CN205524893U - Be applied to underwater detection's remote control submarine - Google Patents
Be applied to underwater detection's remote control submarine Download PDFInfo
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- CN205524893U CN205524893U CN201620271494.1U CN201620271494U CN205524893U CN 205524893 U CN205524893 U CN 205524893U CN 201620271494 U CN201620271494 U CN 201620271494U CN 205524893 U CN205524893 U CN 205524893U
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Abstract
The utility model relates to a be applied to underwater detection's remote control submarine, include: remote control submarine host computer, a controller for sending the operation of control signal control remote control submarine host computer, it is used for the in situ observation display of environment under water to be connected with the controller, and set up at the surface of water or the signal transceiver that is connected with remote control submarine host computer more than the surface of water, remote control submarine host computer includes: waterproof case, sight glass, driving system, major control system, sensor system, image acquisition system and power module, the image acquisition system includes: the lighting circuit board, camera, and far -reaching headlamp, passing lamp, infrared ray light filling lamp and ultraviolet searchlight. People that the remote control submarine not only can help not have the dive experience observes the circumstances under water in real time, also can be convenient find out environment fuzziness waters under water in advance for the dive personnel, provide illumination and tracking record the process of diving under water, it is little influenced by natural condition, can also help the dive personnel to emerge fast and escape danger.
Description
Technical field
This utility model relates to undersea detection field, particularly relates to a kind of remote control being applied to undersea detection and dives
Ship.
Background technology
Gradually strengthen along with the mankind find out the desire in the world under water, by oxygen cylinder diving people increasingly
Many.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, meanwhile, for recording shape under water
Condition, needs 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 the life security of people can be caused
Threatening, 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
And the more and more personage without diving experience also thirst for peeping under water actually, existing undersea detection fills
Putting and affected greatly by weather conditions, when running into, weather condition is bad or the waters that landform ocean current is complex
Also the exploration process of people can be hindered.
Therefore, prior art has yet to be improved and developed.
Utility model content
In view of above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide one to be applied under water
The remote control submarine of detection, thus overcome undersea detection in prior art inconvenient, unsafe problem.
The technical solution of the utility model is as follows:
A kind of remote control submarine being applied to undersea detection, including: remote control submarine main frame；For sending control
Signal controls the controller that described remote control submarine main frame runs；It is connected to see in real time with described controller
Examine the display of underwater environment；It is arranged on what more than the water surface or the water surface were connected with described remote control submarine main frame
Signal transceiver；
Described remote control submarine main frame includes: waterproof case, 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, if
Put the master control system for controlling the operation of described remote control submarine main frame in described waterproof case, be used for
Measure the sensing system of described remote control submarine main frame operational factor, be arranged on after described sight glass for
Shooting underwater environment also uploads the image/video image capturing system to described display, and for institute
State the power module of remote control submarine host supplying power；
Described image capturing system includes: is arranged on the lighting circuit plate inside described sight glass, is arranged on
Photographic head in the middle of described lighting circuit plate, and it is arranged on the high beam on described lighting circuit plate, near
Light modulation, infrared ray light compensating lamp and ultraviolet searchlight.
The described remote control submarine being applied to undersea detection, described controller, described display are all with described
Signal transceiver is connected by wireless communication mode；Described remote control submarine main frame and described signal transceiver
Connected by cable.
