CN106774355A - Unmanned remotely controlled submersible vehicle system based on moving camera - Google Patents
Unmanned remotely controlled submersible vehicle system based on moving camera Download PDFInfo
- Publication number
- CN106774355A CN106774355A CN201611152553.4A CN201611152553A CN106774355A CN 106774355 A CN106774355 A CN 106774355A CN 201611152553 A CN201611152553 A CN 201611152553A CN 106774355 A CN106774355 A CN 106774355A
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- moving camera
- submersible
- power line
- line carrier
- floating body
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 47
- 238000007667 floating Methods 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims description 8
- 235000012907 honey Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009189 diving Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Studio Devices (AREA)
- Telephonic Communication Services (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention relates to a kind of unmanned remotely controlled submersible vehicle system based on moving camera, submersible platform is built with moving camera, submersible machine propeller module, sealed compartment, sealed compartment is built with Robot Motion Controller, wireless relay, power line carrier module under water, order wire connection between submersible machine propeller module and Robot Motion Controller, moving camera and Robot Motion Controller are connected to power line carrier module by wireless relay, and power line carrier module under water connects water floating body by network connection.The present invention directly uses moving camera as the camera of unmanned remotely controlled submersible vehicle, and shooting effect will be much better than traditional underwater camera.By network equipments such as wireless relay, moving camera wireless signal is transparent to the water surface, and emitted by high-power router waterborne, the mobile phone app carried by moving camera complete figure in real time pass and moving camera control, and the function such as the community for passing through moving camera completes sharing and propagation for underwater photograph technical content.
Description
Technical field
The present invention relates to a kind of unmanned remotely controlled submersible vehicle system, and in particular to a kind of unmanned remote controlled latent based on moving camera
Water heater system.
Background technology
Unmanned remotely controlled submersible vehicle has important purposes at military and civilian aspect, is widely used in science and military mission
Search and investigation, ocean engineering service, test and assess, it is subject to the weight of more and more scientists and technical staff at present
Depending on.
Underwater camera is the important component of unmanned remotely controlled submersible vehicle, the under water transmission of real-time video and high definition image quality
Collection be the mostly important function of unmanned remotely controlled submersible vehicle.Existing unmanned remotely controlled submersible vehicle camera is mostly monitoring camera
Head, shoots the figure biography host computer that image definition is low, be difficult to change, need special exploitation, unitary function, without electronic flutter-proof
Function, under water second-rate etc. many shortcomings of shooting picture in unmanned remotely controlled submersible vehicle motion process.And moving camera is made
It is the small portable moving camera shooting equipment of specialty, is shot with superelevation image quality and support 4K, acutance and color representation is more preferable.Fortune
Dynamic camera has main control chip, imageing sensor and the camera lens of specialty, has possess extraordinary performance under water.Can capture steady
Fixed, smooth picture, even if still can guarantee that preferable video when severe underwater environment, submersible strenuous exercise
Shooting effect.The proprietary mobile phone mobile terminal app of moving camera has many functions, possesses real-time video passback, high-definition shooting
With record etc..Moving camera possesses larger market simultaneously, and numerous users are possessed at present, and wherein many users are diving love
Good person, the mobile terminal app of moving camera possesses exchange well and shares community.The waterproof case that moving camera is owned by specialty is matched somebody with somebody
Part, waterproof case has general fixing device, therefore submersible can very easily carry moving camera.User can simultaneously
Easily to take out moving camera from submersible, the use of other purposes of moving camera is not influenceed, be also convenient for maintenance and repair.
Therefore, a kind of unmanned remotely controlled submersible vehicle system based on moving camera is designed, by moving camera and unmanned remote controlled latent
Hydrophone is combined, and has widened the purposes of moving camera also for underwater robot application scenarios bring preferably solution.
The content of the invention
The present invention is to provide for a kind of unmanned remotely controlled submersible vehicle system based on moving camera, for realize moving camera and
The combination of unmanned remotely controlled submersible vehicle.
