CN105818944A - Remote control submarine applied to underwater detection - Google Patents
Remote control submarine applied to underwater detection Download PDFInfo
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- CN105818944A CN105818944A CN201610203127.2A CN201610203127A CN105818944A CN 105818944 A CN105818944 A CN 105818944A CN 201610203127 A CN201610203127 A CN 201610203127A CN 105818944 A CN105818944 A CN 105818944A
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- main frame
- control submarine
- submarine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention relates to a remote control submarine applied to underwater detection. The remote control submarine comprises a remote control submarine main machine, a controller used for sending control signals to control the remote control submarine main machine to operate, a display connected with the controller and used for observing the underwater environment in real time, and a signal transceiver arranged on the water surface or above the water surface and connected with the remote control submarine main machine. The remote control submarine main machine comprises a waterproof shell, an observation mirror, a power system, a master control system, a sensor system, an image collection system and a power module. The image collection system comprises a lighting circuit board, a camera, high beams, low beams, infrared light supplementing lamps and ultraviolet search lamps. By the adoption of the remote control submarine, a person without diving experience can be assisted in observing the underwater condition in real time, the unknown water area of the underwater environment can be conveniently detected in advance for the diving person, lighting is provided, the diving process is tracked and recorded, the remote control submarine is slightly affected by natural conditions and can assist the diving person in rapidly floating out of the water surface to get rid of danger.
Description
Technical field
The present invention relates to undersea detection field, particularly relate to a kind of remote control submarine being applied to undersea detection.
Background technology
Gradually strengthening along with the mankind find out the desire in the world under water, the people by oxygen cylinder diving gets more and more.Under weather conditions good situations, diving observation can be carried out by natural light in 20 meters under water, but needs cannot be arrived by submersible lighting fixture more than 20 meters of natural light, meanwhile, for recording situation under water, need to carry the camera-shooting and recording device under water of specialty.But, Divers needs through professional training, and diving equipment heaviness is expensive, carries out dive in unfamiliar waters and also can threaten the life security of people, and by the way of tradition is dived under water, under observation water, the mode in the world cannot be popularized by rapid large-area；And the more and more personage without diving experience also thirst for peeping under water actually, existing undersea detection device is affected greatly by weather conditions, when running into that weather condition is bad or the waters that landform ocean current is complex also can hinder the exploration process of people.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of remote control submarine being applied to undersea detection, thus overcome undersea detection in prior art inconvenient, unsafe problem.
Technical scheme is as follows:
A kind of remote control submarine being applied to undersea detection, including: remote control submarine main frame；The controller that described remote control submarine main frame runs is controlled for sending control signal；With the display that described controller is connected to Real Time Observation underwater environment；It is arranged on the signal transceiver that more than the water surface or the water surface are connected with described remote control submarine main frame；
Described remote control submarine main frame includes: waterproof case, it is arranged on the sight glass of described waterproof case front end, the dynamical system for driving described remote control submarine host motion being arranged on described waterproof case, the master control system for controlling the operation of described remote control submarine main frame being arranged in described waterproof case, for measuring the sensing system of described remote control submarine main frame operational factor, for shooting underwater environment and uploading the image/video image capturing system to described display after being arranged on described sight glass, and for the power module of described remote control submarine host supplying power；
Described image capturing system includes: be arranged on the lighting circuit plate inside described sight glass, is arranged on the photographic head in the middle of described lighting circuit plate, and is arranged on the high beam on described lighting circuit plate, dipped headlights, infrared ray light compensating lamp and ultraviolet searchlight.
The described remote control submarine being applied to undersea detection, described controller, described display are all connected by wireless communication mode with described signal transceiver；Described remote control submarine main frame is connected by cable with described signal transceiver.
