CN218751327U

CN218751327U - Underwater observation robot

Info

Publication number: CN218751327U
Application number: CN202221021024.1U
Authority: CN
Inventors: 李宁; 刘咏华; 肖伟; 邱鑫; 邵宏庆; 唐晓洪
Original assignee: Wuxi Zhonghui Tianze Intelligent Technology Co ltd
Current assignee: Wuxi Zhonghui Tianze Intelligent Technology Co ltd
Priority date: 2022-04-30
Filing date: 2022-04-30
Publication date: 2023-03-28
Anticipated expiration: 2032-04-30

Abstract

The utility model relates to an underwater monitoring equipment, an underwater observation robot specifically says so. It is characterized by comprising a bracket, wherein the bracket is provided with a horizontal propeller, a vertical propeller and a sealed cabin. The front end of the sealed cabin is provided with a transparent cover shell, the rear end of the sealed cabin is provided with an end cover, and the transparent cover shell and the end cover are hermetically connected with the sealed cabin. The inside of sealed cabin front end has the camera, has control scheme board and battery in the sealed cabin, control scheme board, battery all with the camera is electric and links to each other. Horizontal propeller, perpendicular propeller all through the cable with control scheme board links to each other, there is the watch-dog outside the support, and this watch-dog also links to each other with control scheme board through the cable, all be sealed cooperation between the cabin body of cable and sealed cabin. The underwater observation robot is used for monitoring underwater in an aquaculture area, manual diving is not needed, the operation cost can be reduced, and potential safety hazards can be eliminated.

Description

Underwater observation robot

Technical Field

The utility model relates to an underwater monitoring equipment, an underwater observation robot specifically says so.

Background

As is well known, the aquaculture industry is an important component of fishery in China and is also a main growth point of fishery development. The gravity center of the fishery development of China is shifted from fishing as a main part to breeding as a main part, and the aquaculture industry is greatly changed. The inland and ocean water-nurturable area resources in China are rich, aquatic products are important sources of human proteins, the aquatic products are rich in high-quality proteins, amino acids, vitamins and mineral substances, the quantity and the proportion meet the requirements of human bodies, and the aquaculture industry is bound to meet greater development opportunities along with huge market demands.

The aquaculture method is various methods for breeding and growing economic animals and plants in a specific water body under artificial control management. In both inland and offshore culturable water areas, when cultivation operation is carried out, proper environmental conditions are required to be created according to the ecological habits of different cultivation objects so as to promote mass propagation and rapid growth of the objects, more aquatic products are produced in a certain water body to meet the living requirements of people, and the solidified cultivation operation water areas of facilities such as a water tank, a water pool, a mudflat shallow sea embankment, a net enclosure cultivation, a shallow sea raft frame, a shallow sea net cage cultivation and the like are generally required to be established. In the implementation process of the cultivation operation, the breeding and growing process of the animals and plants stocking in the cultivation operation water area needs to be monitored, the growth conditions of the animals and plants, the safety and stability of cultivation facilities and the like are observed, the potential safety hazard in the cultivation operation process is eliminated, and the reliable and effective implementation of the cultivation operation is ensured.

The monitoring activities in the traditional culture operation process are implemented by carrying underwater observation equipment by divers to enter a culture area underwater, the manual underwater operation not only can increase the operation cost, but also the uncertainty of the underwater environment and the submerging depth can bring certain risks to the monitoring activities, and huge safety exists.

SUMMERY OF THE UTILITY MODEL

The to-be-solved problem of the utility model is to provide an underwater observation robot, adopt this underwater observation robot to monitor the operation under water in the aquaculture region, do not need artifical dive, can reduce the operating cost, eliminate the potential safety hazard.

