CN109969361A - A kind of jellyfish type underwater detectoscope and its detection method - Google Patents
A kind of jellyfish type underwater detectoscope and its detection method Download PDFInfo
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- CN109969361A CN109969361A CN201910251243.5A CN201910251243A CN109969361A CN 109969361 A CN109969361 A CN 109969361A CN 201910251243 A CN201910251243 A CN 201910251243A CN 109969361 A CN109969361 A CN 109969361A
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- Combustion & Propulsion (AREA)
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of jellyfish type underwater detectoscope and its detection methods, it is characterized in that including sniffing robot and remote terminal two parts.Wherein, sniffing robot includes shell, it is connected to the bionic muscle of the shell side, a pair of of elevator in portion disposed in the housing, it is mounted on the buoyancy-driven unit of described shell one end, it is mounted on the enclosure interior and the turning control cell close to the elevator side, and is mounted on multiple visual response units at shell head and the tail both ends with predetermined position respectively；Remote terminal includes being sealingly mounted at the intracorporal signal processing unit of the shell, and the virtual implementing helmet remotely connecting with the signal processing unit.The present invention effectively avoids the problem that in traditional technology that propeller driving leads to sundries appearance under winding water, using bionics, by the jellyfish and fish in simulation ocean so that the underwater detectoscope move under water nimbly and freely, high reliablity.
Description
Technical field
The present invention relates to a kind of underwater detectoscopes, and in particular to a kind of jellyfish type underwater detectoscope and its detection method.
Background technique
Earth ocean area is vast, and ocean area occupies earth table in total at 361,100,000 square kilometres fully according to statistics
2/3rds of face, it is even more, and the land area that we depend on for existence goes back insufficient one third unexpectedly, this is also meaned that
Other than land, there are also too many tera incognitas for we, more importantly in contrast ocean also contain it is extremely rich
Rich resource, especially petroleum, natural gas strategic resource important in this way, countries in the world start large quantities of one after another in recent years thus
It explores the exhibition ocean of amount.
Underwater detectoscope, the power mode that is often used are propeller push type and two kinds of underwater gliding formula in the prior art,
The former submerged depth is inadequate, and exposed propeller outside is easy to be wound by plants such as water plants；The latter glides by dynamics, this
Kind of athletic posture is difficult to control, and is especially turned under water and reliability is not high when the movements such as floating dive.
Summary of the invention
Goal of the invention: providing a kind of jellyfish type underwater detectoscope, using bionics, by jellyfish in simulation ocean and
Fish solves the above problem of the existing technology.
Technical solution: a kind of jellyfish type underwater detectoscope, including sniffing robot and remote terminal two parts.
Wherein, sniffing robot, including shell are connected to the bionic muscle of the shell side, are arranged in the shell
A pair of of elevator at middle part is mounted on the buoyancy-driven unit of described shell one end, is mounted on the enclosure interior and close to institute
The turning control cell of elevator side is stated, and is mounted on multiple visions at shell head and the tail both ends with predetermined position respectively
Sensing unit；
Remote terminal, including it is sealingly mounted at the intracorporal signal processing unit of the shell, and remote with the signal processing unit
The virtual implementing helmet of journey connection.
In a further embodiment, the bionic muscle includes at least four steering engines, is connected to the output of the steering engine
Elastic patch on axis, and the jellyfish fin being bonded with the surface of the elastic patch；The elastic patch is in predetermined curvature
The arc of radius, the jellyfish fin is in bowl-shape, and deposits deformation within a predetermined range；Elastic patch can receive extraneous pressure
Deformation occurs in the case where power, can restore to the original state rapidly after pressure removes, the memory effect with metal, the jellyfish wing
Piece is attached on elastic patch, can be driven by elastic patch, is completed contraction and diastole, is sufficiently simulated the state of true jellyfish.
