CN214608008U

CN214608008U - Portable underwater vehicle

Info

Publication number: CN214608008U
Application number: CN202121025691.2U
Authority: CN
Inventors: 李佳桐; 白青岗
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-13
Filing date: 2021-05-13
Publication date: 2021-11-05
Anticipated expiration: 2031-05-13

Abstract

The utility model relates to a portable underwater vehicle, which comprises a camera cabin, a control cabin, a steering engine installation cabin, a driving mechanism and a plurality of rudder wings, wherein the rudder wings and the driving mechanism are arranged in the steering engine installation cabin; the camera cabin is detachably connected with the control cabin, the control cabin is detachably connected with the steering engine mounting cabin, and rubber sealing rings are arranged at the detachably connected joints; the camera cabin is hemispherical, the control cabin is cylindrical, and the rudder wing is of a trapezoidal sheet structure and is detachably connected with the steering engine in the steering engine installation cabin. The utility model provides a portable underwater vehicle comprises several parts of camera cabin, control cabin, steering wheel installation cabin, actuating mechanism and a plurality of rudder wing, and each part can be dismantled the concatenation and form the underwater vehicle main part, and each part can be made respectively, and manufacturing cost can realize reducing by a wide margin to before the use, portable underwater vehicle can be in dispersed state, portable transportation.

Description

Portable underwater vehicle

Technical Field

The utility model relates to an underwater vehicle field especially relates to a portable underwater vehicle.

Background

With the continuous development of technology and the gradual increase of consumption level, the detection demand of people for the underwater field is continuously rising. According to scientific statistics, the scale of the related underwater detection instruments in China in the market in recent years is about 582.3 million yuan. Wherein, the market proportion of the related underwater exploration instruments of the resource exploration class is about 41.59 percent; the market proportion of safety monitoring type underwater detection related instruments is about 33.45 percent; the market proportion of the related search and rescue underwater detection instruments is about 11.57 percent. In addition, underwater detection technology is widely applied to various industries such as commercial and personal entertainment, aquaculture, research and research, cable laying and the like.

However, the submarine working environment is complex and bad, visibility is low, requirements for equipment and control systems are high, meanwhile, due to the fact that an industrial supply chain is immature, the product price is high, and the technical development of related underwater detection instruments is still in the early stage. For customers fond of underwater detection, small and portable underwater detectors have not been popularized in a large scale.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a portable underwater vehicle that addresses at least one of the problems mentioned above.

The utility model provides a portable underwater vehicle, including camera cabin, control cabin, steering wheel installation cabin, actuating mechanism and a plurality of rudder wing, the rudder wing with actuating mechanism all sets up in the steering wheel installation cabin;

the camera cabin is detachably connected with the control cabin, the control cabin is detachably connected with the steering engine mounting cabin, and rubber sealing rings are arranged at the detachably connected joints;

the camera cabin is hemispherical, the control cabin is cylindrical, and the rudder wing is of a trapezoidal sheet structure and is detachably connected with the steering engine in the steering engine installation cabin.

In one embodiment, the drive mechanism includes a propulsion motor and a propeller in power connection with the propulsion motor.

In one embodiment, the control cabin comprises a battery and a control circuit board, wherein the control circuit board comprises a power supply circuit, a battery power detection circuit, a buzzer alarm circuit, an STM32 main controller, an attitude sensor, a water pressure and water depth sensor, a camera module, a GPS positioning module, a wireless communication module, a steering engine driving circuit and a propulsion motor driving circuit.

In one embodiment, a first clamping groove is formed in the end face, facing the control cabin, of the camera cabin, and a first connecting convex ring is arranged on the end face, facing the camera cabin, of the control cabin and matched with the first clamping groove;

the control cabin is towards the terminal surface in steering wheel installation cabin is equipped with the second and connects the bulge loop, the steering wheel installation cabin is gone up towards the terminal surface in control cabin is equipped with the second joint groove, the second connect the bulge loop with second joint groove phase-match.