In order to solve the problems, the following technical scheme is adopted:

the utility model discloses an observation robot under water's characteristics are including the support, have horizontal propeller, perpendicular propeller and pressurized cabin on this support. The front end of the sealed cabin is provided with a transparent cover shell, the rear end of the sealed cabin is provided with an end cover, and the transparent cover shell and the end cover are both in sealed connection with the sealed cabin. The inside of sealed cabin front end has the camera, has control scheme board and battery in the sealed cabin, control scheme board, battery all with the camera is electric and links to each other. Horizontal propeller, perpendicular propeller all through the cable with the control scheme board links to each other, there is the watch-dog outside the support, and this watch-dog also links to each other with the control scheme board through the cable, all be sealed cooperation between the cabin body of cable and sealed cabin.

Furthermore, the support is of a frame structure and comprises a buoyancy plate and a bottom plate which are arranged in parallel from top to bottom, side plates are connected between the two sides of the buoyancy plate and the two sides of the bottom plate, and the buoyancy plate and the side plates and the bottom plate and the side plates are fixedly connected through angle irons. The two ends of the bracket are open.

The sealed cabin is located between the bottom plate of the support and the buoyancy plate, and the sealed cabin is fixed in the middle of the bottom plate through a hoop, so that the front end of the sealed cabin corresponds to the front open end of the support.

The quantity of horizontal propeller has two, and they are horizontal arrangement in the both sides of sealed cabin rear end respectively, and two horizontal propellers are all fixed on the curb plate that corresponds through the bolt.

The number of the vertical thrusters is two, the vertical thrusters are respectively and vertically arranged on two sides of the middle part of the sealed cabin, and the two vertical thrusters are fixed on the corresponding side plates through bolts. The bottom plates corresponding to the lower ends of the two vertical propellers are provided with flow dredging holes.

Further, the sealed cabin is cylindrical, connecting flanges are arranged at two ends of the sealed cabin, the connecting flanges and the end portions of the sealed cabin are in interference press fit, and the transparent housing and the end covers are fixed on the corresponding connecting flanges through bolts.

A first supporting plate is fixed to one end of the connecting flange on the inner side of the front end of the sealed cabin through bolts, a steering engine is fixed to the center of one side, corresponding to the front end of the sealed cabin, of the first supporting plate, and the camera is fixed to a rotating arm of the steering engine. The steering engine is electrically connected with the control circuit board.

A second supporting plate is fixed to one end of the connecting flange on the inner side of the rear end of the sealed cabin through bolts, a third supporting plate is arranged in the sealed cabin, the second supporting plate is connected with the third supporting plate through fixing columns, and the control circuit board is fixed to the fixing columns between the second supporting plate and the third supporting plate.

In the above scheme, the end cover is provided with a plurality of groups of plug connectors, the number of the groups of the plug connectors corresponds to the number of the cables connected with the control circuit board, and each group of the plug connectors consists of two plug connectors which are mutually in sealed plug-in connection and electric conduction matching. And one plug connector of each group of plug connectors penetrates through the end cover and is in sealing connection with the end cover, and the plug connectors are in one-to-one corresponding connection with cables of the control circuit board. And the other plug connector of each group of plug connectors is correspondingly connected with the corresponding horizontal thruster, the corresponding vertical thruster and the corresponding monitor one by one through cables.

By adopting the scheme, the method has the following advantages:

the underwater observation robot of the utility model comprises a bracket, wherein the bracket is provided with a horizontal propeller, a vertical propeller and a sealed cabin; the front end of the sealed cabin is provided with a transparent cover shell, the rear end of the sealed cabin is provided with an end cover, and the transparent cover shell and the end cover are hermetically connected with the sealed cabin; a camera is arranged in the front end of the sealed cabin, a control circuit board and a battery are arranged in the sealed cabin, and the control circuit board and the battery are electrically connected with the camera; horizontal propeller, perpendicular propeller all through the cable with control scheme board links to each other, there is the watch-dog outside the support, and this watch-dog also links to each other with control scheme board through the cable, all be sealed cooperation between the cabin body of cable and sealed cabin. When the underwater observation robot is used, the underwater observation robot is placed in a water body in an aquaculture area, and an operator holds the monitor to operate. An operator can send an instruction to the control circuit board through the monitor to control the horizontal propeller and the vertical propeller to operate, so that the robot can move forward, backward, leftwards and rightwards, float up, dive and the like under water. Meanwhile, an operator can send an instruction to the control circuit board through the monitor to control the camera powered by the battery to start the camera shooting function, and the camera shooting content is transmitted back to the monitor through a cable, so that underwater observation operation in the area is realized. Therefore, adopt the utility model discloses an underwater observation robot does not need artifical dive to monitor the operation under water in the aquaculture region, can reduce the running cost, can avoid simultaneously the uncertainty of environment under water and the degree of depth of diving to probably the safety risk to the human production, thoroughly eliminates the potential safety hazard of operation.

Drawings

Fig. 1 is a schematic top view of the underwater observation robot (removing the buoyancy plate);

FIG. 2 is a schematic cross-sectional view of the capsule;

FIG. 3 is a bottom view of FIG. 1 (with the monitor and cable removed);

fig. 4 is a right side view of fig. 3.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 and 2, the underwater observation robot of the present invention includes a support, on which a horizontal propeller 5, a vertical propeller 7 and a sealed cabin 3 are provided. The front end of the sealed cabin 3 is provided with a transparent cover shell 31, the rear end of the sealed cabin is provided with an end cover 37, and the transparent cover shell 31 and the end cover 37 are both in sealed connection with the sealed cabin 3. There is camera 8 inside the sealed cabin 3 front end, has control scheme board 11 and battery 10 in the sealed cabin 3, control scheme board 11, battery 10 all with camera 8 is the electricity and links to each other. Horizontal propeller 5, perpendicular propeller 7 all through the cable with control scheme board 11 links to each other, there is watch-dog 6 outside the support, and this watch-dog 6 also links to each other with control scheme board 11 through the cable, all be sealed cooperation between the cabin body of cable and sealed cabin 3.

As shown in fig. 3 and 4, in this embodiment, the support is a frame structure, and includes a buoyancy plate 13 and a bottom plate 1 that are arranged in parallel from top to bottom, a side plate 2 is connected between both sides of the buoyancy plate 13 and the bottom plate 1, and the buoyancy plate 13 and the side plate 2, and the bottom plate 1 and the side plate 2 are fixedly connected through angle iron. The two ends of the bracket are open. The upper part of the bracket adopts the buoyancy plate 13, so that the robot can be ensured to be under certain buoyancy after entering underwater, the submerging speed of the robot in an unpowered state is reduced, and a certain buffering effect is achieved.

As shown in fig. 1, 3 and 4, the sealed cabin 3 is located between the bottom plate 1 and the buoyancy plate 13 of the support, and the sealed cabin 3 is fixed in the middle of the bottom plate 1 by a hoop, so that the front end of the sealed cabin 3 corresponds to the front open end of the support.

As shown in fig. 1 and 4, there are two horizontal thrusters 5, which are horizontally disposed on two sides of the rear end of the capsule 3, and the two horizontal thrusters 5 are fixed on the corresponding side plates 2 by bolts. By adopting the structure that the two horizontal propellers 5 are arranged side by side, the robot can move forward and backward under water and can rotate left and right in the horizontal direction. When the two horizontal thrusters 5 rotate forward at a constant speed, the robot advances; when the two horizontal thrusters 5 rotate reversely at a constant speed, the robot retreats; when the two horizontal propellers 5 rotate in the same direction and at different speeds, the robot rotates to the side of the horizontal propeller 5 with the lower rotating speed.