The described remote control submarine being applied to undersea detection, described sensing system includes: be arranged on described remote control submarine main frame, for measuring the attitude transducer of described remote control submarine main frame attitude under water；It is arranged on described remote control submarine main frame, for measuring the depth transducer of described remote control submarine main frame submerged depth；It is arranged on described remote control submarine main frame, for measuring the sonar sensor of underwater obstacles and described remote control submarine main frame distance；It is arranged on described remote control submarine main frame, for measuring the Temperature Humidity Sensor of the internal humiture of described remote control submarine main frame；It is arranged on described remote control submarine main frame, for measuring the velocity sensor of described remote control submarine main engine trial speed；It is arranged on described remote control submarine main frame, for measuring the optical imaging sensor of described remote control submarine main frame surrounding.
The described remote control submarine being applied to undersea detection, described high beam, described dipped headlights, described infrared ray light compensating lamp and described ultraviolet searchlight are both provided with multiple；Described dipped headlights is arranged around described photographic head；Described infrared ray light compensating lamp, described ultraviolet searchlight are all symmetricly set on the both sides of described photographic head；Described high beam is symmetricly set on the two ends of described lighting circuit plate.
The described remote control submarine being applied to undersea detection, the centre of described waterproof case is provided with the first kind duct of waterproof case described in up/down perforation, and the lateral symmetry of described waterproof case is provided with two Second Type ducts；
Described dynamical system includes: be arranged on the lifting motor in described first kind duct and elevating screw；It is arranged on the propulsion electric machine in described Second Type duct and propelling screws.
The described remote control submarine being applied to undersea detection, described signal transceiver includes: for managing the energy supply control module of described power module, for receiving and send the first signal transmitting and receiving module of signal, the signal cable being connected with described remote control submarine main frame.
The described remote control submarine being applied to undersea detection, described master control system includes: main control board, the main control chip being arranged on main control board, secondary signal transceiver module, motor drive module, shooting control module and memory module；
Described secondary signal transceiver module, described motor drive module, described shooting control module and described memory module all electrically connect with described main control chip；
Described secondary signal transceiver module, is used for receiving control signal, uploading image/video and sensing data；Described motor drive module, is used for driving described lifting motor and described propulsion electric machine to run；Described shooting control module, is used for controlling described photographic head shooting image/video；Described memory module, is used for storing image/video and sensing data.
The described remote control submarine being applied to undersea detection, described controller includes: for generating the control module of control signal, for sending the first communication module of control signal.
The described remote control submarine being applied to undersea detection, described display includes: second communication module, data memory module and data process and display module；
Described second communication module, for receiving the data message uploaded；Described data memory module, the data message received for storage；Described data process and display module, for processing the data message received, and show image/video and the sensing data of correspondence.
The described remote control submarine being applied to undersea detection, described display is intelligent mobile terminal, separate display screens and the one of VR glasses.
The invention has the beneficial effects as follows: a kind of remote control submarine being applied to undersea detection that the present invention provides, including: remote control submarine main frame；The controller that remote control submarine main frame runs is controlled for sending control signal；With the display that controller is connected to Real Time Observation underwater environment；And it is arranged on the signal transceiver that more than the water surface or the water surface are connected with remote control submarine main frame；Described remote control submarine main frame includes: waterproof case, sight glass, dynamical system, master control system, sensing system, image capturing system and power module；Described image capturing system includes: lighting circuit plate, photographic head, and high beam, dipped headlights, infrared ray light compensating lamp and ultraviolet searchlight.Described remote control submarine can not only help the people's real-time monitored sub-marine situations without diving experience, it also is able to find out underwater environment in advance for Divers easily and does not knows waters, illumination is provided and keeps track of diving process, and little by effect of natural conditions, additionally it is possible to help Divers quickly to emerge and escape danger.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention is applied to the remote control submarine preferred embodiment of undersea detection.
Fig. 2 is the structural representation of remote control submarine main frame preferred embodiment of the present invention.
Fig. 3 is the top view of remote control submarine main frame preferred embodiment of the present invention.
Fig. 4 is the structural representation of image capturing system preferred embodiment of the present invention.
Fig. 5 is the structural representation of illuminator preferred embodiment of the present invention.
Fig. 6 is the principle schematic of master control system preferred embodiment of the present invention.
Fig. 7 is the fundamental diagram of the remote control submarine being applied to undersea detection of the present invention.