The described remote control submarine being applied to undersea detection, described sensing system includes: be arranged on described
On remote control submarine main frame, for measuring the attitude transducer of described remote control submarine main frame attitude under water；If
Put on described remote control submarine main frame, pass for measuring the degree of depth of described remote control submarine main frame submerged depth
Sensor；It is arranged on described remote control submarine main frame, is used for measuring underwater obstacles and described remote control submarine
The sonar sensor of main frame distance；It is arranged on described remote control submarine main frame, is used for measuring described remote control
The Temperature Humidity Sensor of the internal humiture of submarine main frame；It is arranged on described remote control submarine main frame, is used for
Measure the velocity sensor of described remote control submarine main engine trial speed；It is arranged on described remote control submarine main frame
On, 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 red
Outside line light compensating lamp and described ultraviolet searchlight are both provided with multiple；Described dipped headlights is around described shooting
Head is arranged；Described infrared ray light compensating lamp, described ultraviolet searchlight are all symmetricly set on described photographic head
Both sides；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 to be passed through up and down
The first kind duct of logical described waterproof case, the lateral symmetry of described waterproof case is provided with two the
Two type ducts；
Described dynamical system includes: be arranged on the lifting motor in described first kind duct and elevating screws
Oar；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: be used for managing institute
State the energy supply control module of 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, secondary signal transceiver module, the motor drive module that are arranged on main control board, take the photograph
As control module and memory module；
Described secondary signal transceiver module, described motor drive module, described shooting control module and institute
State memory module all to electrically connect with described main control chip；
Described secondary signal transceiver module, is used for receiving control signal, uploading image/video and sensor number
According to；Described motor drive module, is used for driving described lifting motor and described propulsion electric machine to run；Institute
State shooting control module, be used for controlling described photographic head shooting image/video；Described memory module, uses
In storage image/video and sensing data.
The described remote control submarine being applied to undersea detection, described controller includes: be used for generating control letter
Number control module, 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, uses
In the data message that storage receives；Described data process and display module, receive for process
Data message, 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, independence
Display screen and the one of VR glasses.
The beneficial effects of the utility model are: a kind of of this utility model offer is applied to the distant of undersea detection
Control submarine, including: remote control submarine main frame；The operation of remote control submarine main frame is controlled for sending control signal
Controller；With the display that controller is connected to Real Time Observation underwater environment；And it is arranged on the water surface
Or the signal transceiver more than water surface being 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, near
Light modulation, infrared ray light compensating lamp and ultraviolet searchlight.Described remote control submarine can not only help without diving
People's real-time monitored sub-marine situations of experience, it is also possible to find out underwater environment in advance for Divers easily
Do not know waters, it is provided that illuminate and keep track of diving process, and little by effect of natural conditions, also
Divers can be helped quickly to emerge escape danger.
Accompanying drawing explanation
Fig. 1 is the structural representation that this utility model is applied to the remote control submarine preferred embodiment of undersea detection
Figure.
Fig. 2 is the structural representation of remote control submarine main frame preferred embodiment described in the utility model.
Fig. 3 is the top view of remote control submarine main frame preferred embodiment described in the utility model.
Fig. 4 is the structural representation of image capturing system preferred embodiment described in the utility model.
Fig. 5 is the structural representation of illuminator preferred embodiment described in the utility model.
Fig. 6 is the principle schematic of master control system preferred embodiment described in the utility model.
Fig. 7 is the fundamental diagram of the remote control submarine being applied to undersea detection described in the utility model.
Detailed description of the invention
This utility model provides a kind of remote control submarine being applied to undersea detection, of the present utility model for making
Purpose, technical scheme and effect are clearer, clear and definite, and the embodiment that develops simultaneously referring to the drawings is to this reality
Use novel further description.Should be appreciated that specific embodiment described herein is only in order to solve
Release this utility model, be not used to limit this utility model.
The remote control submarine being applied to undersea detection of this utility model preferred embodiment, as it is shown in figure 1, bag
Include: remote control submarine main frame 1；The controller that remote control submarine main frame 1 runs is controlled for sending control signal
2；With the display 3 that controller 2 is connected to Real Time Observation underwater environment；It is arranged on the water surface more than 10
The signal transceiver 4 being connected with remote control submarine main frame 1.In other embodiments, signal transceiver 4 is also
Can be arranged on the water surface, i.e. swim in water surface.
