J33S7^S . 九、發明說明： 【發明所屬之技術領域】J33S7^S. IX. Description of the invention: [Technical field to which the invention belongs]
本發明係有關於一種水下叉魚載具，尤其是指一種配 備有叉魚裝置因而具有捕魚功能，以利於大幅提高安全性 ，並減少水下專業人力需求的無人水下動力載具。 【先前技術】 釣魚及水下叉魚活動是戶外休閒活動的一種，然而釣 魚要具有長期累積的經驗，水下叉魚活動更必須具備水下 專業知識始能成事，對一般人們來說，是一件不易入門的 休閒活動。 【發明内容】 本發明的主要目的係提供一種水下又魚載具，利用壓 縮氣體可被高速釋放之原理，以高速釋放的壓縮氣體，高 速的作動氣壓缸，進而提供捕魚器高速的動能，因此而捕 取水產，以機器取代人工作業，用於減少水下專業人力的 需求；並因可觀察到水中環境，進而化被勤為主動，經由 載具高度的機動性與該氣壓缸可重覆伸縮的作動，進而提 高命中率，因此捕取水產。 為了達成上述之目的，本發明係提供一種水下叉魚載 具，其包括一承載體、一動力驅動裝置、一影像攝取裝置 以及一叉魚裝置，其中該承載體，係用來承載所有全部的 設備；該動力驅動裝置，包含一馬達及一螺旋槳，用來提 供該水下叉魚載具行進方向的動力；該影像攝取裝置，包 含有一攝影機，用來攝取水下環境之畫面，提供該水下叉 5 魚載具行進方向的影像；該叉魚裝置，包含一氣壓缸及一 捕魚器，該捕魚器係裝設於該氣壓缸外側的活塞軸桿末端 ，藉由該氣壓缸高速的作動，提供該捕魚器產生高速的動 能，用於捕取水產。 上述水下叉魚載具，更包括設有一第一壓縮氣體儲存 容器，用以提供壓縮氣體，提供該氣壓缸作動之動力。 上述水下叉魚載具，更包括設有至少一電控氣體閥門 及至少一第一逆止閥，用以提供控制該氣壓缸之作動，該 第一逆止間係裝設於該電控氣體閥門的排氣端。 上述水下叉魚載具，其中該第一逆止閥排氣端之末端 ，更包括有一容置排氣容器及一第二逆止閥，用以提供排 氣的容置，該第二逆止閥係裝設於該容置排氣容器上。 上述水下叉魚載具，其中該容置排氣容器内部，更包 括有一空氣壓縮機，用以提供該容置排氣容器内部氣體的 壓縮排出，該空氣壓縮機之排氣端係接設於該第二逆止閥 之進氣端。 上述水下叉魚載具，更包括有一氣體循環使用裝置， 係該第二逆止閥之排氣端，接設於該第一壓縮氣體儲存容 器，用以提供排氣的循環使用。 上述水下叉魚載具，其中該承載體，更包括有一雷射 光線標位器，係用以至少二具雷射光所產生的交叉點為標 位點，提供該捕魚器瞄準使用。 【實施方式】 請參閱第1圖所示，係本發明之基本架構，包括： 承載體1:係用以承載全部的設備； 動力驅動裝置2:裝設於承載體1 ’包括有馬達2 1及螺 旋槳2 2，馬達2 1驅動螺旋槳2 2，用 以提供行進方向之動力； 影像攝取裝置3:裝設於承載體1，包括有攝影機3 1， 用以攝取水下環境之晝面，提供行進方向 之影像，並傳送相對應的影像訊號； 又魚裝置4 :裝設於承載體1 ’包括有氣壓缸4 1及捕魚器 4 2，捕魚器4 2係裝設於氣壓缸4 1外側之 活寨軸桿4 3末端；請參閱第2圖所示，藉由 氣壓缸4 1的作動，活塞軸桿4 3伸出並帶動 捕魚器4 2產生動能，因而捕取水產。 本發明之動力驅動裝置2，更進一步設有複數方向控制 片’經由控制方向控制片而改變行進方向；動力驅動裝置 2 ’另一實施例更包括有複數馬達2 1及所對應的複數螺旋 槳2 2，分別設置於承載體1之不同位置處，用以分別控 制馬達2 1的正轉及反轉，進而改變行進方向；動力驅動 裝置2，其中馬達2 1可加裝齒輪減速機，用以增加輸出 扭力’動力驅動裝置2 ’其中螺旋紫2 2，更包括有導流 裝又方、螺旋槳2 2的外週邊緣，用以保護螺旋槳2 2 取聚置3 ’其中攝影機3 1，更包括有轉動底座 月匕夠4由控制而轉動，以取得更大的可視範圍丨影像攝 取裝置3， 、 ，另一實施例更包括有複數攝影機3 1，分別設 :載體1之不同位置處，用以取得不同方位的影像： 7 叉魚裝置4，另一實施例更包括有複數氣壓缸4 1及所對 應的複數捕魚器4 2，係設置於承載體1之不同位置處； 叉魚裝置4，另一實施例其中氣壓缸4 1，可以為多節式 氣壓缸，請參閱第九圖所示，用以增長氣壓缸4 1作動的 行程，提供捕魚器4 2取得更長的距離；叉魚裝置4，其 中捕魚器4 2可以為魚叉鏢頭，用於捕取水產；叉魚裝置 4,另一實施例其中捕魚器4 2可以為爪狀夾具，用於捕 取水產。 請參閱第3圖所示，係本發明更進一步執行水下氣體 使用後排放之作業架構，叉魚裝置4，更包括有第一壓縮 氣體儲存容器4 5，用以提供壓縮氣體，進入電控氣體閥 門進氣口461，經由電控氣體閥門46的第一出氣口4 6 3進入氣壓缸4 1，因此活塞轴桿4 3帶動捕魚器4 2 往前伸出，用以捕取水產，同時氣壓缸4 1内原本存留的 氣體，經由電控氣體閥門第二出氣口 4 6 4而從電控氣體 閥門排氣口 4 6 2排出，為阻止外部水體進入，再經由第 一逆止閥進氣口4 7 1進入第一逆止閥4 7，而由第一逆 止閥排氣口 4 7 2排出。 請參閱第四圖所示，係另一實施例，第一逆止閥排氣 口 4 7 2排出的氣體進入容置排氣容器5 2，經由第二逆 止閥進氣口 4 8 1而從第二逆止閥4 8的排氣口 4 8 2排 出，因外部存在水壓無法快速排氣，以此方式排氣進入容 置排氣容器5 2後，因空間增大而使排氣氣壓降低，進而 提高氣壓缸41伸出時的動作速度。 請參閱第五圖所示，係另一實施例，因水下存在水壓 ，且深度越深水壓越高，因此必須裝設空氣壓縮機5 0用 以排氣時對抗深水的水壓，空氣壓縮機5 0的排氣口 5 0 1係接設於第二逆止閥48的進氣口482。 請參閱第六圖所示，係另一實施例，第二逆止閥4 8 的排氣口 4 8 2經由排氣循環使用管路5 1，接設於第一 壓縮氣體儲存容器4 5，因而形成氣體循環使用裝置。 請參閱第七圖所示，在此實施例中，容置排氣容器5 2更包括有第三逆止閥4 9，用以提供淺水深時部份氣體 的排出，減少空氣壓縮機5 0的排氣負擔。 請參閱第8圖所示，承載體1更包括有雷射光線標位 器3 2，係用以至少二具雷射光3 2 1所產生的交叉點為 標位點3 2 2，提供捕魚器4 2瞄準使用，因物體表面3 2 3若不在標位點3 2 2時，都會呈現二個距離不等的雷 射光點。 本發明之承載體1，更包括有照明燈用以提供照明， 以提供攝影機31在夜間或視線不良時使用；承載體1， 更包括有第二壓縮氣體儲存容器，用以提供第一壓縮氣體 儲存容器4 5所需的氣體；承載體1，更包括有外殼，用 以提供承載設備的保護；承載體1，更包括有控制器用以 接收來自使用者的控制訊號，以及傳輸影像訊號給使用者 的控制端。 【圖示簡單說明】 第1圖：係本發明之基本架構側視示意圖。 1335798 第2圖：係執行叉魚裝置作動後之基本架構側視示意圖。 第3圖：係執行水下壓縮氣體使用後之排放示意圖。 第4圖：係執行水下壓縮氣體經容置後排放示意圖。 第5圖：係執行水下壓縮氣體經容置壓縮後排放示意圖。 第6圖：係執行水下壓縮氣體之排氣循環使用示意圖。 第7圖：係容置排氣容器之氣體輔助排放示意圖。 