, 404, a transverse rotating platform, 405, an angle adjuster, 406 and an infrared detection lamp.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
In a first embodiment, please refer to fig. 1-4, the present invention provides a technical solution: an underwater distance measuring device for an underwater robot comprises an underwater distance measuring device main body 1, an underwater robot 2, an auxiliary floating barrel 3 and an infrared distance measuring device 4, wherein the underwater robot 2 is fixedly connected to the middle of the underwater distance measuring device main body 1, a main control table 201 is fixedly connected to the middle of the top of the underwater robot 2, a wireless control terminal 202 is embedded and connected to the inner side of the middle of the front of the main control table 201, a floating table 203 is embedded and connected to the periphery of the bottom of the main control table 201, a drain hole 204 is embedded and connected to the front of the floating table 203, an ultrasonic probe 206 is connected to the middle of the bottom of the main control table 201 in an overlapping manner, the auxiliary floating barrel 3 is overlapped and connected to the two ends of the underwater robot 2, a protective outer barrel 301 is embedded and connected to the periphery of the auxiliary floating barrel 3, an air chamber 302 is embedded and connected to the inner side of the protective outer barrel 301, the embedding is connected with interior bucket 304 in waterproof in the middle of the inside of outer bucket 301 of protection, the inside left side fixedly connected with battery 305 of bucket 304 in waterproof, the inside right side bottom fixedly connected with circuit board 306 of bucket 304 in waterproof, the embedding is connected with infrared range finder 4 in the middle of the bottom of supplementary floating bucket 3, the top fixedly connected with of infrared range finder 4 floats bucket installation end 401, fixedly connected with terminal 402 in the middle of the inside of infrared range finder 4, fixedly connected with motor 403 in the middle of the bottom of terminal 402, the bottom swing joint of motor 403 has horizontal rotation platform 404, the inside bottom overlap joint of infrared range finder 4 links to each other and has infrared spy lamp 406.
Preferably, the peripheral nested connection of floating platform 203 has stable dish 205, at first need know stable dish 205 mainly by the PC material make and the stable dish 205 middle air slot of drawing in the air, can cooperate floating platform 203 to improve 2 holistic showy support intensity of underwater robot, improve area of contact between 2 bottoms of underwater robot and the surface of water simultaneously, ensure 2 follow-up underwater robot or the surface of water holistic stability when carrying out the operation, can play the effect of wrapping up the protection to 2 peripheries of underwater robot to a certain extent through stable dish 205 simultaneously, collision damage takes place with reef under water when avoiding 2 follow-up operations of underwater robot, embodied the utility model discloses a stable protection nature.
Preferably, the inner side of the middle of the bottom of the auxiliary floating barrel 3 is embedded and connected with a distance meter mounting groove 307, when a user needs to mount the infrared distance meter 4 at the bottom of the auxiliary floating barrel 3, a lead at the inner side of the top of the infrared distance meter 4 can be inserted into the terminal at the inner side of the distance meter mounting groove 307, then the infrared distance meter 4 can be inserted into the distance meter mounting groove 307 by aligning the floating barrel mounting end 401 at the top, then the user can rotate the infrared distance meter 4 clockwise to drive the peripheral screw thread of the floating barrel mounting end 401 at the top to move with the screw thread at the inner side of the distance meter mounting groove 307, thereby the infrared distance meter 4 and the auxiliary floating barrel 3 can be mounted in a splicing way rapidly, and meanwhile, the subsequent user can conveniently and rapidly dismount the auxiliary floating barrel 3 and the infrared distance meter 4 through the screw thread mounting way, be convenient for follow-up to infrared range finder 4's periodic maintenance inspection work, embodied the utility model discloses a dismouting nature.