Detailed description of the invention
The present invention provides a kind of remote control submarine being applied to undersea detection, and for making the purpose of the present invention, technical scheme and effect clearer, clear and definite, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The remote control submarine being applied to undersea detection of present pre-ferred embodiments, as it is shown in figure 1, include: remote control submarine main frame 1；The controller 2 that remote control submarine main frame 1 runs is controlled for sending control signal；With the display 3 that controller 2 is connected to Real Time Observation underwater environment；It is arranged on the signal transceiver 4 that the water surface more than 10 is connected with remote control submarine main frame 1.In other embodiments, signal transceiver 4 can also be arranged on the water surface, i.e. swims in water surface.
Further, see also Fig. 2, Fig. 3, Fig. 6 and Fig. 7, remote control submarine main frame 1 includes: waterproof case 61, it is arranged on the sight glass 62 of waterproof case 61 front end, be arranged on waterproof case 61 for the dynamical system (not shown) driving remote control submarine main frame 1 to move, the master control system 8 for controlling the operation of remote control submarine main frame 1 being arranged in waterproof case 61, for measuring the sensing system 9 of remote control submarine main frame 1 operational factor, for shooting underwater environment and uploading image/video to the image capturing system (not shown) of display 3 after being arranged on sight glass 62；And for the power module 5 to the power supply of remote control submarine main frame 1；Power module 5 (built-in power), namely an internal battery group, be arranged on the inside of remote control submarine main frame 1, and can dismantle, be convenient for changing maintenance.Preferably, remote control submarine main frame 1 can also external power supply, according to practical situation can select flexibly arrange.Remote control submarine main frame 1 is arranged on below the water surface, is the main equipment performing command adapted thereto under water.Waterproof case 61 that is to say remote control submarine host main body, is used for carrying hydraulic pressure and preventing water from flowing into remote control submarine main frame 1, the safety of equipment in protection remote control submarine main frame 1.
Further, as shown in Figure 4 and Figure 5, described image capturing system includes: be arranged on the lighting circuit plate 71 inside sight glass 62, it is arranged on the photographic head 72 in the middle of lighting circuit plate 71, the high beam 73 being arranged on lighting circuit plate 71, dipped headlights 74, infrared ray light compensating lamp 75 and ultraviolet searchlight 76.Wherein, high beam 73 is for searchlighting distant place water environment, and dipped headlights 74 is for closely illuminating, and infrared light compensating lamp 75 is used for improving image taking effect and carries out light filling use, ultraviolet searchlight 76 for catch light environment bad in the case of animals and plants form；Lighting circuit plate 71 is for controlling high beam 73, dipped headlights 74, infrared ray light compensating lamp 75 and the switch of ultraviolet searchlight 76.Lighting circuit plate 71, high beam 73, dipped headlights 74, infrared ray light compensating lamp 75 and ultraviolet searchlight 76 constitute illuminator.It addition, in other embodiments, lighting circuit plate 71 is additionally provided with multiple HONGGUANG lamp bead, purple light lamp bead and white light lamp bead, is respectively intended to provide HONGGUANG, purple light and white light, further improve light filling effect.
It is known that under weather conditions good situations, diving observation can be carried out by natural light in 20 meters under water, but cannot arrive more than 20 meters of natural light and need by submersible lighting fixture, therefore, for recording situation under water, need to carry the camera-shooting and recording device under water of specialty, cost intensive, operation inconvenience.Remote control submarine described in the embodiment of the present invention, configures camera system after observation mirror, is equipped with the most again above specific illuminator, using the teaching of the invention it is possible to provide illumination, is also convenient for finding out the unclear waters of underwater environment in advance for diver, is also convenient for keeping track of diving process.
Preferably, high beam 73, dipped headlights 74, infrared ray light compensating lamp 75 and ultraviolet searchlight 76 are both provided with multiple, and such as, as shown in Figure 3, Figure 4, high beam 73, infrared ray light compensating lamp 75 and ultraviolet searchlight 76 all install 2, and dipped headlights 74 installs 6；Meanwhile, dipped headlights 73 is arranged around photographic head 72；Infrared ray light compensating lamp 75, ultraviolet searchlight 76 are all symmetricly set on the both sides of photographic head 72；High beam 73 is symmetricly set on the two ends of lighting circuit plate 71, to reach most suitable illuminating effect, it is simple to the track up of the image/video of diving process.