第8圖：雷射光線標位器之瞄準示意圖。 第9圖：係多節式氣壓缸執行伸出動作後之示意圖。The present invention relates to an underwater fork fish carrier, and more particularly to an unmanned underwater vehicle equipped with a fork fish device and thus having a fishing function to greatly improve safety and reduce the need for underwater professional manpower. [Prior Art] Fishing and underwater fish fishing activities are a kind of outdoor leisure activities. However, fishing has long-term accumulated experience. Underwater fishing activities must have underwater professional knowledge. For the average person, it is A leisure activity that is not easy to get started. SUMMARY OF THE INVENTION The main object of the present invention is to provide an underwater fish carrier that utilizes the principle that a compressed gas can be released at a high speed, a compressed gas that is released at a high speed, and a high-speed pneumatic cylinder, thereby providing high-speed kinetic energy of the fishing device. Therefore, the capture of aquatic products, the replacement of manual work by machines, to reduce the need for underwater professional manpower; and because of the observable water environment, and then the diligence is active, the mobility of the vehicle can be achieved through the height of the vehicle. Repetitive movements, which in turn increase the hit rate, thus capturing aquatic products. In order to achieve the above object, the present invention provides an underwater fork fish carrier comprising a carrier, a power driving device, an image capturing device and a fork fish device, wherein the carrier is used to carry all of the carrier The power driving device includes a motor and a propeller for providing power for traveling in the underwater fish carrier; the image capturing device includes a camera for taking pictures of the underwater environment, and providing the same An image of the direction of travel of the underwater fork 5 fish carrier; the fork fish device includes a pneumatic cylinder and a fishing device, the fishing device is mounted at the end of the piston shaft outside the pneumatic cylinder, by the pneumatic cylinder The high-speed operation provides the fisherman with high-speed kinetic energy for capturing aquatic products. The underwater fish carrier further includes a first compressed gas storage container for supplying compressed gas to provide power for the pneumatic cylinder to operate. The underwater fork fish carrier further includes at least one electronically controlled gas valve and at least one first check valve for providing control of the operation of the pneumatic cylinder, wherein the first reverse stop is installed in the electronic control The exhaust end of the gas valve. The underwater fork fish carrier, wherein the end of the first check valve exhaust end further comprises a receiving exhaust container and a second check valve for providing exhaust gas accommodation, the second inverse The valve is mounted on the accommodating exhaust container. The underwater fish carrier, wherein the