The embodiment of the utility model provides an in the technical scheme who provides bring following beneficial technological effect:

the utility model provides a portable underwater vehicle comprises several parts of camera cabin, control cabin, steering wheel installation cabin, actuating mechanism and a plurality of rudder wing, and each part can be dismantled the concatenation and form the underwater vehicle main part, and each part can be made respectively, and manufacturing cost can realize reducing by a wide margin to before the use, portable underwater vehicle can be in dispersed state, portable transportation.

Additional aspects and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic plan view of a portable underwater vehicle according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial three-dimensional structure of a portable underwater vehicle according to an embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Possible embodiments of the invention are given in the figures. The invention may, however, be embodied in many different forms and is not limited to the embodiments described herein by way of example only and with reference to the accompanying drawings. The embodiments described herein with reference to the drawings are illustrative for the purpose of providing a more thorough understanding of the present disclosure and are not to be construed as limiting the present disclosure. Furthermore, if a detailed description of known technologies is not necessary for illustrating the features of the present invention, such technical details may be omitted.

It will be understood by those within the relevant art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It is to be understood that the term "and/or" as used herein is intended to include all or any and all combinations of one or more of the associated listed items.

The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific embodiments.

The utility model provides a portable underwater vehicle, as shown in fig. 1 and fig. 2, comprises a camera cabin 100, a control cabin 200, a steering engine installation cabin 300, a driving mechanism 400 and a plurality of rudder wings 500, wherein the rudder wings 500 and the driving mechanism 400 are both arranged in the steering engine installation cabin 300;

the camera cabin 100 is detachably connected with the control cabin 200, the control cabin 200 is detachably connected with the steering engine mounting cabin 300, and rubber sealing rings are arranged at the detachably connected joints; the camera cabin 100 is hemispherical, the control cabin 200 is cylindrical, and the rudder wing 500 is in a trapezoidal sheet structure and is detachably connected with a steering engine in the steering engine installation cabin 300. The steering engine of the steering engine installation cabin 300 is a steering engine capable of steering by 180 degrees.

The utility model provides a portable underwater vehicle comprises camera cabin 100, control cabin 200, steering wheel installation cabin 300, actuating mechanism 400 and a plurality of rudder wing 500 several parts, and each part can be dismantled the concatenation and form the underwater vehicle main part, and each part can be made respectively, and manufacturing cost can realize descending by a wide margin to before the use, portable underwater vehicle can be in disperse state, portable transportation.

Optionally, the drive mechanism 400 includes a propulsion motor and a propeller in power connection with the propulsion motor. The driving mechanism 400 can specifically select a propeller as a main power unit, the propeller is common, and the production cost is low.

Optionally, the control cabin 200 includes a battery and a control circuit board, and the control circuit board includes a power supply circuit, a battery power detection circuit, a buzzer alarm circuit, an STM32 main controller, an attitude sensor, a water pressure water depth sensor, a camera module, a GPS positioning module, a wireless communication module, a steering engine driving circuit and a propulsion motor driving circuit. The battery in the control cabin 200 may be a removable 3S model airplane battery that serves as a power source to power the undersea vehicle. More specifically, the power circuit of the control cabin 200 comprises a voltage stabilizing circuit, a +5V voltage reducing circuit and a +3.3V voltage reducing circuit, wherein the voltage stabilizing circuit adopts a filter capacitor with a proper specification to reduce interference; the +5V voltage is used for supplying power to a steering engine driving circuit; the +3.3V voltage is used for supplying power to the main control chip and the sensor.