Further, as shown in Fig. 1, Fig. 6, signal transceiver 4 includes: signal cable 41 (signal cable), power management module (not shown) and the first signal transmitting and receiving module 42；Signal cable 41 is connected with remote control submarine main frame 1；Described power management module electrically connects with power module 5, is used for managing power module 5；First signal transmitting and receiving module 42 is used for receiving and sending signal.Preferably, the internal power supply that is also equipped with of signal transceiver 4: i.e. signal transceiver power supply (not shown), and this power supply and power module 5 are relatively independent, generally, described signal transceiver power supply is served only for signal transceiver 4 power itself, but when the electricity of power module 5 exhausts, described signal transceiver power supply also can temporarily provide electric energy to remote control submarine main frame 1.Signal transceiver 4 accepts remote signal and instruction conduction is gone down, and plays the relaying action of signal transmission.
Further, as shown in Figure 6, Figure 7, master control system 8 includes: main control board 80 (master control PCB), the main control chip 81 being arranged on main control board 80, secondary signal transceiver module 82, motor drive module 83, shooting control module 84 and memory module 85；Secondary signal transceiver module 82, motor drive module 83, shooting control module 84, memory module 85 and lighting circuit plate 71 (lighting module) all electrically connect with described main control chip 81；Wherein lighting circuit plate 71 is the one that wire is connected, winding displacement connects or connector (adapter) connects with the electric connection mode of described main control chip 81.Secondary signal transceiver module 82, electrically connects with the first signal transmitting and receiving module 42, is used for receiving control signal, uploading image/video and sensing data；Motor drive module 83, electrically connects with driving lifting motor the 65, first propulsion electric machine the 661, second propulsion electric machine 663, is used for driving lifting motor the 65, first propulsion electric machine 661 and the second propulsion electric machine 662 to run；Shooting control module 84 electrically connects with photographic head 72, is used for controlling photographic head 72 and shoots image/video；Memory module 85 is used for storing image/video and sensing data, it is preferred that arranging memory module 85 is a storage card, it is simple to change.Simultaneously need to explanation, the shooting control module 84 of master control system 8 is additionally operable to the image/video of shooting is changed into digital signal.
Preferably, the controller 2 of remote control submarine described in the embodiment of the present invention, display 3 are all connected by wireless communication mode with signal transceiver 4；As shown in Figure 1, remote control submarine main frame 1 is connected by signal cable 41 with signal transceiver 4, concrete, as shown in Figure 6, the secondary signal transceiver module 82 of master control system 8 electrically connects with the first signal transmitting and receiving module 42 of signal transceiver 4, image/video is uploaded to display 3 by the first signal transmitting and receiving module 42 by secondary signal transceiver module 82, that is, first, the digital signal of image/video is uploaded to signal transceiver 4 by signal cable 41 by master control system 8, then the digital signal of image/video is uploaded to display 3 by Radio Transmission Technology by signal transceiver 4, last display 3 receives and shows image/video.It addition, may also set up controller 2, display 3 is all connected by wired mode with signal transceiver 4, i.e. connected by cable, to improve the stability of signal.It should be noted that, on the storage card (memory module 85) that the image/video information that needs store is stored in remote control submarine main frame, if needing to be saved on mobile phone, also it is by remote control submarine main frame 1, the image video files in storage card to be reached preserved on mobile phone by signal transceiver 4.
Further, in the embodiment of the present invention, controller 2 be for send telecommand make submarine main frame 1 according to instruction perform corresponding task equipment.When specifically applying, the control command that controller 2 sends first passes through wireless communication mode and passes to signal transceiver 4, then reaches submarine main frame 1 by signal transceiver 4 along signal cable 41 and performs to operate accordingly.Controller 2 includes: for generating the control module of control signal, for sending the first communication module of control signal.Controller 2 can use wireless controller, it is also possible to for intelligent mobile terminal, such as smart mobile phone, panel computer etc..