Further, seeing also Fig. 2, Fig. 3, Fig. 6 and Fig. 7, remote control submarine main frame 1 includes:
Waterproof case 61, is arranged on the sight glass 62 of waterproof case 61 front end, is arranged on waterproof case 61
For driving the dynamical system (not shown) that remote control submarine main frame 1 moves, be arranged on waterproof case 61
The interior master control system 8 for controlling the operation of remote control submarine main frame 1, is used for measuring remote control submarine main frame 1
The sensing system 9 of operational factor, for shooting underwater environment upper blit after being arranged on sight glass 62
As video is to the image capturing system (not shown) of display 3；And for supplying to remote control submarine main frame 1
The power module 5 of electricity；Power module 5 (built-in power), namely an internal battery group, arranged
In 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 master
Machine 1 is arranged on below the water surface, is the main equipment performing command adapted thereto under water.Waterproof case 61 namely
It is remote control submarine host main body, is used for carrying hydraulic pressure and preventing water from flowing into remote control submarine main frame 1, protects distant
The safety of equipment in control submarine main frame 1.
Further, as shown in Figure 4 and Figure 5, described image capturing system includes: be arranged on sight glass
Lighting circuit plate 71 inside 62, is arranged on the photographic head 72 in the middle of lighting circuit plate 71, is arranged on
High beam 73, dipped headlights 74, infrared ray light compensating lamp 75 and ultraviolet searchlighting on lighting circuit plate 71
Lamp 76.Wherein, high beam 73 for searchlighting distant place water environment, dipped headlights 74 for closely according to
Bright, 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 used for controlling far
Light modulation 73, dipped headlights 74, infrared ray light compensating lamp 75 and the switch of ultraviolet searchlight 76.Power for illumination
Road plate 71, high beam 73, dipped headlights 74, infrared ray light compensating lamp 75 and ultraviolet searchlight 76 are constituted
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, be respectively intended to provide HONGGUANG, purple light and white light, further
Improve light filling effect.
It is known that under weather conditions good situations, can carry out by natural light in 20 meters under water
Diving observation, but cannot arrive more than 20 meters of natural light and need by submersible lighting fixture, therefore, for
Record situation under water, need to carry the camera-shooting and recording device under water of specialty, cost intensive, operation inconvenience.This
Remote control submarine described in utility model embodiment, configures camera system after observation mirror, be equipped with again simultaneously with
Upper specific illuminator, using the teaching of the invention it is possible to provide illumination, is also convenient for finding out underwater environment in advance not for diver
Clearly waters, 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
It is both provided with multiple, such as, as shown in Figure 3, Figure 4, high beam 73, infrared ray light compensating lamp 75 and
Ultraviolet searchlight 76 all installs 2, and dipped headlights 74 installs 6；Meanwhile, dipped headlights 73 is enclosed
Arrange around photographic head 72；Infrared ray light compensating lamp 75, ultraviolet searchlight 76 are all symmetricly set on and take the photograph
The both sides of picture 72；High beam 73 is symmetricly set on the two ends of lighting circuit plate 71, to reach
Suitably 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 (letter
Number cable), power management module (not shown) and the first signal transmitting and receiving module 42；Signal cable 41
It is connected with remote control submarine main frame 1；Described power management module electrically connects with power module 5, is used for managing
Reason power module 5；First signal transmitting and receiving module 42 is used for receiving and sending signal.Preferably, signal
The internal power supply that is also equipped with of transceiver 4: i.e. signal transceiver power supply (not shown), and this power supply with
Power module 5 is relatively independent, and generally, described signal transceiver power supply is served only for letter
Number 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 incites somebody to action
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 that is 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 transmitting-receiving mould
Block 82, motor drive module 83, shooting control module 84, memory module 85 and lighting circuit plate
71 (lighting modules) all electrically connect with described main control chip 81；Wherein lighting circuit plate 71 is with described
The electric connection mode of main control chip 81 is that wire connects, winding displacement connects or connector (adapter) connects
One.Secondary signal transceiver module 82, electrically connects with the first signal transmitting and receiving module 42, is used for receiving
Control signal, upload image/video and sensing data；Motor drive module 83, electric with driving lifting
Machine the 65, first propulsion electric machine the 661, second propulsion electric machine 663 electrically connects, and is used for driving lifting motor
65, the first propulsion electric machine 661 and the second propulsion electric machine 662 run；Shooting control module 84 and shooting
72 electrical connections, are used for controlling photographic head 72 and shoot image/video；Memory module 85 is used for storing figure
As 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 regard the image of shooting
Frequency changes into digital signal.