Preferably, both sides of the bottom end of the transverse rotating table 404 are movably connected with angle adjusters 405, firstly, it is required to know that the angle adjusters 405 mainly comprise top micro motors and middle electric telescopic rods, when a user needs to control the infrared detection lamps 406 to perform transverse angle adjustment, the user can press an external remote control device to send corresponding control instructions to the wireless control terminal 202, then the circuit board 306 in the auxiliary floating barrel 3 is started through the wireless control terminal 202, the bottom end of the circuit board 306 is started through the angle adjusters 405 connected with the conducting wires in a lap joint manner, the top micro motors of the angle adjusters 405 can drive the bottom telescopic rods to perform transverse angle turnover, so that the bottom infrared detection lamps 406 can be driven through the telescopic rods to perform corresponding angle adjustment, meanwhile, the user can select to start the telescopic rods as required, so as to push the bottom infrared detection lamps 406 to perform fine vertical height adjustment in the infrared distance measuring device 4, the auxiliary light-gathering work of the follow-up infrared detection lamp 406 is facilitated, the underwater propagation distance of follow-up infrared is increased, the flexibility of the internal structure of the infrared range finder 4 is greatly improved, and the use is controlled and adjusted by a user conveniently.
Preferably, the underwater robot 2 is composed of a central main control console 201 at the top, a wireless control terminal 202 at the central inner side of the front of the main control console 201, a floating console 203 at the periphery of the bottom of the main control console 201, a drain hole 204 at the inner side of the front of the floating console 203, a stabilizing disc 205 at the periphery of the floating console 203 and an ultrasonic probe 206 at the central bottom of the main control console 201, firstly, the main control console 201 is embedded in the top structure of the floating console 203, the floating console 203 can assist the whole underwater robot 2 to play a role of floating support when working on the water surface, meanwhile, the drain hole 204 arranged on the floating console 203 can effectively prevent the water accumulated at the top of the floating console 203 from influencing the stability of the underwater robot 2 when floating, and when a user measures the distance of an underwater object through the underwater robot 2, the ultrasonic probe 206 at the bottom can firstly perform preliminary ultrasonic positioning measurement on the underwater environment, make and in time discover reef or the barrier that shadow was hidden under water through ultrasonic probe 206, can tentatively carry out preliminary location work to the measuring object of required range finding simultaneously, underwater robot 2 touches the reef danger when can the follow-up distance measurement of greatly reduced to the certain degree improves the accurate degree of follow-up range finding data, plays the effect of supplementary range finding location, has embodied the utility model discloses an it is complementary.
Preferably, the infrared distance measuring device 4 is composed of a floating barrel mounting end 401 at the top, a wiring board 402 in the middle of the inside, a motor 403 at the bottom end of the wiring board 402, a transverse rotating board 404 at the bottom end of the motor 403, angle adjusters 405 at two sides of the bottom end of the transverse rotating board 404 and infrared detection lamps 406 at the bottom end of the angle adjusters 405, firstly, it is required to know that the infrared distance measuring structure adopted in the infrared distance measuring device 4 has the advantages of low cost, low energy consumption and the like, the distance measuring cost can be greatly reduced, meanwhile, the subsequent precision of distance measurement to a measured object can be improved to a certain extent through the two infrared distance measuring devices 4, the measurement data error can be greatly reduced by performing double positioning measurement, and then the motor 403 and the angle adjusters 405 in the infrared distance measuring device 4 can be controlled and started according to underwater measurement without auxiliary positioning of the ultrasonic probe 206, can drive the horizontal rotation platform 404 of bottom through motor 403, lamp 406 is visited to angle regulator 405 and infrared ray and carries out horizontal position control, later can drive the infrared ray through angle regulator 405 and visit lamp 406 and carry out horizontal angle control, make control infrared ray visit lamp 406 can aim at the measuring object of underwater required measurement, can visit lamp 406 to the measuring object of different positions and angle through motor 403 and angle regulator 405 and carry out corresponding angle position control to the infrared ray simultaneously, very big degree improves its follow-up application scope, has embodied the utility model discloses an applicability.