To achieve the above object, the technical scheme is that：A kind of unmanned remotely controlled submersible vehicle system based on moving camera
System, including submersible platform, water floating body, upper computer end, the submersible platform is built with moving camera and waterproof case, water
Lower electric motor thruster module, sealed compartment, the sealed compartment built with Robot Motion Controller, subsea power line carrier module,
Wire communication connection, moving camera and motion planning and robot control between submersible machine propeller module and Robot Motion Controller
Device connects subsea power line carrier module by wireless relay respectively, and the subsea power line carrier module passes through network connection
Connection water floating body, wireless communication connection between water floating body and upper computer end.
The water floating body is made up of wireless router, power line carrier module waterborne, electrokinetic cell, electrokinetic cell and water
Upper power line carrier module is connected, and network connection is passed through between power line carrier module waterborne and subsea power line carrier module
Line power line is connected, so as to realize being connected between water floating body and submersible body；The water floating body is fixed on a drift
In the floating body for floating on the surface.
The upper computer end include moving camera mobile phone app ends and submersible remote-control handle, moving camera mobile phone app ends and
Submersible remote-control handle is connected between water floating body by wireless wifi respectively；Moving camera mobile phone app clients are motion
The mobile phone app that camera is carried, submersible remote-control handle is wirelessly connected with the wireless router in water floating body, realizes
Control to underwater robot；Described mobile phone mobile terminal is connected with remote control by clamping device.
Connected by wireless wifi between the moving camera and wireless relay, Robot Motion Controller and wireless relay
Between connected by Ethernet netting twine, connected by Ethernet netting twine between subsea power line carrier module and wireless relay.
Described moving camera is gopro or honey ant moving camera.
Compared with prior art, its advantage is the present invention：
1st, it is combined with remote-controlled vehicle using existing moving camera, greatly strengthen the performance of remote-controlled vehicle, is reduced
The cost of remote-controlled vehicle, can shoot the image under water of more high-quality and with preferable real-time video transmission ability, can be more
The underwater operation of unmanned remotely controlled submersible vehicle is aided in well.
2nd, moving camera is loaded and unloaded easily from unmanned remotely controlled submersible vehicle, is maintained easily and is changed, and moving camera conduct is not influenceed
The use of other purposes.
3rd, moving camera can be selected according to oneself demand for the user using remote-controlled vehicle, without by professional and high
Expensive remote-controlled vehicle limitation, simultaneously for possess moving camera user can very low price purchase remote-controlled vehicle load from
Oneself camera carries out undersea search.
4th, using in the mobile phone mobile terminal app of moving camera itself share with the function such as community, preferably realize under water
Share and the propagation of shooting works, beneficial to the development of underwater robot industry.
5th, possess the network trunk scheme of flexible and high speed, support the wireless expansion of most of moving camera.
Brief description of the drawings
Fig. 1 is the unmanned remotely controlled submersible vehicle system framework figure based on moving camera of the invention；
Fig. 2 is the unmanned remotely controlled submersible vehicle system construction drawing based on moving camera of invention.
Specific embodiment
Below in conjunction with accompanying drawing, specific embodiment of the invention is illustrated.
Refer to Fig. 1,2, the unmanned remotely controlled submersible vehicle system based on moving camera of the invention, comprising submersible platform
1st, waterproof case 2, moving camera 3, wireless wifi connections 4, wireless relay 5, Ethernet netting twine 6, subsea power line carrier module
7th, Robot Motion Controller 8, sealed compartment 9, submersible machine propeller module 10, network connection 11, water floating body 12, wireless
Router 1, power line carrier module 14 waterborne, electrokinetic cell 15, submersible remote-control handle 16, moving camera mobile phone app ends
1st, upper computer end 18, the diving shell 19 comprising moving camera, underwater propeller duct 20, underwater propeller 21, submersible sheet
Body 22.
Submersible platform 1 is built with moving camera 3 and waterproof case 2, submersible machine propeller module 10, sealed compartment 9, institute
State power line carrier module 7 of the sealed compartment 9 built with Robot Motion Controller 8, under water, submersible machine propeller module 10 with
During wire communication connection between Robot Motion Controller 8, moving camera 3 and Robot Motion Controller 8 pass through wirelessly respectively
After 5 connection line of force carrier modules 7, the power line carrier module 7 under water connects water floating body 12 by network connection 11,
Wireless communication connection between water floating body 12 and upper computer end 18.Connected by wireless wifi between moving camera 3 and wireless relay 5
Connect, connected by Ethernet netting twine 6 between Robot Motion Controller 8 and wireless relay 5, subsea power line carrier module 7 with
Connected by Ethernet netting twine 6 between wireless relay 5.