inside of the exhaust container further comprises an air compressor for providing compressed discharge of the gas inside the exhaust gas container, and the exhaust end of the air compressor is connected At the intake end of the second check valve. The underwater fork fish carrier further includes a gas recycling device, and the exhaust end of the second check valve is connected to the first compressed gas storage container for providing circulation of the exhaust gas. The above-mentioned underwater fish carrier, wherein the carrier further comprises a laser ray marker for using an intersection point generated by at least two laser lights as a target point to provide the fisher for aiming use. [Embodiment] Please refer to FIG. 1 , which is a basic structure of the present invention, including: a carrier 1 for carrying all equipment; a power driving device 2: mounted on a carrier 1 'including a motor 2 1 And a propeller 2 2, the motor 2 1 drives the propeller 22 to provide power for traveling; the image capturing device 3: is mounted on the carrier 1 and includes a camera 3 1 for taking in the underwater environment, providing An image of the direction of travel and a corresponding image signal; and a fish device 4: mounted on the carrier 1' includes a pneumatic cylinder 4 1 and a fishing gear 4 2 , and the fishing device 4 2 is installed in the pneumatic cylinder 4 1 The outer side of the live-seat shaft 4 3 end; as shown in Fig. 2, by the action of the pneumatic cylinder 4 1 , the piston shaft 4 3 protrudes and drives the fishing gear 42 to generate kinetic energy, thereby capturing aquatic products. The power driving device 2 of the present invention is further provided with a plurality of directional control pieces 'changing the traveling direction via the control direction control piece; the other embodiment of the power driving device 2' further includes a plurality of motors 2 1 and corresponding plurality of propellers 2 2, respectively, are disposed at different positions of the carrier 1 for respectively controlling the forward rotation and the reverse rotation of the motor 2 1 to change the traveling direction; the power driving device 2, wherein the motor 2 1 can be equipped with a gear reducer for Increase the output torque 'power drive unit 2' where the spiral violet 2 2, further includes the outer peripheral edge of the diversion and the propeller 2 2 to protect the propeller 2 2 to gather 3 ' where the camera 3 1 includes There is a rotating base, which is rotated by control to obtain a larger visual range, the image capturing device 3, and another embodiment further includes a plurality of cameras 3 1, respectively: at different positions of the carrier 1 In order to obtain images of different orientations: 7 fork fish device 4, another embodiment further includes a plurality of pneumatic cylinders 4 1 and corresponding plurality of fishing gears 4 2 , which are disposed at different positions of the carrier 1; The fish device 4, in another embodiment, wherein the pneumatic