The working principle is as follows: first, when the user needs to install the infrared range finder 4 at the bottom of the auxiliary floating bucket 3, the wire at the inner side of the top of the infrared range finder 4 can be inserted into the wiring terminal at the inner side of the range finder installation groove 307, then the infrared range finder 4 can be inserted into the range finder installation groove 307 by aligning the floating bucket installation end 401 at the top thereof, then the user can rotate the infrared range finder 4 clockwise, so as to drive the peripheral screw thread of the floating barrel mounting end 401 at the top thereof and the inner screw thread of the range finder mounting groove 307 to move mutually, thereby the infrared distance measuring device 4 and the auxiliary floating barrel 3 can be spliced and installed quickly, meanwhile, the auxiliary floating barrel 3 and the infrared distance measuring device 4 can be conveniently and quickly disassembled by a subsequent user in a threaded installation mode, so that the subsequent regular maintenance and inspection work of the infrared distance measuring device 4 is facilitated, and the disassembly and assembly performance of the utility model is embodied;
then, it is required to know that the stabilizing disc 205 is mainly made of PC material and an air groove is hollowed in the middle of the stabilizing disc 205, which can cooperate with the floating platform 203 to improve the floating support strength of the whole underwater robot 2 and simultaneously improve the contact area between the bottom of the underwater robot 2 and the water surface, so as to ensure the whole stability of the underwater robot 2 during the subsequent operation under water or on the water surface, and simultaneously, the stabilizing disc 205 can play a certain role in wrapping and protecting the periphery of the underwater robot 2, so as to avoid collision and damage with underwater reef during the subsequent operation of the underwater robot 2, and embody the stable protection property of the utility model;
then, it is required to know that the main console 201 is embedded in the top structure of the floating platform 203, the floating platform 203 can assist the whole underwater robot 2 to play a role of floating support when operating on the water surface, meanwhile, the drainage holes 204 arranged on the floating platform 203 can effectively prevent the accumulated water at the top of the floating platform 203 from influencing the stability of the underwater robot 2 when floating, when a user measures the distance of an underwater object through the underwater robot 2, the user can firstly pass through the ultrasonic probe 206 at the bottom of the user to perform preliminary ultrasonic positioning measurement on the underwater environment, so that reef or obstacles hidden in the underwater shadow can be timely found through the ultrasonic probe 206, and meanwhile, preliminary positioning work can be performed on a measurement object needing distance measurement, the danger that the underwater robot 2 touches the reef during subsequent distance measurement can be greatly reduced, the accurate degree of subsequent distance measurement data can be improved to a certain extent, and the effect of auxiliary distance measurement and positioning can be achieved, embodies the assistance of the utility model;
then, the angle adjuster 405 is mainly composed of a top micro motor and a middle electric telescopic rod, when the user needs to control the infrared detection lamp 406 to adjust the transverse angle, the user can press the external remote control device to send a corresponding control instruction to the wireless control terminal 202, then the wireless control terminal 202 starts the circuit board 306 inside the auxiliary floating barrel 3, and starts the angle adjuster 405 with the bottom end connected by a lead lap joint through the circuit board 306, the top micro motor can drive the bottom telescopic rod to turn over the transverse angle through the angle adjuster 405, so that the bottom infrared detection lamp 406 can be driven to adjust the corresponding angle through the telescopic rod, and the user can select to start the telescopic rod according to the need to push the bottom infrared detection lamp 406 to finely adjust the height in the infrared distance measuring device 4, the subsequent infrared detection lamp 406 is convenient to assist in light condensation work, the underwater propagation distance of subsequent infrared rays is increased, the flexibility of the internal structure of the infrared distance meter 4 is greatly increased, and a user can conveniently control, adjust and use the infrared distance meter;
finally, it is known that the infrared distance measuring structure adopted in the infrared distance measuring device 4 has the advantages of low cost, low energy consumption and the like, and can greatly reduce the distance measuring cost, meanwhile, the accuracy of subsequent distance measurement of the measured object can be improved to a certain extent through the two infrared distance measuring devices 4, the error of the measured data can be greatly reduced through double positioning measurement, then the motor 403 and the angle adjuster 405 in the infrared distance measuring device 4 can be controlled and started according to underwater measurement without the auxiliary positioning of the ultrasonic probe 206, the transverse rotating table 404 at the bottom end, the angle adjuster 405 and the infrared detection lamp 406 can be driven by the motor 403 to carry out transverse position adjustment, then the infrared detection lamp 406 can be driven by the angle adjuster 405 to carry out transverse angle adjustment, so that the infrared detection lamp 406 can be controlled to be aligned with the measured object to be measured underwater, can carry out corresponding angle position control to infrared ray spy lamp 406 through motor 403 and angle adjuster 405 to the measuring object of different positions and angle simultaneously, very big degree improves its follow-up application scope, has embodied the utility model discloses an applicability, this kind is exactly this kind of a theory of operation that is used for underwater robot's range finding device under water.