CN206885305U - Underwater robot and underwater information acquisition system - Google Patents
Underwater robot and underwater information acquisition system Download PDFInfo
- Publication number
- CN206885305U CN206885305U CN201720521737.7U CN201720521737U CN206885305U CN 206885305 U CN206885305 U CN 206885305U CN 201720521737 U CN201720521737 U CN 201720521737U CN 206885305 U CN206885305 U CN 206885305U
- Authority
- CN
- China
- Prior art keywords
- shell
- underwater robot
- underwater
- duct
- water conservancy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of underwater robot and underwater information acquisition system, wherein, underwater robot, including shell, the middle part of the shell is formed with least two lifting ducts penetrated vertically, an elevating screw is installed in each lifting duct, propulsion duct of the opposite sides of the shell formed with least two horizontal insertions, a propelling screws are installed in each propulsion duct, the sidepiece of the shell into have by the end of the robot extend to it is described propulsion duct arc diversion division, the shell is also equipped with multiple spaced water conservancy diversion fins in the arrival end of the propulsion duct, the arc diversion division is by water conservancy diversion fin described in the current deflecting of part, the water conservancy diversion fin further will promote duct described in the current deflecting.The utility model improves the stability run during underwater robot underwater information acquisition.
Description
Technical field
It the utility model is related to the underwater information acquisition system of a kind of underwater robot and the application underwater robot.
Background technology
The desire in the underwater world is found out with the mankind gradually to be strengthened, and the people to be dived under water by oxygen cylinder is more and more.In weather
In the case of in order, diving observation can be carried out in underwater 20 meters by natural light, but more than 20 meters natural lights can not reach
Need by submersible lighting fixture, meanwhile, to record underwater situation, it is necessary to carry the underwater camera-shooting and recording device of specialty.
Divers are needed by professional training, and diving equipment is heavy expensive, and dive is carried out also in unfamiliar waters
The life security of people can be threatened, by way of tradition is dived under water under observation water the world mode can not rapid large-area it is general
And.
More and more personages without diving experience also thirst for peeping it is underwater actually.When running into, weather condition is bad or ground
The complex waters of shape ocean current can also hinder the exploration process of people.On the other hand, urgently need to design it is a kind of underwater stable,
The underwater robot of convenient detection.
Utility model content
Main purpose of the present utility model is to provide a kind of underwater information acquisition system of underwater robot, it is intended to elevator
The stability run during device people's undersea detection.
To achieve the above object, the utility model proposes underwater robot, including shell, the middle part of the shell formed
There are at least two lifting ducts penetrated vertically, an elevating screw is installed in each lifting duct, the shell
Propulsion duct of the opposite sides formed with least two horizontal insertions, each described promote in duct are provided with a propulsion spiral
Oar, it is characterised in that the sidepiece of the shell extends to the arc of the propulsion duct formed with the end by the robot
Diversion division, the shell are also equipped with multiple spaced water conservancy diversion fins, the arc in the arrival end of the propulsion duct
Water conservancy diversion fin described in the current deflecting of part, the water conservancy diversion fin further will be promoted duct by diversion division described in the current deflecting.
Alternatively, multiple water conservancy diversion fins are intervally arranged in stacking in the direction of advance of underwater robot, and each institute
Water conservancy diversion fin is stated to be obliquely installed in the direction of advance of underwater robot in institute's guide face.
Alternatively, each water conservancy diversion fin deviates from the side of the shell formed with guide face.
Alternatively, each water conservancy diversion fin forms arc curve in the longitudinal direction, and the arc curve is in underwater machine
Device people's direction of advance projection.
Alternatively, the shell is located at the front end of the direction of advance of underwater robot and is provided with camera, and the shell faces
The position of the nearly camera is also equipped with lighting device.
Alternatively, the lighting device includes lighting circuit plate and is installed on the high beam of the lighting circuit plate, closely
Light lamp, infrared light compensating lamp and ultraviolet light.
Alternatively, the described at least two lifting ducts penetrated vertically are before the direction of advance of the underwater robot of shell
End and rear end are arranged at intervals, and the underwater robot also includes the battery case for being removably connected to shell, and the battery case is located at
Between the lifting duct of rear and front end.
Alternatively, gyro sensor, cooling-water temperature sensor, sonar sensor and depth are also equipped with the shell to pass
Sensor.
The utility model also proposes a kind of underwater information acquisition system, including terminal remote control, reel relaying, Yi Jishang
The underwater robot stated, reel described in the terminal remote control wireless connection relay, reel relaying with it is described underwater
Robot is connected by cable.
Alternatively, in addition to the display device with reel relay connection, it is additionally provided with the shell of the underwater robot
Control processor, the data of control processor, the display device show the reel described in the reel relay reception
Relay the real time data sent.