The battery power detection circuit of the control circuit board of the control cabin 200 is connected with the STM32 main controller through an ADC acquisition interface. The control cabin 200 controls the buzzer alarm circuit of the circuit board to be used for sounding alarm prompts such as insufficient electric quantity, damaged underwater vehicles, abnormal communication and the like. The control cabin 200 control circuit board attitude sensor MPU9250 is connected with the STM32 main controller through the IIC agreement for data such as the triaxial gyroscope, triaxial acceleration, triaxial magnetic field of acquisition ware. The control cabin 200 control circuit board water depth water pressure sensor is connected with the STM32 main controller through the IIC protocol and is used for obtaining the navigation depth data of the underwater vehicle.

The GPS positioning module of the control cabin 200 is connected with the STM32 main controller through a serial port, and is used for acquiring longitude and latitude data when the underwater vehicle floats out of the water surface and positioning or correcting the position of the underwater vehicle. The wireless communication module of the control cabin 200 can comprise a Bluetooth module, and the Bluetooth module is connected with the STM32 main controller through a serial port and can be used for modifying PID control parameters of the underwater vehicle, so that the attitude of the underwater vehicle can be adjusted stably. The wireless communication module can be connected with the STM32 main controller through an SPI protocol and is used for receiving a control signal of a remote controller when the underwater vehicle floats out of the water surface or in a shallow water area.

Optionally, as shown in fig. 2, an end surface of the camera cabin 100 facing the control cabin 200 is provided with a first clamping groove (not shown in the figure), an end surface of the control cabin 200 facing the camera cabin 100 is provided with a first connecting convex ring 210, and the first connecting convex ring 210 is matched with the first clamping groove; the terminal surface towards steering wheel installation cabin 300 in control cabin 200 is equipped with second and connects bulge loop 220, and steering wheel installation cabin 300 is equipped with second joint groove 310 towards the terminal surface of control cabin 200, and bulge loop 220 is connected with second joint groove 310 phase-match to the second. Through assorted joint groove and connection bulge loop, can ensure that two modularization cabin sections that are connected can firmly accurately connect, form coherent integrated structure. The connection of dismantling that mentions in this application can specifically adopt the screw to go on, and the screw can be followed portable underwater vehicle's surface and nailed into inside the underwater vehicle at connection position place, for example sets up corresponding screw hole on connecting bulge loop and joint groove, with screw in wherein, realizes the connection of two cabin sections. Of course, the positions of the connection convex ring and the clamping groove can be exchanged, and the connection convex ring is not limited to be arranged only on the control cabin 200, and can also be arranged as the clamping groove.

The general fuselage aggregate erection of portable underwater vehicle appears for the torpedo form after, the general fuselage is by camera cabin 100 respectively, control cabin 200, steering wheel installation cabin 300, rudder wing 500, parts such as afterbody propulsion motor mounting hole groove are constituteed, camera cabin 100, control cabin 200, steering wheel installation cabin 300, rudder wing 500, afterbody propulsion motor mounting hole groove all can be printed the production by 3D and made, all leave the fixed orifices groove that is used for the butt joint between each cabin, and each cabin kneck is equipped with the rubber seal mounting groove, the rubber seal can prevent the infiltration kneck. The steering engine mounting cabin 300 is located at the rear-inclined position of the middle part of the main engine body of the underwater vehicle, four steering engine fixing notches are printed in the steering engine mounting cabin 300, special steering engine fixing holes are formed in the steering engine mounting cabin, and the steering engine mounting cabin can be fixed by fixing screws.

The camera cabin 100 is of a hemispherical structure, and the camera installed in the camera cabin 100 can take pictures and make a video recording underwater. The camera module 100 may be made of acrylic material to reduce the weight of the module and ensure the light to pass through. The camera cabin 100 is a high-definition underwater camera and can shoot images below the water surface.

Control cabin 200 is cylindrical structure, and battery and control circuit board are installed to control cabin 200, and control circuit board includes power supply circuit, battery power detection circuitry, bee calling organ warning circuit, STM32 main control unit, attitude sensor, water pressure depth of water sensor, camera module, GPS orientation module, wireless module, bluetooth module, turns to steering wheel drive circuit and propulsion motor drive circuit.