Preferably, the controller 2 of remote control submarine described in this utility model embodiment, display 3 all with letter
Number transceiver 4 is connected by wireless communication mode；As it is shown in figure 1, remote control submarine main frame 1 and signal
Transceiver 4 is connected by signal cable 41, concrete, as shown in Figure 6, and the second of master control system 8
Signal transmitting and receiving module 82 electrically connects with the first signal transmitting and receiving module 42 of signal transceiver 4, the second letter
Image/video is uploaded to display 3, the most just by the first signal transmitting and receiving module 42 by number transceiver module 82
Being to say, first, the digital signal of image/video is uploaded to letter by signal cable 41 by master control system 8
Number transceiver 4, then signal transceiver 4 by Radio Transmission Technology by the digital signal of image/video
Passing to display 3, 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, is i.e. connected by cable, to carry
The stability of high signal.It should be noted that need the image/video information stored to be stored in remote control
On storage card (memory module 85) in 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 by signal transceiver 4
Preserve on mobile phone.
Further, in this utility model embodiment, controller 2 is to make submarine for sending telecommand
Main frame 1 performs the equipment of corresponding task according to instruction.When specifically applying, the manipulation that controller 2 sends
Instruction first passes through wireless communication mode and passes to signal transceiver 4, then by signal transceiver 4 edge
Signal cable 41 reaches submarine main frame 1 and performs to operate accordingly.Controller 2 includes: be used for generating control
The control module of signal processed, 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 this utility model embodiment, display 3 is for allowing the people on the water surface under water
The equipment that situation is watched in real time, display 3 includes: second communication module, data memory module
Process and display module with data；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 mould
Block, for processing the data message received, and shows 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 VR
The one of glasses.
Further, seeing also Fig. 2, Fig. 3 and Fig. 6, the centre of waterproof case 61 is provided with
Under the first kind duct of through waterproof case 61: the first duct 63, the both sides pair of waterproof case 61
Claim to be provided with two Second Type ducts: the second duct 641 and the 3rd duct 642；Described dynamical system
Including: it is arranged on the lifting motor 65 in the first duct 63 and elevating screw 67；It is arranged on second
The first propulsion electric machine 661 and the first propelling screws (not shown) in duct 641, is arranged on the 3rd
The second propulsion electric machine 662 and the second propelling screws 682 in duct 642.
It is to say, dynamical system 9 is made up of three motors and propeller, wherein lifting motor and lifting
Propeller is installed in the middle part of remote control submarine main frame in the duct of up/down perforation, two other propulsion electric machine and
Propelling screws is installed in the duct that remote control submarine main frame both sides become a mandarin.Two propelling screws are positioned at
Both sides can make remote control submarine main frame advance and retreat, when remote control submarine main frame advances or retreats, and two
In the case of the propelling screws rotating speed difference of side, remote control submarine main frame can realize turning to；When remote control submarine
When main frame rests on original place, the direction of rotation adjusting both sides propelling screws can realize pivot stud.Position
Elevating screw in the remote control through duct of submarine main frame can provide floating dive, is both the most adjustable
The pitch attitude of joint remote control submarine main frame.