In a further embodiment, the steering engine includes power box, the motor being mounted on inside the power box, with institute
The transmission gear group of electromechanics connection, the control panel with the electrical connection of motor are stated, and is electrically connected with the control panel
The adjustable potentiometer connect；The transmission gear group includes the first screw rod being fixed on the motor output end, with described first
The left end gear set of screw rod engaged transmission, the intermediate gear group with left end gear set engaged transmission, and with the centre
The right end gear set of gear set engaged transmission, is coaxially installed with steering engine line shaft on the right end gear set.The left end gear
Group, intermediate gear group and right end gear group pass through scheduled gear Coaxial Superimposed respectively and are formed, and the left end gear set includes
First transmission shaft, and the first gear being fixed on first transmission shaft and the second tooth are arranged in upper and lower relation superposition respectively
Wheel；The intermediate gear group includes second driving shaft, and is arranged in upper and lower relation superposition is fixed on second transmission respectively
Third gear and the 4th gear on axis；The right end gear set includes third transmission shaft, and is arranged and is fixed on the third
The 5th gear on transmission shaft；The first gear is helical gear and engages with first screw rod；The second gear and institute
The 4th gear is stated as straight-tooth engagement；The third gear is that straight-tooth engages with the 5th gear；The first gear, the second tooth
Wheel, third gear, the 4th gear, the 5th the gear mistake between first transmission shaft, second driving shaft, third transmission shaft respectively
It is full of and is coupled.The transmission gear group exports the power of motor by slowing down, and increases torque, and adjustable potentiometer includes electricity
Resistance body and a moveable brush；When brush is moved along resistor body, is obtained in output end and displacement is at predetermined pass
The resistance value or voltage of system.
In a further embodiment, the turning control cell includes decelerating motor, the output with the decelerating motor
Hold the second screw rod for connect by shaft coupling, with second screw rod engaged transmission switching helical gear, by flat key with it is described
The shaft that helical gear of transferring connects, and the eccentric block being fixed in the shaft；The eccentric block includes multiple is overlapped mutually
Semicircle Weight plate, the superposition quantity of the Weight plate is according to a kind of whole center of gravity calculation of jellyfish type underwater detectoscope
It obtains.By rotating eccentric block the whole center of gravity of the underwater detectoscope is shifted, to change course.
In a further embodiment, the buoyancy-driven unit includes for air cavity, with the gas outlet one for air cavity
Hold the air bag of connection, and the solenoid valve opened and be closed for air cavity for controlling described；Solenoid valve is for controlling for air cavity
Closure or openness, air bag is used to receive the gas for air cavity generation and expands, after gas pours into air bag, underwater detectoscope
Density reduces therewith, to slowly float.
In a further embodiment, the visual response unit includes at least one headlamp, at least two infrared spies
Survey instrument, at least two cameras and at least one sonar；The headlamp, infrared detecting set, camera, sonar are with predetermined
Angles and positions installation；The headlamp is used for underwater lighting, the camera for acquiring picture, the infrared detector and
Sonar cooperation is used for ranging and avoidance.
In a further embodiment, the upper surface of the elevator is the arc of predetermined bend radius, and lower surface is in water
It is flat；The elevator is by being built in the servo driving of the enclosure interior；The amplitude of fluctuation of the elevator passes through limited block
Limit；Because distance differs when upper and lower water flow passes through elevator, the fast place of flow velocity is low-pressure area, therefore produces lift.
A kind of detection method of jellyfish type underwater detectoscope, it is characterised in that the following steps are included:
The first step, buoyancy-driven unit starting, by being the global density of the air bag gas supply change underwater detectoscope, control for air cavity
The underwater detectoscope is made to float or sink in water；
Second step, bionic muscle starting, drive elastic patch to swing, paste to drive with elastic patch by least four steering engines
The diastole of jellyfish fin and tightening of conjunction, to simulate the muscular movement of similar true jellyfish；
The every diastole of third step, bionic muscle and tightening are primary, i.e., scheduled displacement are discharged to the direction opposite with direction of advance,
Generating reverse power by the water flow being discharged drives the underwater detectoscope to advance；
4th step, elevator cooperation bionic muscle movement, realize rising or dive while advancing；
The position of 5th step, turning control cell adjustment eccentric block, changes the underwater detectoscope in the way of change center of gravity
Direction of advance；
6th step, visual response cell operation, headlamp are used for underwater lighting, and camera is for acquiring picture, infrared detector
Ranging and avoidance are used for sonar cooperation；
Wireless communication connection is established between 7th step, remote terminal and visual response unit, signal processing unit adopts camera
Picture after collection is synthesized by scheduled algorithm and is shown by virtual implementing helmet；
Virtual implementing helmet is worn on the head by the 8th step, user of service, experiences the picture with feeling of immersion.