Upper computer end 18 includes moving camera mobile phone app ends 17 and submersible remote-control handle 16, moving camera mobile phone app ends
17 and submersible remote-control handle 16 be connected by wireless wifi between water floating body 12 respectively；Moving camera mobile phone app client
Hold the mobile phone app carried for moving camera, submersible remote-control handle 16 wirelessly with water floating body 12 in without circuit
It is connected by device 1, realizes the control to underwater robot；Described mobile phone mobile terminal is connected with remote control by clamping device.
Moving camera 3 is gopro or honey ant moving camera.The sealed compartment 9 of underwater robot is by motion planning and robot control
Device 8, wireless relay 5, subsea power line carrier module 7 is constituted.
Connected with wired communication mode between submersible machine propeller module 10 and Robot Motion Controller 8, motion
4 are connected by wireless wifi between camera 3 and wireless relay 5,
Connected with Ethernet netting twine 6 between Robot Motion Controller 8 and wireless relay 5, subsea power line carrier module 7 and nothing
Connected with Ethernet netting twine 6 between line relaying 5.
Water floating body 12, is made up of wireless router 13, power line carrier module waterborne 14, electrokinetic cell 15.It is waterborne floating
Connected with Ethernet netting twine 6 between body 12 and power line carrier module waterborne, power line carrier module waterborne 14 and under water electric power
It is connected with network connection power line 11 between line carrier module 7, so as to realize between water floating body 12 and submersible body 1
It is connected.The equipment of water floating body 12 is fixed in a floating body swum on the water surface, and effect is by underwater signal transmission to the water surface
Go up and extend away and load the electrokinetic cell part 15 of submersible.
Network connecting module is responsible for completing the network connection between modules, including completion moving camera 4 is connected to nothing
Line relaying 5, Robot Motion Controller 8 be connected to the connection of wireless relay 5, wireless relay 5 and router waterborne 13, it is waterborne and
The parts such as communication under water.User is by moving camera mobile phone app ends 17 and submersible remote-control handle 16 and the nothing of floating body router 13
After line connection, you can remote control diving under water device is moved, and motion phase is checked at the mobile phone app ends 17 carried by moving camera
The real-time video of machine 3, and control moving camera to be shot and recorded by app.
Fig. 2 is refer to, the unmanned remotely controlled submersible vehicle structure based on moving camera can be reduced to latent comprising moving camera
Water shell 19, is fixed on the submersible body 22 of remote control, is connected using buckle and is easy to the dismounting of moving camera, comprising motion phase
Abutted in the diving shell 19 of machine and the mechanical structure of submersible sealed compartment 9.Underwater propeller duct 20 is fixed on submersible body 1
On, underwater propeller 21 is under water in propeller duct 20.Water floating body 12 is with remote-controlled vehicle body 1 with network connection 11
It is connected.
Claims (5)
1. a kind of unmanned remotely controlled submersible vehicle system based on moving camera, including submersible platform (1), water floating body (12), on
Position generator terminal (18), it is characterised in that：The submersible platform (1) is built with moving camera (3) and waterproof case (2), electricity under water
Machine propeller module (10), sealed compartment (9), the sealed compartment (9) is built with Robot Motion Controller (8), subsea power line
Carrier module (7), wire communication is connected between submersible machine propeller module (10) and Robot Motion Controller (8), motion
Camera (3) and Robot Motion Controller (8) connect subsea power line carrier module (7) by wireless relay (5) respectively, described
Subsea power line carrier module (7) connects water floating body (12), water floating body (12) and host computer by network connection (11)
Wireless communication connection between end (18).
2. the unmanned remotely controlled submersible vehicle system based on moving camera according to claim 1, it is characterised in that：It is described waterborne
Floating body (12) is made up of wireless router (13), power line carrier module waterborne (14), electrokinetic cell (15), electrokinetic cell (15)
It is connected with power line carrier module waterborne (14), power line carrier module (14) waterborne and subsea power line carrier module (7)
Between be connected by network connection (11), so as to realize being connected between water floating body (12) and submersible body (1)；Institute
Water floating body (12) is stated to be fixed in a floating body swum on the water surface.