As shown in fig. 1, there are two vertical thrusters 7, which are respectively vertically arranged on two sides of the middle portion of the sealed cabin 3, and the two vertical thrusters 7 are fixed on the corresponding side plates 2 by bolts. The bottom plate 1 corresponding to the lower ends of the two vertical propellers 7 is provided with a flow dredging hole 4. The robot can float and submerge underwater and can rotate left and right in the vertical direction by adopting a structure that two vertical propellers 7 are arranged side by side. When the two vertical thrusters 7 rotate forward at a constant speed, the robot ascends; when the two vertical propellers 7 rotate reversely at a constant speed, the robot descends; when the two vertical propellers 7 rotate in the same direction and at different speeds, the robot rotates to the side of the vertical propeller 7 with the lower rotating speed.

As shown in fig. 2, the capsule 3 is cylindrical, and has two ends provided with connecting flanges 32, the connecting flanges 32 are press-fitted with the end portions of the capsule 3, and the transparent casing 31 and the end cap 37 are fixed on the corresponding connecting flanges 32 by bolts. A first supporting plate 33 is fixed to one end of a connecting flange 32 on the inner side of the front end of the sealed cabin 3 through bolts, a steering engine 9 is fixed to the center of the first supporting plate 33, corresponding to one side of the front end of the sealed cabin 3, and the camera 8 is fixed to a rotating arm of the steering engine 9. The steering engine 9 is electrically connected with the control circuit board 11. The camera 8 is driven to do pitching motion through the motion of the steering engine 9, and the observation range of the camera 8 can be enlarged. A second supporting plate 36 is fixed at one end of the connecting flange 32 on the inner side of the rear end of the sealed cabin 3 through bolts, a third supporting plate 34 is arranged in the sealed cabin 3, the second supporting plate 36 is connected with the third supporting plate 34 through fixing columns 35, and the control circuit board 11 is fixed on the fixing columns 35 between the second supporting plate 36 and the third supporting plate 34. The end cover 37 is provided with a plurality of groups of plug connectors 12, the number of the groups of the plug connectors 12 corresponds to the number of cables connected with the control circuit board 11, and each group of the plug connectors 12 consists of two plug connectors which are mutually in sealed plug-in connection and electrically connected and matched. One plug connector of each set of plug connectors 12 penetrates through the end cover 37 and is hermetically connected with the end cover 37, and the plug connectors are correspondingly connected with the cables of the control circuit board 11 one by one. The other plug connector of each group of plug connectors 12 is correspondingly connected with the corresponding horizontal thruster 5, the corresponding vertical thruster 7 and the corresponding monitor 6 one by one through cables. The adoption of the connection mode of a plurality of groups of plug connectors 12 can facilitate the disassembly and assembly of the horizontal propeller 5, the vertical propeller 7 and the monitor 6, and is convenient for maintenance and management.

When in use, the underwater observation robot is placed in a water body in an aquaculture area and is operated by an operator holding the monitor 6. An operator can send an instruction to the control circuit board 11 through the monitor 6 to control the two horizontal propellers 5 and the two vertical propellers 7 to operate, so that the robot can move forward, backward, left-turn, right-turn, upwards float, downwards dive and the like under water. Meanwhile, an operator can send an instruction to the control circuit board 11 through the monitor 6 to control the camera 8 powered by the battery 10 to start a camera shooting function, and the content of the camera shooting is transmitted back to the monitor 6 through a cable, so that underwater observation operation in the area is realized. The rotation of the steering engine 9 is controlled through the control circuit board 11, the camera 8 can be driven to do pitching motion, and the observation range of the camera 8 is enlarged. Therefore, adopt the utility model discloses an underwater observation robot does not need artifical dive to monitor the operation under water in the aquaculture region, can reduce the running cost, can avoid simultaneously the uncertainty of environment under water and the degree of depth of diving to probably the safety risk to the human production, thoroughly eliminates the potential safety hazard of operation.