The utility model has the advantages that, using bionics, passing through the water in simulation ocean the present invention relates to a kind of jellyfish type underwater detectoscope
Female and fish, specifically, elastic patch is respectively driven by steering engine in a further embodiment by setting bionic muscle, into
And the jellyfish fin being bonded with elastic patch is driven to make the movement of diastole and tightening, to simulate the flesh of similar true jellyfish
Meat movement drives the underwater detectoscope to advance using the reverse power that discharge water flow generates.It is designed in this way it is possible to prevente effectively from passing
The problem of propeller driving leads to sundries under winding water in system technology appearance；The fin of fish has been used for reference in the design of elevator simultaneously,
So that the underwater detectoscope move under water nimbly and freely, high reliablity.
Detailed description of the invention
Fig. 1 is cut-away illustration of the invention.
Fig. 2 is perspective view of the invention.
Fig. 3 is the perspective view of turning control cell in the present invention.
Fig. 4 is the schematic diagram of internal structure of steering engine in the present invention.
Fig. 5 is the arrangement schematic diagram of visual response unit in the present invention.
Each appended drawing reference in figure are as follows: shell 1, visual response unit 2, sonar 201, headlamp 202, infrared detecting set 203,
Camera 204, turning control cell 3, decelerating motor 301, shaft coupling 302, the second screw rod 303, shaft 304, semicircle counterweight
Plate 305, switching helical gear 306, for air cavity 4, air bag 5, steering engine 6, power box 601, motor 602, first gear 603, the second tooth
The 604, first transmission shaft 605, the 4th gear 606, third gear 607, third transmission shaft 608, the 5th gear 609, second is taken turns to pass
Moving axis 610, the first screw rod 611, elastic patch 7, jellyfish fin 8, elevator 9.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figures 1 to 5, the present invention relates to a kind of jellyfish type underwater detectoscope and its detection methods.It is right separately below
A kind of jellyfish type underwater detectoscope and a kind of detection method of jellyfish type underwater detectoscope are specifically described.
A kind of jellyfish type underwater detectoscope includes shell 1, bionic muscle, elevator 9, buoyancy-driven unit, course changing control
Unit 3, visual response unit 2, signal processing unit and virtual implementing helmet.The bionic muscle is connected to the shell 1
Side, the elevator 9 setting is mounted on described 1 one end of shell, institute in 1 middle part of shell, the buoyancy-driven unit
Turning control cell 3 is stated to be mounted on inside the shell 1 and close to the side of the elevator 9, the visual response unit 2
The first both ends of the shell 1 are mounted on predetermined position respectively, the signal processing unit is sealingly mounted at the shell 1
It is interior, it is remotely connected between the virtual implementing helmet and the signal processing unit.
As a preferred embodiment, the bionic muscle includes at least four steering engines 6, is connected on the output shaft of the steering engine 6
It is connected to elastic patch 7, the surface of the elastic patch 7 is fitted with jellyfish fin 8, and the elastic patch 7 is in predetermined bend radius
Arc, the jellyfish fin 8 is in bowl-shape and can deformation occurs within a predetermined range and restores.Elastic patch 7 can receive
Deformation occurs in the case where ambient pressure, can restore to the original state rapidly after pressure removes, the memory effect with metal, described
Jellyfish fin 8 is attached on elastic patch 7, can be driven by elastic patch 7, is completed contraction and diastole, is sufficiently simulated true jellyfish
State.