Further, in the embodiment of the present invention, display 3 is that display 3 includes for the equipment allowing the people on the water surface watch sub-marine situations in real time: second communication module, data memory module and data process and display module；Described second communication module, for receiving the data message uploaded；Described data memory module, the data message received for storage；Described data process and display module, for processing the data message received, and show image/video and the sensing data of correspondence.Display 3 can use mobile phone, panel computer or separate display screens, it is possible to use VR glasses viewing 3D real time imaging.In other words, display 3 can be intelligent mobile terminal, separate display screens and the one of VR glasses.
Further, see also Fig. 2, Fig. 3 and Fig. 6, the centre of waterproof case 61 is provided with the first kind duct of up/down perforation waterproof case 61: the first duct 63, and the lateral symmetry of waterproof case 61 is provided with two Second Type ducts: the second duct 641 and the 3rd duct 642；Described dynamical system includes: be arranged on the lifting motor 65 in the first duct 63 and elevating screw 67；The first propulsion electric machine 661 and the first propelling screws (not shown) being arranged in the second duct 641, the second propulsion electric machine 662 and the second propelling screws 682 being arranged in the 3rd duct 642.
That is, dynamical system 9 is made up of three motors and propeller, wherein lifting motor and elevating screw are installed in the middle part of remote control submarine main frame in the duct of up/down perforation, and two other propulsion electric machine and propelling screws are installed in the duct that remote control submarine main frame both sides become a mandarin.Two propelling screws are positioned at both sides can be made remote control submarine main frame advance and retreat, and when remote control submarine main frame advances or retreats, in the case of the propelling screws rotating speed difference of both sides, remote control submarine main frame can realize turning to；When remote control submarine main frame rests on original place, the direction of rotation adjusting both sides propelling screws can realize pivot stud.The elevating screw being positioned at the remote control through duct of submarine main frame can provide floating dive, is both the pitch attitude of also scalable remote control submarine main frame.
Further, as shown in Figure 6, sensing system 9 includes: is arranged on remote control submarine main frame 1 and (specifically may be provided in waterproof case 61), for measuring the attitude transducer 91 of remote control submarine main frame 1 attitude under water；It is arranged on remote control submarine main frame 1 and (specifically may be provided on waterproof case 61), for measuring the depth transducer 92 of remote control submarine main frame 1 submerged depth；It is arranged on remote control submarine main frame 1 and (specifically may be provided in waterproof case 61), for measuring the sonar sensor 93 of underwater obstacles and remote control submarine main frame 1 distance；It is arranged on remote control submarine main frame 1 and (specifically may be provided in waterproof case 61), for measuring the Temperature Humidity Sensor 94 of the internal humiture of remote control submarine main frame 1；It is arranged on remote control submarine main frame 1 and (specifically may be provided in waterproof case 61), for measuring the velocity sensor 95 of remote control submarine main frame 1 headway；It is arranged on remote control submarine main frame 1 and (specifically may be provided in waterproof case 61), for measuring the optical imaging sensor 96 of remote control submarine main frame 1 surrounding.Attitude transducer 91, depth transducer 92, sonar sensor 93, Temperature Humidity Sensor 94, velocity sensor 95 and optical imaging sensor 96 all electrically connect with main control chip 81.Additionally, it is preferred that, remote control submarine main frame 1 also can arrange 3-axis acceleration sensor, be used for detecting the collision suffered by remote control submarine main frame 1 and impact.
Wherein, described attitude transducer 91 comprises three-axis gyroscope, can be with perception remote control submarine main frame attitude in water, and when by external disturbance, remote control submarine main frame can carry out attitude correction according to the data of three-axis gyroscope collection by augmentation control system.The depth data of remote control submarine main frame 1 dive that remote control submarine main frame 1 can be measured according to depth sensing 92, the lifting motor of motivation of adjustment system and the operation conditions of elevating screw, control submerged depth.Sonar sensor distance based on acoustic reflection principle disturbance of perception thing Yu remote control submarine main frame, provides reference for avoidance.