Claims

1. An underwater observation robot is characterized by comprising a support, wherein the support is provided with a horizontal propeller (5), a vertical propeller (7) and a sealed cabin (3); the front end of the sealed cabin (3) is provided with a transparent cover shell (31), the rear end of the sealed cabin is provided with an end cover (37), and the transparent cover shell (31) and the end cover (37) are hermetically connected with the sealed cabin (3); a camera (8) is arranged in the front end of the sealed cabin (3), a control circuit board (11) and a battery (10) are arranged in the sealed cabin (3), and the control circuit board (11) and the battery (10) are electrically connected with the camera (8); the horizontal propeller (5) and the vertical propeller (7) are both connected with the control circuit board (11) through cables, a monitor (6) is arranged outside the support, the monitor (6) is also connected with the control circuit board (11) through cables, and the cables are in sealing fit with the cabin body of the sealed cabin (3); the sealed cabin (3) is cylindrical, connecting flanges (32) are arranged at two ends of the sealed cabin, the connecting flanges (32) are in interference fit with the end parts of the sealed cabin (3), and the transparent cover shell (31) and the end cover (37) are fixed on the corresponding connecting flanges (32) through bolts; a first supporting plate (33) is fixed at one end of a connecting flange (32) on the inner side of the front end of the sealed cabin (3) through bolts, a steering engine (9) is fixed at the center of the first supporting plate (33) corresponding to one side of the front end of the sealed cabin (3), and the camera (8) is fixed on a rotating arm of the steering engine (9); the steering engine (9) is electrically connected with the control circuit board (11).

2. The underwater observation robot as claimed in claim 1, wherein the support is a frame structure, and comprises a buoyancy plate (13) and a bottom plate (1) which are arranged in parallel up and down, the side plates (2) are connected between the two sides of the buoyancy plate (13) and the bottom plate (1), and the buoyancy plate (13) and the side plates (2) and the bottom plate (1) and the side plates (2) are fixedly connected through angle irons; the two ends of the bracket are open.

3. An underwater observation robot as claimed in claim 2, wherein the capsule (3) is located between the bottom plate (1) and the buoyancy plate (13) of the support, and the capsule (3) is fixed to the middle of the bottom plate (1) by a hoop so that the front end of the capsule (3) corresponds to the front open end of the support.

4. An underwater observation robot as claimed in claim 3, wherein there are two horizontal thrusters (5) which are horizontally disposed at both sides of the rear end of the capsule (3), respectively, and both the horizontal thrusters (5) are fixed to the corresponding side plates (2) by bolts.

5. An underwater observation robot as claimed in claim 3, wherein there are two of the vertical thrusters (7), which are respectively arranged vertically on both sides of the middle part of the capsule (3), and both of the two vertical thrusters (7) are fixed to the corresponding side plates (2) by bolts; the bottom plate (1) corresponding to the lower ends of the two vertical thrusters (7) is provided with a flow dredging hole (4).

6. An underwater observation robot as claimed in claim 1, wherein a second support plate (36) is fixed to one end of the connecting flange (32) at the inner side of the rear end of the capsule (3) by bolts, a third support plate (34) is provided in the capsule (3), the second support plate (36) and the third support plate (34) are connected by fixing posts (35), and the control circuit board (11) is fixed to the fixing posts (35) between the second support plate (36) and the third support plate (34).

7. An underwater observation robot as claimed in any one of claims 1 to 6, wherein the end cap (37) has a plurality of sets of connectors (12), the number of sets of connectors (12) corresponds to the number of cables connected to the control circuit board (11), and each set of connectors (12) is composed of two connectors which are hermetically and electrically connected to each other; one plug connector of each group of plug connectors (12) penetrates through the end cover (37) and is in sealed connection with the end cover (37), and the plug connectors are in one-to-one corresponding connection with cables of the control circuit board (11); and the other plug connector of each group of plug connectors (12) is correspondingly connected with the corresponding horizontal propeller (5), the vertical propeller (7) and the monitor (6) one by one through cables.