Further, as shown in Figure 6, sensing system 9 includes: be arranged on remote control submarine main frame 1
Upper (specifically may be provided in waterproof case 61), for measuring remote control submarine main frame 1 attitude under water
Attitude transducer 91；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
(specifically may be provided in waterproof case 61) on 1, be used for measuring underwater obstacles and remote control submarine main frame
The sonar sensor 93 of 1 distance；Be arranged on remote control submarine main frame 1 (specifically may be provided at waterproof outside
In shell 61), for measuring the Temperature Humidity Sensor 94 of the internal humiture of remote control submarine main frame 1；Arrange
Remote control submarine main frame 1 (specifically may be provided in waterproof case 61), be used for measuring remote control submarine
The velocity sensor 95 of main frame 1 headway；It is arranged on remote control submarine main frame 1 and (specifically can arrange
In waterproof case 61), for measuring the optical imaging sensor of remote control submarine main frame 1 surrounding
96.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 remote control submarine
Collision suffered by main frame 1 and impact.
Wherein, described attitude transducer 91 comprises three-axis gyroscope, can exist with perception remote control submarine main frame
Attitude in water, when by external disturbance, the number that remote control submarine main frame can gather according to three-axis gyroscope
Attitude correction is carried out according to by augmentation control system.Remote control submarine main frame 1 can be according to depth sensing 92
The depth data of remote control submarine main frame 1 dive measured, the lifting motor of motivation of adjustment system and lifting
The operation conditions of propeller, controls submerged depth.Sonar sensor hinders based on acoustic reflection principle perception
Hinder the distance of thing and remote control submarine main frame, provide reference for avoidance.
In this utility model embodiment, the various sensors that controller 2 is measured according to sensing system 9
Data, send remote signal, control the power system operation of remote control submarine main frame 1, it is achieved remote control is dived
Ship main frame 1 advances under water, retreats, and rises, dive, turns left in traveling, turns right in traveling, original place
Turn left, flicker and the motion of pitching, thus realize captured in real-time HD video and grabbing under water
Clap high definition photo.In addition, it is necessary to explanation, it is various that above-described sensing system 9 is measured
Sensing data, is also to be uploaded to signal transceiver 4, so by master control system 8 by signal cable 41
Sensing data is uploaded to display 3 by Radio Transmission Technology by rear signal transceiver 4, finally shows
Device 3 receives and shows various sensing data.
Further, as it is shown in fig. 7, the remote control being applied to undersea detection of this utility model embodiment
The operation principle of submarine is: controller 2 and signal transceiver 4 wireless connections, by control signal (control
System instruction) send to signal transceiver 4 by wireless technology, described control signal is turned by signal transceiver 4
Reach remote control submarine main frame 1 by signal cable 41 after translating, remote control submarine main frame 1 perform accordingly
Control instruction；Meanwhile, the master within image/video utilization that remote control submarine main frame 1 will photograph
Image/video is changed into digital signal by Ore-controlling Role 8, and by the digital signal of image/video and sensor number
Reaching signal transceiver 4 according to along signal cable 41, image is regarded by signal transceiver 4 by being wirelessly transferred
Digital signal and the sensing data of frequency reach display 3, such that it is able to allow people see feelings under water in real time
Shape also monitors the operation conditions of remote control submarine main frame 1.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
Carry out the associated command signal of image/video shooting.
Use remote control submarine described in this utility model embodiment, can under not employment in the case of water just
The arbitrary observation of the people world under water can be helped, not only assist in the people without diving experience and see in real time
Survey sub-marine situations, also can find out the noncommittal waters of underwater environment in advance for Divers, for ducker
Member provides necessary underwater lighting and keeps track of the overall process of shooting diving；It is not suitable in natural conditions
Also can carry out latent bat by remote control submarine for water under people in the case of diving, shooting scene is stored in distant
In memory card in control submarine main frame, copied into computer afterwards and can carry out playback and share；At diving
During personnel's something unexpected happened, the remote control manipulator on the water surface can find in time and manipulate underwater submarine
Becoming an interim lifesaving appliance, the lower personnel of feedwater float the auxiliary pulling force providing certain, help
Diver quickly emerges and escape danger.