In the embodiment of the present invention, the various sensing datas that controller 2 is measured according to sensing system 9, send remote signal, control the power system operation of remote control submarine main frame 1, realize remote control submarine main frame 1 to advance under water, retreat, rise, dive, traveling is turned left, traveling is turned right, flicker, flicker and the motion of pitching, thus realize captured in real-time HD video and candid photograph high definition photo under water.Additionally, it should be noted that, the various sensing datas that above-described sensing system 9 is measured, also it is to be uploaded to signal transceiver 4 by master control system 8 by signal cable 41, then sensing data is uploaded to display 3 by Radio Transmission Technology by signal transceiver 4, and last display 3 receives and shows various sensing data.
Further, as shown in Figure 7, the operation principle of the remote control submarine being applied to undersea detection of the embodiment of the present invention is: controller 2 and signal transceiver 4 wireless connections, control signal (control instruction) is sent to signal transceiver 4 by wireless technology, signal transceiver 4 reaches remote control submarine main frame 1 by signal cable 41 after described control signal being translated, remote control submarine main frame 1 perform corresponding control instruction；Meanwhile, image/video is changed into digital signal by the master control system 8 within the image/video photographed utilization by remote control submarine main frame 1, and digital signal and the sensing data of image/video are reached signal transceiver 4 along signal cable 41, digital signal and the sensing data of image/video are reached display 3, such that it is able to allow people see situation under water in real time and to monitor the operation conditions of remote control submarine main frame 1 by being wirelessly transferred by signal transceiver 4.It should be noted that controller 2 is possible not only to send the control signal making remote control submarine main frame 1 move, also can send the described image capturing system of control and carry out the associated command signal of image/video shooting.
Use remote control submarine described in the embodiment of the present invention, the arbitrary observation of the people world under water just can be helped in the case of water under not employment, not only assist in the people's real-time monitored sub-marine situations without diving experience, also can find out the noncommittal waters of underwater environment in advance for Divers, provide necessary underwater lighting for Divers and keep track of the overall process of shooting diving；In the case of natural conditions are not suitable for diving, also can carry out latent bat by remote control submarine for water under people, are stored in shooting scene in the memory card in remote control submarine main frame, be copied into computer afterwards and can carry out playback and share；When Divers something unexpected happened, the remote control manipulator on the water surface can find and manipulate underwater submarine in time and become an interim lifesaving appliance, and the lower personnel of feedwater float the auxiliary pulling force providing certain, help diver quickly to emerge and escape danger.
Therefore, a kind of remote control submarine being applied to undersea detection that the present invention provides, including: remote control submarine main frame；The controller that remote control submarine main frame runs is controlled for sending control signal；With the display that controller is connected to Real Time Observation underwater environment；And it is arranged on the signal transceiver that more than the water surface or the water surface are connected with remote control submarine main frame；Described remote control submarine main frame includes: waterproof case, sight glass, dynamical system, master control system, sensing system, image capturing system and power module；Described image capturing system includes: lighting circuit plate, photographic head, and high beam, dipped headlights, infrared ray light compensating lamp and ultraviolet searchlight.Described remote control submarine can not only help the people's real-time monitored sub-marine situations without diving experience, it also is able to find out underwater environment in advance for Divers easily and does not knows waters, illumination is provided and keeps track of diving process, and little by effect of natural conditions, additionally it is possible to help Divers quickly to emerge and escape danger.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, all these modifications and variations all should belong to the protection domain of claims of the present invention.