The rudder wing 500 is in a trapezoidal sheet structure, and a perforated groove is printed on the rudder wing 500 and can be fixed with a steering engine through screws. The tail propulsion motor mounting hole slot is used for mounting and fixing the propulsion motor, the propulsion motor can adopt a single-steering motor, the production cost is reduced, only one-way propulsion can be realized during starting, and the advancing direction of the whole device is controlled through the rudder wing 500. The propulsion motor is fixed at the tail part of the submarine vehicle body model, and a propeller is arranged on the propulsion motor and generates thrust under the action of the propeller and water. The motion control of the underwater vehicle comprises remote control guidance and underwater preset program control of a shallow water area or a water surface.

The utility model discloses the application still correspondingly provides a control system of ware of diving under water, including remote controller and PC end ware integrated management control platform and the portable ware of diving under water as the preceding description of diving under water, the ware of diving under water can be called for short for below. The underwater vehicle is connected with the remote controller through a wireless module, the PC-end underwater vehicle comprehensive management control platform is connected with the remote controller through a USB data line, and the underwater vehicle is connected with the PC-end underwater vehicle comprehensive management control platform through a Bluetooth module.

During the formal operation period of the underwater vehicle, the GPS positioning module of the control cabin 200 acquires longitude and latitude data of a GPS in the underwater vehicle from an STM32 main controller and transmits the data to a remote controller through a wireless module, the remote controller acquires the data and then is connected with a computer through a USB data line, the data is uploaded to a PC-end underwater vehicle comprehensive management control platform, and the PC-end underwater vehicle comprehensive management control platform can update the firmware of the remote controller; during debugging and calibration, the underwater vehicle and the PC-side underwater vehicle comprehensive management control platform are connected through the Bluetooth module, the underwater vehicle uploads data such as attitude depth and the like to the PC-side underwater vehicle comprehensive management control platform, and the PC-side underwater vehicle comprehensive management control platform can adjust the operation parameters of the underwater vehicle.

The uploading of the GPS positioning data is carried out when the underwater vehicle floats out of the water surface, and the GPS has no signal when the underwater vehicle is under the water surface. The remote controller is used for establishing remote communication with the underwater vehicle through a wireless module with a fixed frequency range.

The integrated management control platform of the underwater vehicle at the PC end is a PC end development system, can be used for dynamically displaying the attitude and the depth of the underwater vehicle, can be used for displaying the position of the underwater vehicle in a map, and can be used for parameter adjustment, data dynamic curve acquisition and hardware equipment firmware upgrading. When the underwater vehicle floats on the water surface, the electric quantity and the longitude and latitude information are uploaded to the integrated management control platform of the underwater vehicle at the PC end through the remote controller, and the underwater vehicle is displayed on a map and can be used for calibrating a route.

It will be understood by those skilled in the art that the terms "first" and "second" in the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims

1. A portable underwater vehicle is characterized by comprising a camera cabin, a control cabin, a steering engine installation cabin, a driving mechanism and a plurality of rudder wings, wherein the rudder wings and the driving mechanism are arranged in the steering engine installation cabin;

2. The portable underwater vehicle of claim 1, wherein the drive mechanism includes a propulsion motor and a propeller in powered connection with the propulsion motor.

3. The portable underwater vehicle of claim 1, wherein the control cabin comprises a battery and a control circuit board, and the control circuit board comprises a power supply circuit, a battery power detection circuit, a buzzer alarm circuit, an STM32 main controller, an attitude sensor, a water pressure water depth sensor, a camera module, a GPS positioning module, a wireless communication module, a steering engine driving circuit and a propulsion motor driving circuit.

4. The portable underwater vehicle as claimed in claim 1, wherein a first clamping groove is formed in an end surface of the camera cabin facing the control cabin, a first connecting convex ring is arranged on an end surface of the control cabin facing the camera cabin, and the first connecting convex ring is matched with the first clamping groove;