As a preferred embodiment, the steering engine 6 include power box 601, motor 602, transmission gear group, control panel, can
Adjust potentiometer；The motor 602 is mounted on inside the power box 601, and the transmission gear group and the motor 602 are mechanical even
It connects, is electrically connected between the control panel and the motor 602, the adjustable potentiometer and the control panel are electrically connected.Institute
Stating transmission gear group includes the first screw rod 611, left end gear set, intermediate gear group, right end gear set, 6 line shaft of steering engine, left end
611 engaged transmission of gear set and first screw rod, the intermediate gear group and left end gear set engaged transmission, the right side
Gear set and intermediate gear group engaged transmission are held, 6 line shaft of steering engine is coaxially mounted on the right end gear set.Institute
It states left end gear set, intermediate gear group and right end gear group and passes through scheduled gear Coaxial Superimposed respectively and formed, the left end
Gear set includes the first transmission shaft 605, and is arranged is fixed on first transmission shaft 605 in upper and lower relation superposition respectively
First gear 603 and second gear 604；The intermediate gear group includes second driving shaft 610, and folded in upper and lower relation respectively
It is jacketed to set the third gear 607 and the 4th gear 606 being fixed on the second driving shaft 610；The right end gear set includes
Third transmission shaft 608, and it is arranged the 5th gear 609 being fixed on the third transmission shaft 608；The first gear 603
It is engaged for helical gear and with first screw rod 611；The second gear 604 is that straight-tooth engages with the 4th gear 606；
The third gear 607 is that straight-tooth engages with the 5th gear 609；The first gear 603, second gear 604, third tooth
Take turns the 607, the 4th gear 606, the 5th gear 609 respectively with first transmission shaft 605, second driving shaft 610, third transmission shaft
Installation is interference fitted between 608.The transmission gear group exports the power of motor 602 by slowing down, and increases torque, adjustable
Potentiometer includes resistor body and a moveable brush；When brush is moved along resistor body, in output end i.e. acquisition and position
Shifting amount at predetermined relationship resistance value or voltage.
As a preferred embodiment, the turning control cell 3 includes decelerating motor 301, with the decelerating motor 301
Output end passes through the second screw rod 303 that shaft coupling 302 connects, the switching helical gear with 303 engaged transmission of the second screw rod
306, the shaft 304 being connect by flat key with the switching helical gear 306, and the eccentric block being fixed in the shaft 304；
The eccentric block includes multiple semicircle Weight plates 305 being overlapped mutually, and the superposition quantity of the Weight plate is according to the underwater spy
The whole center of gravity calculation for surveying device obtains.By rotating eccentric block the whole center of gravity of the underwater detectoscope is shifted, thus
It changes course.The buoyancy-driven unit includes the air bag 5 being connected to described gas outlet one end for air cavity 4 for air cavity 4, with
And the solenoid valve opened and be closed for air cavity 4 for controlling described；Solenoid valve is used to control the closure or openness for air cavity 4, gas
Capsule 5 is used to receive the gas for the generation of air cavity 4 and expands, and after gas pours into air bag 5, the density of underwater detectoscope subtracts therewith
It is small, to slowly float.The visual response unit 2 include at least one headlamp 202, at least two infrared detecting sets 203,
At least two cameras 204 and at least one sonar 201；The headlamp 202, infrared detecting set 203, camera 204,
Sonar 201 is installed with position at a predetermined angle；The headlamp 202 is used for underwater lighting, and the camera 204 is for acquiring picture
Face, the infrared detector and the cooperation of sonar 201 are used for ranging and avoidance.The upper surface of the elevator 9 is predetermined curvature half
The arc of diameter, lower surface is in level；The elevator 9 is driven by being built in the steering engine 6 inside the shell 1；The lifting
The amplitude of fluctuation of rudder 9 is limited by limited block；Because distance differs when upper and lower water flow passes through elevator 9, the fast place of flow velocity is low
Pressure area, therefore produce lift.