Claims (10)
1. the remote control submarine being applied to undersea detection, it is characterised in that including: remote control submarine main frame；The controller that described remote control submarine main frame runs is controlled for sending control signal；With the display that described controller is connected to Real Time Observation underwater environment；It is arranged on the signal transceiver that more than the water surface or the water surface are connected with described remote control submarine main frame；
Described remote control submarine main frame includes: waterproof case, it is arranged on the sight glass of described waterproof case front end, the dynamical system for driving described remote control submarine host motion being arranged on described waterproof case, the master control system for controlling the operation of described remote control submarine main frame being arranged in described waterproof case, for measuring the sensing system of described remote control submarine main frame operational factor, for shooting underwater environment and uploading the image/video image capturing system to described display after being arranged on described sight glass, and for the power module of described remote control submarine host supplying power；
Described image capturing system includes: be arranged on the lighting circuit plate inside described sight glass, is arranged on the photographic head in the middle of described lighting circuit plate, and is arranged on the high beam on described lighting circuit plate, dipped headlights, infrared ray light compensating lamp and ultraviolet searchlight.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described controller, described display are all connected by wireless communication mode with described signal transceiver；Described remote control submarine main frame is connected by cable with described signal transceiver.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described sensing system includes: be arranged on described remote control submarine main frame, for measuring the attitude transducer of described remote control submarine main frame attitude under water；It is arranged on described remote control submarine main frame, for measuring the depth transducer of described remote control submarine main frame submerged depth；It is arranged on described remote control submarine main frame, for measuring the sonar sensor of underwater obstacles and described remote control submarine main frame distance；It is arranged on described remote control submarine main frame, for measuring the Temperature Humidity Sensor of the internal humiture of described remote control submarine main frame；It is arranged on described remote control submarine main frame, for measuring the velocity sensor of described remote control submarine main engine trial speed；It is arranged on described remote control submarine main frame, for measuring the optical imaging sensor of described remote control submarine main frame surrounding.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described high beam, described dipped headlights, described infrared ray light compensating lamp and described ultraviolet searchlight are both provided with multiple；Described dipped headlights is arranged around described photographic head；Described infrared ray light compensating lamp, described ultraviolet searchlight are all symmetricly set on the both sides of described photographic head；Described high beam is symmetricly set on the two ends of described lighting circuit plate.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterized in that, the centre of described waterproof case is provided with the first kind duct of waterproof case described in up/down perforation, and the lateral symmetry of described waterproof case is provided with two Second Type ducts；
Described dynamical system includes: be arranged on the lifting motor in described first kind duct and elevating screw；It is arranged on the propulsion electric machine in described Second Type duct and propelling screws.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterized in that, described signal transceiver includes: for managing the energy supply control module of described power module, for receiving and send the first signal transmitting and receiving module of signal, the signal cable being connected with described remote control submarine main frame.
The remote control submarine being applied to undersea detection the most according to claim 5, it is characterized in that, described master control system includes: main control board, main control chip, secondary signal transceiver module, motor drive module, shooting control module and the memory module being arranged on main control board；
Described secondary signal transceiver module, described motor drive module, described shooting control module and described memory module all electrically connect with described main control chip；