cylinder 4 1 can be a multi-section pneumatic cylinder, as shown in the ninth figure, for increasing the stroke of the pneumatic cylinder 4 1 to provide the fishing device 4 2 to obtain longer Distance; fork fish device 4, wherein the fisher 4 2 may be a harpoon dart head for capturing aquatic products; a fork fish device 4, another embodiment wherein the fishery 42 may be a claw-shaped clamp for Capture aquatic products. Referring to FIG. 3, the present invention further implements an operation structure for underwater gas use after discharge. The fork fish device 4 further includes a first compressed gas storage container 45 for supplying compressed gas and entering the electronic control. The gas valve inlet 461 enters the pneumatic cylinder 4 through the first air outlet 463 of the electronically controlled gas valve 46. Therefore, the piston shaft 4 3 drives the fishing device 4 2 to extend forward for capturing aquatic products. At the same time, the gas originally stored in the pneumatic cylinder 4 1 is discharged from the electronically controlled gas valve exhaust port 4 6 4 via the second air outlet 4 4 4 of the electronically controlled gas valve, in order to prevent the external water from entering, and then through the first check valve. The intake port 47 1 enters the first check valve 47 and is discharged by the first check valve exhaust port 472. Referring to the fourth embodiment, in another embodiment, the gas discharged from the first check valve exhaust port 472 enters the accommodating exhaust container 52, and is passed through the second check valve intake port 814. It is discharged from the exhaust port 482 of the second check valve 48, and cannot be quickly exhausted due to the external water pressure. In this way, after the exhaust gas enters the accommodating exhaust container 52, the exhaust is increased due to the increase in space. The air pressure is lowered to further increase the operating speed when the air cylinder 41 is extended. Referring to the fifth embodiment, in another embodiment, since there is water pressure under water and the depth is deeper, the water pressure is higher. Therefore, the air compressor 50 must be installed to resist the water pressure of the deep water when exhausting. The exhaust port 505 of the air compressor 50 is connected to the intake port 482 of the second check valve 48. Referring to the sixth embodiment, in another embodiment, the exhaust port 482 of the second check valve 4 8 is connected to the first compressed gas storage container 45 via the exhaust gas circulation using pipe 5 1 . Thus a gas recycling device is formed. Referring to the seventh figure, in this embodiment, the accommodating exhaust container 52 further includes a third check valve 4 9 for providing partial gas discharge at a shallow depth, and reducing the air compressor 50. The exhaust burden. Referring to FIG. 8, the carrier 1 further includes a laser ray positioner 32, which is used for at least two laser light 3 2 1 to generate an intersection point