Through the above technical solutions, the present invention possesses the following course of work and method:
Firstly, buoyancy-driven unit starting, by being the global density of the gas supply change of air bag 5 underwater detectoscope, control for air cavity 4
The underwater detectoscope is made to float or sink in water；Specifically, solenoid valve is used to control the closure or openness for air cavity 4, work as confession
Air cavity 4 injects gas into air bag 5 after opening, and air bag 5 slowly expands at this time, after gas pours into air bag 5, underwater detectoscope
Density reduces therewith, to slowly float.Then, bionic muscle starts, and drives elastic patch 7 to put by least four steering engines 6
Dynamic, to drive 8 diastole of jellyfish fin and tightening being bonded with elastic patch 7, elastic patch 7 can receive ambient pressure
In the case of deformation occurs, can restore to the original state rapidly after pressure removes, with metal memory effect, the jellyfish fin 8
It is attached on elastic patch 7, can be driven by elastic patch 7, complete contraction and diastole, sufficiently simulate the state of true jellyfish.It is imitative
The every diastole of myogenic meat and tightening are primary, i.e., scheduled displacement are discharged to the direction opposite with direction of advance, by the water flow being discharged
Generating reverse power drives the underwater detectoscope to advance.Elevator 9 cooperates bionic muscle movement, realizes and rises while advancing
Or dive；The upper surface of the elevator 9 is the arc of predetermined bend radius, and lower surface is in level；The elevator 9 passes through interior
The steering engine 6 inside the shell 1 is set to drive；The amplitude of fluctuation of the elevator 9 is limited by limited block；Upper and lower water flow is passed through
Because distance differs when elevator 9, the fast place of flow velocity is low-pressure area, therefore produces lift.Turning control cell 3 adjusts bias
The position of block changes the direction of advance of the underwater detectoscope in the way of change center of gravity, specifically, the eccentric block includes more
A semicircle Weight plate 305 being overlapped mutually, the superposition quantity of the Weight plate is according to the whole stasiofax of the underwater detectoscope
It obtains.By rotating eccentric block the whole center of gravity of the underwater detectoscope is shifted, to change course.Then, depending on
Feel that sensing unit 2 works, headlamp 202 is used for underwater lighting, and camera 204 is for acquiring picture, infrared detector and sonar
201 cooperations are used for ranging and avoidance.Since electromagnetic wave is decayed too fastly in water, and wavelength is shorter, and loss is bigger, i.e., using big
The low-frequency electromagnetic wave of power can only also propagate tens meters.However, the decaying that sound wave is propagated in water is just much smaller, it is able to carry out
Long-range detection, sound wave have advantageous advantage.In addition, establishing channel radio between remote terminal and visual response unit 2
Letter connection, the picture after signal processing unit acquires camera 204 are synthesized by scheduled algorithm and pass through virtual reality head
Helmet projection；Virtual implementing helmet is worn on the head by user of service, experiences the picture with feeling of immersion.The universal time that people looks around,
Since the position of two eyes is different, obtained image is slightly different, these images merge in brain, are formed one
A whole scene about world around includes the information of distance in this scene.Certainly, range information can also lead to
Cross other methods acquisition, such as distance, comparison of article size of eyes focal length etc..In VR system, binocular stereo vision is risen
Great role.The different images that two eyes of user are seen generate respectively, are shown on different displays.Have
After system uses individual monitor, but user takes special glasses, one eye eyeball can only see odd-numbered frame image, another eye
Eyeball can only see even frame image, and the difference i.e. parallax between odd, even frame just produce three-dimensional sense and feeling of immersion.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
It makes a variety of changes in the form and details.
Claims (8)
1. a kind of jellyfish type underwater detectoscope, it is characterized in that including:
Sniffing robot, including shell are connected to the bionic muscle of the shell side, a pair in portion disposed in the housing
Elevator is mounted on the buoyancy-driven unit of described shell one end, is mounted on the enclosure interior and close to the elevator one
The turning control cell of side, and multiple visual response units at shell head and the tail both ends are mounted on predetermined position respectively；
Remote terminal, including it is sealingly mounted at the intracorporal signal processing unit of the shell, and remote with the signal processing unit
The virtual implementing helmet of journey connection.
2. a kind of jellyfish type underwater detectoscope according to claim 1, it is characterised in that: the bionic muscle includes at least
Four steering engines, the elastic patch being connected on the output shaft of the steering engine, and the water being bonded with the surface of the elastic patch
Female fin；The elastic patch is in the arc of predetermined bend radius, and the jellyfish fin is in bowl-shape, and is deposited within a predetermined range
Deformation.