Described secondary signal transceiver module, is used for receiving control signal, uploading image/video and sensing data；Described motor drive module, is used for driving described lifting motor and described propulsion electric machine to run；Described shooting control module, is used for controlling described photographic head shooting image/video；Described memory module, is used for storing image/video and sensing data.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described controller includes: for generating the control module of control signal, for sending the first communication module of control signal.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described display includes: second communication module, data memory module and data process and display module；
Described second communication module, for receiving the data message uploaded；Described data memory module, the data message received for storage；Described data process and display module, for processing the data message received, and show image/video and the sensing data of correspondence.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that described display is intelligent mobile terminal, separate display screens and the one of VR glasses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108750045A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of modular underwater robot |
| CN108750024A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of water surface intelligence carrying platform and its application |
| CN108995785A (en) * | 2018-07-14 | 2018-12-14 | 芜湖益浩昌智能设备有限公司 | It is a kind of can multidirectional propulsion underwater robot |
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| CN106314733B (en) * | 2016-10-26 | 2018-04-20 | 朱苏学 | A kind of unmanned underwater photography machine people |
| CN106314733A (en) * | 2016-10-26 | 2017-01-11 | 朱苏学 | Unmanned underwater photographing robot |
| WO2018090615A1 (en) * | 2016-11-16 | 2018-05-24 | 深圳潜行创新科技有限公司 | Remotely-operated underwater vehicle and remotely-operated underwater vehicle system |
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106814735A (en) * | 2016-12-06 | 2017-06-09 | 北京臻迪科技股份有限公司 | A kind of control system of unmanned boat |
| CN106814735B (en) * | 2016-12-06 | 2020-08-14 | 北京臻迪科技股份有限公司 | Control system of unmanned ship |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN106774356A (en) * | 2017-01-04 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of communication system |
| CN106786951A (en) * | 2017-01-04 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of unmanned boat system |
| CN106774356B (en) * | 2017-01-04 | 2020-10-30 | 北京臻迪科技股份有限公司 | Communication system |
| CN107021195A (en) * | 2017-04-19 | 2017-08-08 | 西安伺动科技有限公司 | Culvert type unmanned submersible |
| CN107416156A (en) * | 2017-05-11 | 2017-12-01 | 深圳潜水侠创新动力科技有限公司 | Vert the control system and its method of nacelle underwater remote-control submarine |
| CN106997057B (en) * | 2017-05-11 | 2023-10-27 | 深圳潜水侠创新动力科技有限公司 | Positioning system for underwater detector and positioning method thereof |
| CN107010188A (en) * | 2017-05-11 | 2017-08-04 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
| CN106997057A (en) * | 2017-05-11 | 2017-08-01 | 深圳潜水侠创新动力科技有限公司 | Alignment system and its localization method for underwater detectoscope |
| CN107380381A (en) * | 2017-07-29 | 2017-11-24 | 深圳市丝路蓝创意展示有限公司 | A kind of floatable diving system |
| CN107600375A (en) * | 2017-08-11 | 2018-01-19 | 江苏科技大学 | A kind of design method of observation type unmanned remotely controlled submersible vehicle |
| CN107600375B (en) * | 2017-08-11 | 2019-12-20 | 江苏科技大学 | Design method of observation type unmanned remote control submersible |
| CN109973858B (en) * | 2017-12-28 | 2022-03-08 | 中国科学院深圳先进技术研究院 | Illuminator for underwater dark field imaging |
| CN109973858A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院深圳先进技术研究院 | A kind of luminaire for underwater dark-field imaging |
| CN108710378A (en) * | 2018-04-28 | 2018-10-26 | 长沙金信诺防务技术有限公司 | A kind of device and its control method for underwater kit wireless communication |
| CN108995785A (en) * | 2018-07-14 | 2018-12-14 | 芜湖益浩昌智能设备有限公司 | It is a kind of can multidirectional propulsion underwater robot |
| CN108750024A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of water surface intelligence carrying platform and its application |
| CN108750045B (en) * | 2018-08-14 | 2020-10-23 | 深圳潜水侠创新动力科技有限公司 | Modular underwater robot |
| WO2020034400A1 (en) * | 2018-08-14 | 2020-02-20 | 深圳潜水侠创新动力科技有限公司 | Remote-controlled underwater intelligent robot |
| CN108750045A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of modular underwater robot |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN109665078A (en) * | 2019-02-11 | 2019-04-23 | 深圳鳍源科技有限公司 | Remote-controlled vehicle |
| CN109665078B (en) * | 2019-02-11 | 2024-05-24 | 深圳鳍源科技有限公司 | Remote-controlled submersible |
| CN112193390A (en) * | 2020-08-31 | 2021-01-08 | 长江三峡集团福建能源投资有限公司 | Underwater grouting monitoring device for offshore wind turbine jacket |
| CN112429182A (en) * | 2020-12-03 | 2021-03-02 | 上海江南长兴造船有限责任公司 | Underwater ship shell inspection equipment |
| CN114407592A (en) * | 2022-01-06 | 2022-04-29 | 北京理工大学 | Amphibious unmanned cruiser capable of realizing real-time communication |
| CN114407592B (en) * | 2022-01-06 | 2023-10-17 | 北京理工大学 | Amphibious unmanned patrol car capable of realizing real-time communication |
| CN114670995A (en) * | 2022-02-19 | 2022-06-28 | 山东省渔业发展和资源养护总站 | Multifunctional underwater operation device for fishery |
| CN114670995B (en) * | 2022-02-19 | 2022-10-28 | 山东省渔业发展和资源养护总站 | Multifunctional underwater operation device for fishery |
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