Technical solutions of the utility model by shell sidepiece formed with extending to propulsion by underwater robot leading section
The arc diversion division of duct, and shell leads in promoting the arrival end of duct to be also equipped with multiple spaced water conservancy diversion fins
Cross above-mentioned setting, under robot water advance during, via outer casing end current along arc diversion division outer wall surface current
It is dynamic, it is oriented to and promotes duct, and promotes the water conservancy diversion fin of the arrival end of duct then further to adjust the flow direction of current, and by the current
It is oriented to and promotes in duct, in whole process, arc diversion division reduces a part of current flow resistance that robot is subject to, fair water fin
Piece then reduce further flow resistance, while water conservancy diversion fin also adjusts the flow direction for flowing into and promoting duct so that flows into promote and contains
The water (flow) direction in road is as axially consistent with propelling screws as possible, then caused thrust is realized in propelling screws running
Maximize, faster, stably, reaction is sensitiveer for speed when robot detects operation under water.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the overlooking the structure diagram of the embodiment of the utility model underwater robot one；
Fig. 2 is the side structure schematic view of underwater robot in Fig. 1；
Fig. 3 is the structural representation of another embodiment of the utility model underwater robot；
Fig. 4 is the utility model underwater robot positioned at the part-structure also schematic diagram promoted at duct；
Fig. 5 is the structural representation of the embodiment of the utility model underwater information acquisition system one；
Fig. 6 is the fundamental diagram of the utility model underwater information acquisition system.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the utility model protection.
It is to be appreciated that the directional instruction of institute in the utility model embodiment（Such as up, down, left, right, before and after ...）
It is only used for explaining in a certain particular pose（As shown in drawings）Under relative position relation between each part, motion conditions etc., such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes therewith.
The utility model proposes a kind of underwater robot 100,
Incorporated by reference to referring to figs. 1 to Fig. 4, in the embodiment of the utility model one, the underwater robot 100 include housing and
The control processor being installed in housing, the housing in the front end of the direction of advance of underwater robot 100 be provided with control
The camera 70 of device electrical connection is managed, the position that shell 10 closes on camera 70 is also equipped with lighting device, and lighting device includes shining
Bright circuit board and the high beam for being installed on lighting circuit plate, dipped headlight, infrared light compensating lamp and ultraviolet light.In the shell 10 also
Gyro sensor, cooling-water temperature sensor, sonar sensor and depth transducer are installed.Robot 100 uses process under water
In, it is possible to achieve captured in real-time HD video and candid photograph high definition photo.High beam is used for searchlighting distant place water environment, and dipped headlight is used
In closely illuminating, infrared light compensating lamp is used to improve the image taking effect of camera 70 and carry out light filling use, and ultraviolet light exists
Animals and plants form is caught in the case that light environment is bad.
The middle part of shell 10 is provided with formed with least two lifting ducts 11 penetrated vertically, each lift in duct 11
One elevating screw 30, propulsion duct 13 of the opposite sides of shell 10 formed with least two horizontal insertions, each promote are contained
One propelling screws 50 are installed, the sidepiece of shell 10 by the leading section of underwater robot 100 formed with extending to propulsion in road 13
The arc diversion division 15 of duct 13, shell 10 are also equipped with multiple spaced water conservancy diversion fins in the arrival end of propulsion duct 13
17, the current deflecting is further promoted duct by part current deflecting water conservancy diversion fin 17, water conservancy diversion fin 17 by arc diversion division 15
13。
Under water in the running of robot 100, underwater robot 100 can realize underwater advance, retreat, and rise, under
It is latent, turn left in traveling, turned right in traveling, flicker, the motion of flicker and vessel pitch, and certain can be realized in water
One height is hovered.Propeller positioned at both sides can make hull advance and retreat.Specifically, when the side of rotation of propelling screws 50
During to rotating speed all same, and the hull of robot is realized and advances or retreat, when the rotating speed of both sides propelling screws 50 is different
In the case of, robot can realize steering, and the direction of rotation by adjusting both sides propelling screws 50 can realize the original place of robot
Turn to.And floating and the dive of robot can be realized by elevating screw 30, being both can also be with the propulsion spiral of both sides
Oar 50 is coordinated to adjust the pitch attitude during robot hull advances., can be according to gyro when by external disturbance
The data of instrument collection carry out posture correction by augmentation control system.