3. the unmanned remotely controlled submersible vehicle system based on moving camera according to claim 1, it is characterised in that：It is described upper
Generator terminal (18) includes moving camera mobile phone app ends (17) and submersible remote-control handle (16), moving camera mobile phone app ends (17) and
Submersible remote-control handle (16) is connected between water floating body (12) by wireless wifi respectively；Moving camera mobile phone app client
Hold the mobile phone app carried for moving camera, submersible remote-control handle (16) wirelessly with water floating body (12) in nothing
Line router (1) is connected, and realizes the control to underwater robot；Described mobile phone mobile terminal is connected with remote control by clamping device
Connect.
4. the unmanned remotely controlled submersible vehicle system based on moving camera according to claim 1, it is characterised in that：The motion
It is connected by wireless wifi between camera (3) and wireless relay (5), between Robot Motion Controller (8) and wireless relay (5)
Connected by Ethernet netting twine (6), Ethernet netting twine (6) is passed through between subsea power line carrier module (7) and wireless relay (5)
Connection.
5. the unmanned remotely controlled submersible vehicle system based on moving camera according to claim 1, it is characterised in that：Described fortune
Dynamic camera (3) is gopro or honey ant moving camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611152553.4A CN106774355A (en) | 2016-12-14 | 2016-12-14 | Unmanned remotely controlled submersible vehicle system based on moving camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611152553.4A CN106774355A (en) | 2016-12-14 | 2016-12-14 | Unmanned remotely controlled submersible vehicle system based on moving camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106774355A true CN106774355A (en) | 2017-05-31 |
Family
ID=58887858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611152553.4A Pending CN106774355A (en) | 2016-12-14 | 2016-12-14 | Unmanned remotely controlled submersible vehicle system based on moving camera |
Country Status (1)
| Country | Link |
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| CN (1) | CN106774355A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
| CN108408004A (en) * | 2018-03-29 | 2018-08-17 | 武汉理工大学 | Modularization underwater robot and control method |
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
| CN110266945A (en) * | 2019-06-25 | 2019-09-20 | 上海幻维数码创意科技有限公司 | A kind of portable mobile wireless control system suitable for VR shooting |
| CN113060261A (en) * | 2021-04-19 | 2021-07-02 | 哈尔滨工程大学 | Multi-degree-of-freedom underwater shooting boosting robot |
| JP7017821B1 (en) * | 2021-07-14 | 2022-02-09 | 一般社団法人日本マルチコプター協会 | Water monitoring system |
| WO2023286799A1 (en) * | 2021-07-14 | 2023-01-19 | 一般社団法人 日本マルチコプター協会 | Water surveillance system |
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| CN105468020A (en) * | 2015-12-29 | 2016-04-06 | 天津海之声科技有限公司 | Distributed control-based underwater robot system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
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| CN108408004A (en) * | 2018-03-29 | 2018-08-17 | 武汉理工大学 | Modularization underwater robot and control method |
| CN108408004B (en) * | 2018-03-29 | 2019-08-20 | 武汉理工大学 | Modularization underwater robot and control method |
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
| CN109941412B (en) * | 2019-04-25 | 2024-02-09 | 福州大学 | Multifunctional universal remote control unmanned submersible platform and application method thereof |
| CN110266945A (en) * | 2019-06-25 | 2019-09-20 | 上海幻维数码创意科技有限公司 | A kind of portable mobile wireless control system suitable for VR shooting |
| CN113060261A (en) * | 2021-04-19 | 2021-07-02 | 哈尔滨工程大学 | Multi-degree-of-freedom underwater shooting boosting robot |
| JP7017821B1 (en) * | 2021-07-14 | 2022-02-09 | 一般社団法人日本マルチコプター協会 | Water monitoring system |
| WO2023286799A1 (en) * | 2021-07-14 | 2023-01-19 | 一般社団法人 日本マルチコプター協会 | Water surveillance system |
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Application publication date: 20170531 |