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an underwater ranging device for underwater robot, includes underwater ranging device main part (1), underwater robot (2), supplementary floating barrel (3) and infrared distance meter (4), its characterized in that: the underwater ranging device comprises an underwater ranging device main body (1), an underwater robot (2) is fixedly connected to the middle of the top of the underwater ranging device main body (1), a main control table (201) is fixedly connected to the middle of the top of the underwater robot (2), a wireless control terminal (202) is embedded and connected to the inner side of the middle of the front side of the main control table (201), a floating table (203) is connected to the periphery of the bottom of the main control table (201) in a nested mode, a drain hole (204) is embedded and connected to the front side of the floating table (203), an ultrasonic probe (206) is connected to the middle of the bottom of the main control table (201) in a lapped mode, auxiliary floating barrels (3) are connected to the two ends of the underwater robot (2) in a lapped and connected mode, protective outer barrels (301) are connected to the periphery of the auxiliary floating barrels (3) in a nested mode, an air cabin (302) is connected to the inner, embedding is connected with infrared range finder (4) in the middle of the bottom of supplementary floating bucket (3), the top fixedly connected with of infrared range finder (4) floats bucket installation end (401), fixedly connected with terminal block (402) in the middle of the inside of infrared range finder (4), fixedly connected with motor (403) in the middle of the bottom of terminal block (402), the bottom swing joint of motor (403) has horizontal rotation platform (404), the inside bottom overlap joint of infrared range finder (4) links to each other has infrared ray to visit lamp (406).
2. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: the protection outer barrel (301) is embedded and connected with a waterproof inner barrel (304) in the middle of the inner portion, a storage battery (305) is fixedly connected to the left side of the inner portion of the waterproof inner barrel (304), and a circuit board (306) is fixedly connected to the bottom end of the right side of the inner portion of the waterproof inner barrel (304).
3. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: the periphery of the floating platform (203) is connected with a stable disc (205) in a nested way.
4. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: the inner side in the middle of the bottom end of the auxiliary floating barrel (3) is embedded and connected with a distance meter mounting groove (307).
5. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: two sides of the bottom end of the transverse rotating table (404) are movably connected with angle adjusters (405).
6. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: the underwater robot (2) is composed of a main control console (201) in the middle of the top, a wireless control terminal (202) on the inner side of the middle of the front of the main control console (201), a floating platform (203) on the periphery of the bottom of the main control console (201), a drainage hole (204) on the inner side of the front of the floating platform (203), a stabilizing disc (205) on the periphery of the floating platform (203) and an ultrasonic probe (206) in the middle of the bottom end of the main control console (201).
7. An underwater distance measuring device for an underwater robot according to claim 1, characterized in that: the infrared distance measuring device (4) is composed of a floating barrel mounting end (401) at the top, a wiring table (402) in the middle of the inside, a motor (403) at the bottom end of the wiring table (402), a transverse rotating table (404) at the bottom end of the motor (403), angle regulators (405) on two sides of the bottom end of the transverse rotating table (404) and infrared detection lamps (406) at the bottom ends of the angle regulators (405).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022625877.3U CN213581346U (en) | 2020-11-13 | 2020-11-13 | Underwater distance measuring device for underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022625877.3U CN213581346U (en) | 2020-11-13 | 2020-11-13 | Underwater distance measuring device for underwater robot |
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| CN213581346U true CN213581346U (en) | 2021-06-29 |
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| CN202022625877.3U Active CN213581346U (en) | 2020-11-13 | 2020-11-13 | Underwater distance measuring device for underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115629392A (en) * | 2022-10-17 | 2023-01-20 | 盛东如东海上风力发电有限责任公司 | Underwater distance measuring device and method for underwater robot |
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2020
- 2020-11-13 CN CN202022625877.3U patent/CN213581346U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115629392A (en) * | 2022-10-17 | 2023-01-20 | 盛东如东海上风力发电有限责任公司 | Underwater distance measuring device and method for underwater robot |
| CN115629392B (en) * | 2022-10-17 | 2023-12-19 | 盛东如东海上风力发电有限责任公司 | Underwater ranging device and ranging method for underwater robot |
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