of the target point 32 2 to provide fishing. The device 4 2 is aimed at use, because the surface of the object 3 2 3 will exhibit two laser spots of different distances if it is not at the target point 3 2 2 . The carrier 1 of the present invention further includes an illumination lamp for providing illumination to provide the camera 31 for use at night or when the line of sight is poor; the carrier 1 further includes a second compressed gas storage container for providing the first compressed gas. The gas required for the storage container 4 5; the carrier 1 further includes a casing for providing protection of the carrying device; the carrier 1 further includes a controller for receiving the control signal from the user and transmitting the image signal for use. The control side of the person. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side elevational view showing the basic structure of the present invention. 1335798 Fig. 2 is a side view showing the basic structure of the fork fish device after it is activated. Figure 3: Schematic diagram of the discharge after the use of underwater compressed gas. Figure 4: Schematic diagram of the discharge after the underwater compressed gas is placed. Figure 5: Schematic diagram of discharge after performing underwater compression of compressed gas. Fig. 6 is a schematic diagram showing the use of an exhaust gas cycle for performing underwater compressed gas. Figure 7: Schematic diagram of gas-assisted discharge for accommodating exhaust vessels. Figure 8: Schematic diagram of the laser ray marker. Figure 9: Schematic diagram of a multi-section pneumatic cylinder after performing an extension operation.
【主要元件符號說明】 本發明 承載體：1 馬達：2 1 攝影機：31 雷射光線：3 2 1 物體表面：3 2 3 氣壓缸：41 氣壓缸之活塞軸桿：4 3 電控氣體閥門：4 6 第二逆止閥：4 8 電控氣體閥門進氣口 ： 4 6 1 電控氣體閥門第一出氣口： 4 第一逆止閥進氣口 ： 4 7 1 動力驅動裝置：2 螺旋槳：2 2 影像攝取裝置：3 雷射光線標位器：3 2 雷射光線標位點：3 2 2 叉魚裝置：4 捕魚器：4 2 第一壓縮氣體儲存容器：4 5 第一逆止閥：4 7 第三逆止閥：4 9 電控氣體閥門排氣口 ： 4 6 2 電控氣體閥門第二出氣口 ： 4 6 4 1335798 第一逆止閥排氣口 ： 4 7 2 第二逆止閥排氣口 ： 4 8 2 空氣壓縮機：5 0 容置排氣容器：5 2 第二逆閥進氣口 ： 4 8 排氣循環使用管路：5 空氣壓縮機排氣口：5 11[Main component symbol description] Carrier of the present invention: 1 Motor: 2 1 Camera: 31 Laser light: 3 2 1 Object surface: 3 2 3 Pneumatic cylinder: 41 Pneumatic cylinder piston shaft: 4 3 Electronically controlled gas valve: 4 6 Second check valve: 4 8 Electronically controlled gas valve inlet: 4 6 1 Electronically controlled gas valve First outlet: 4 First check valve inlet: 4 7 1 Power drive: 2 Propeller: 2 2 Image capture device: 3 Laser light positioner: 3 2 Laser light target point: 3 2 2 Fork fish device: 4 Fishing device: 4 2 First compressed gas storage container: 4 5 First stop Valve: 4 7 Third check valve: 4 9 Electronically controlled gas valve Exhaust port: 4 6 2 Electronically controlled gas valve Second air outlet: 4 6 4 1335798 First check valve exhaust port: 4 7 2 Second Check valve exhaust port: 4 8 2 Air compressor: 5 0 Containing exhaust container: 5 2 Second check valve inlet: 4 8 Exhaust circulation line: 5 Air compressor exhaust: 5 11