Therefore, a kind of remote control submarine being applied to undersea detection that this utility model provides, including: remote control
Submarine main frame；The controller that remote control submarine main frame runs is controlled for sending control signal；With controller
It is connected to the display of Real Time Observation underwater environment；And it is latent with remote control to be arranged on more than the water surface or the water surface
The signal transceiver that ship main frame connects；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
Acquisition system includes: lighting circuit plate, photographic head, and high beam, dipped headlights, infrared ray light compensating lamp
With ultraviolet searchlight.Described remote control submarine can not only help the people's real-time monitored water without diving experience
Lower situation, it is also possible to find out underwater environment in advance for Divers easily and do not know waters, it is provided that shine
Bright and keep track of diving process, and little by effect of natural conditions, additionally it is possible to help Divers fast
Speed emerges and escape danger.
It should be appreciated that application of the present utility model is not limited to above-mentioned citing, skill common to this area
For art personnel, can be improved according to the above description or convert, all these modifications and variations are all
The protection domain of this utility model claims should be belonged to.
Claims (10)
1. the remote control submarine being applied to undersea detection, it is characterised in that including: remote control submarine master
Machine；The controller that described remote control submarine main frame runs is controlled for sending control signal；With described control
Device is connected to the display of Real Time Observation underwater environment；It is arranged on more than the water surface or the water surface distant with described
The signal transceiver that control submarine main frame connects；
Described remote control submarine main frame includes: waterproof case, 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, if
Put the master control system for controlling the operation of described remote control submarine main frame in described waterproof case, be used for
Measure the sensing system of described remote control submarine main frame operational factor, be arranged on after described sight glass for
Shooting underwater environment also uploads the image/video image capturing system to described display, and for institute
State the power module of remote control submarine host supplying power；
Described image capturing system includes: is arranged on the lighting circuit plate inside described sight glass, is arranged on
Photographic head in the middle of described lighting circuit plate, and it is arranged on the high beam on described lighting circuit plate, near
Light modulation, 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；Institute
State remote control submarine main frame to be 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, is used for measuring described remote control and dives
The attitude transducer of ship main frame attitude under water；It is arranged on described remote control submarine main frame, is used for measuring institute
State the depth transducer of remote control submarine main frame submerged depth；It is arranged on described remote control submarine main frame, uses
In the sonar sensor measuring underwater obstacles and described remote control submarine main frame distance；It is arranged on described distant
On 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 speed of described remote control submarine main engine trial speed
Sensor；It is arranged on described remote control submarine main frame, is used for measuring ring around described remote control submarine main frame
The optical imaging sensor in border.
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 all arranged
Have multiple；Described dipped headlights is arranged around described photographic head；Described infrared ray light compensating lamp, described ultraviolet
Line searchlight is all symmetricly set on the both sides of described photographic head；Described high beam is symmetricly set on described photograph
The two ends of bright circuit board.
The remote control submarine being applied to undersea detection the most according to claim 1, it is characterised in that
The centre of described waterproof case is provided with the first kind duct of waterproof case described in up/down perforation, described
The lateral symmetry of 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 screws
Oar；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 characterised in that
Described signal transceiver includes: for managing the energy supply control module of described power module, be used for receiving
With the first signal transmitting and receiving module of transmission 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 characterised in that
Described master control system includes: main control board, the main control chip that is arranged on main control board, second
Signal transmitting and receiving module, motor drive module, shooting control module and memory module；
Described secondary signal transceiver module, described motor drive module, described shooting control module and institute
State memory module all to electrically connect with described main control chip；
Described secondary signal transceiver module, is used for receiving control signal, uploading image/video and sensor number
According to；Described motor drive module, is used for driving described lifting motor and described propulsion electric machine to run；Institute
State shooting control module, be used for controlling described photographic head shooting image/video；Described memory module, uses
In storage 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 of control signal
One communication module.
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, uses
In the data message that storage receives；Described data process and display module, receive for process
Data message, 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.
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| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
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