3. a kind of jellyfish type underwater detectoscope according to claim 2, it is characterised in that: the steering engine includes power box,
The motor being mounted on inside the power box, the transmission gear group being connect with the electromechanics, with the electrical connection of motor
Control panel, and with the control panel be electrically connected adjustable potentiometer；The transmission gear group includes being fixed on the electricity
The first screw rod on machine output end, the left end gear set with the first screw rod engaged transmission, is engaged with the left end gear set
The intermediate gear group of transmission, and the right end gear set with intermediate gear group engaged transmission, it is same on the right end gear set
Axis is equipped with steering engine line shaft.
4. a kind of jellyfish type underwater detectoscope according to claim 3, it is characterised in that: the left end gear set, centre
Gear set and right end gear group pass through scheduled gear Coaxial Superimposed respectively and are formed, and the left end gear set includes the first biography
Moving axis, and the first gear and second gear being fixed on first transmission shaft are arranged in upper and lower relation superposition respectively；Institute
Stating intermediate gear group includes second driving shaft, and is arranged is fixed on the second driving shaft in upper and lower relation superposition respectively
Third gear and the 4th gear；The right end gear set includes third transmission shaft, and is arranged and is fixed on the third transmission shaft
On the 5th gear；The first gear is helical gear and engages with first screw rod；The second gear and the described 4th
Gear is straight-tooth engagement；The third gear is that straight-tooth engages with the 5th gear；The first gear, second gear,
Interference is matched between first transmission shaft, second driving shaft, third transmission shaft respectively for three gears, the 4th gear, the 5th gear
Close installation.
5. a kind of jellyfish type underwater detectoscope according to claim 1, it is characterised in that: the buoyancy-driven unit includes
For air cavity, the air bag being connected to described gas outlet one end for air cavity, and open and be closed for air cavity for controlling described
Solenoid valve.
6. a kind of jellyfish type underwater detectoscope according to claim 1, it is characterised in that: the visual response unit includes
At least one headlamp, at least two infrared detecting sets, at least two cameras and at least one sonar；The headlamp,
Infrared detecting set, camera, sonar are installed with position at a predetermined angle.
7. a kind of jellyfish type underwater detectoscope according to claim 1, it is characterised in that: the upper surface of the elevator is
The arc of predetermined bend radius, lower surface is in level；The elevator is by being built in the servo driving of the enclosure interior；Institute
The amplitude of fluctuation for stating elevator is limited by limited block.
8. a kind of detection method of jellyfish type underwater detectoscope, it is characterised in that the following steps are included:
S1, buoyancy-driven unit starting, by being the global density of the air bag gas supply change underwater detectoscope for air cavity, control should
Underwater detectoscope floats or sinks in water；
S2, bionic muscle starting, drive elastic patch to swing by least four steering engines, thus what drive was bonded with elastic patch
The diastole of jellyfish fin and tightening, to simulate the muscular movement of similar true jellyfish；
The every diastole of S3, bionic muscle and tightening are primary, i.e., scheduled displacement are discharged to the direction opposite with direction of advance, by arranging
Water flow out generates reverse power and the underwater detectoscope is driven to advance；
S4, elevator cooperation bionic muscle movement, realize rising or dive while advancing；
S5, visual response cell operation, headlamp are used for underwater lighting, and camera is for acquiring picture, infrared detector harmony
Cooperation is received for ranging and avoidance；
Wireless communication connection is established between S6, remote terminal and visual response unit, after signal processing unit acquires camera
Picture synthesized by scheduled algorithm and by virtual implementing helmet show；
Virtual implementing helmet is worn on the head by S7, user of service, experiences the picture with feeling of immersion.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251243.5A CN109969361A (en) | 2019-03-29 | 2019-03-29 | A kind of jellyfish type underwater detectoscope and its detection method |
| PCT/CN2020/076920 WO2020199802A1 (en) | 2019-03-29 | 2020-02-27 | Jellyfish-type underwater detector and detection method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251243.5A CN109969361A (en) | 2019-03-29 | 2019-03-29 | A kind of jellyfish type underwater detectoscope and its detection method |
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