The shell 10 of underwater robot 100 of the present utility model is formed by upper and lower casing sealing fastening, wherein, shell 10
Part-structure forms drops, and in shell 10 sidepiece formed with extending to propulsion duct by the leading section of underwater robot 100
13 arc diversion division 15, and shell 10 is also equipped with multiple spaced water conservancy diversion fins in the arrival end of propulsion duct 13
17, by above-mentioned setting, during advancing under robot water, via the current of the end of shell 10 along arc diversion division 15
Outside wall surface flows, and is oriented to and promotes duct 13, and promotes the water conservancy diversion fin 17 of the arrival end of duct 13 then further to adjust current
Flow direction, and the current deflecting is promoted in duct 13, in whole process, arc diversion division 15 reduces one that robot is subject to
Part current flow resistance, water conservancy diversion fin 17 then reduce further flow resistance, while water conservancy diversion fin 17 also adjusts inflow and promotes duct 13
Flow direction so that flow into and promote the water (flow) direction of duct 13 as axially consistent with propelling screws 50 as possible, then promote
Caused thrust, which is realized, in the running of propeller 50 maximizes, and faster, stably, reaction is sensitiveer for speed when robot is run.
Further, in order to further reduce the current flow resistance that robot is subject to, multiple water conservancy diversion fins 17 are in underwater
In the direction of advance of robot 100 stacking be intervally arranged, and each water conservancy diversion fin 17 in institute's guide face 171 in underwater
It is obliquely installed in the direction of advance of people 100.By the way that water conservancy diversion fin 17 is obliquely installed, water conservancy diversion fin 17 guides to be produced in water flow process
Raw flow resistance further reduces.
Further, each water conservancy diversion fin 17 deviates from the side of shell 10 formed with guide face 171.The present embodiment is led
Stream interface 171 is shiny surface, and current are transitioned into next water conservancy diversion fin by the water conservancy diversion fin 17 for being arranged in front by guide face 171
17, so transmit layer by layer, be adjusted into promote duct 13 in water (flow) direction to substantially with propelling screws 50 axially one
Cause so as to further reduce flow resistance, the operational efficiency highest of propelling screws 50.
The each water conservancy diversion fin 17 of the present embodiment forms arc curve in the longitudinal direction, and arc curve is in underwater machine
The direction of advance projection of device people 100.Due to promoting the opening of duct 13 to be circular, by each water conservancy diversion fin 17 in length side
Form arc curve upwards to set, then being more conducive to propelling screws 50 into the current promoted in duct 13 has given play to maximum work
Effect.
The utility model shell 10 is provided with two lifting penetrated vertically ducts 11, two lifting ducts penetrated vertically
11 are arranged at intervals in the front-end and back-end of the direction of advance of the underwater robot 100 of shell 10, and underwater robot 100 also includes can
Dismantling connection is located between the lifting duct 11 of rear and front end in the battery case 80 of shell 10, battery case 80.The present embodiment also in
The locker of convenient unblock is provided between shell 10 and battery case 80, battery case 80 provides the electricity of operation for robot
Power, between battery case 80 is arranged on into two lifting ducts 11, center of gravity is more biased towards in such robot running
Portion, the stability of operation are higher.
Incorporated by reference to reference picture 5 and 6, the utility model also proposes a kind of underwater information acquisition system 500, including terminal remote control
Device 300, reel relaying 200 and underwater robot 100, in reel described in the wireless connection of terminal remote control 300
After 200, the reel relaying 200 is connected with the underwater robot 100 by cable 90.The tool of the underwater robot 100
Body structure is with reference to above-described embodiment, because this underwater information acquisition system 500 employs whole technologies of above-mentioned all embodiments
Scheme, therefore all beneficial effects at least caused by the technical scheme with above-described embodiment, this is no longer going to repeat them.
The underwater information acquisition system 500 also includes the display device being connected with reel relaying 200, the underwater
Control processor is additionally provided with the shell 10 of people 100, the reel relaying 200 receives the data of the control processor, institute
State display device and show the real time data that the reel relaying 200 is sent.
As follows during the carrying out practically of underwater information acquisition system 500 of the present utility model, terminal remote control 300 will control
Instruction is sent to reel relaying 200 by wireless technology, and instruction translation is reached robot by reel relaying 200 by cable 90
Interior control processor, then underwater robot 100 perform corresponding telecommand.At the same time, underwater robot 100 will be clapped
Control process system inside the imagery exploitation taken the photograph is by video changes into data signal and sensor detects data along number
Reel relaying 200 is reached according to cable 90, video information is reached display terminal, people can be allowed to see in real time by reel relaying 200
To underwater situation.Terminal remote control 300 can not only send the control instruction for moving underwater robot 100, can also send
Shoot related instruction.
Reel relaying 200 is the relaying for signal transmission.Include signal reception and sending module, power management mould
Block.Can built-in power power supply also external power supply.Underwater robot 100 passes the video information photographed by data cable 90
To reel relaying 200, vision signal is forwarded to terminal remote control 300 by reel relaying 200 by way of being wirelessly transferred,
User is set to watch underwater scene in real time on the screen of terminal remote control 300.User on the water surface can according to oneself
Wish reaches remote signal on reel relaying 200 by way of being wirelessly transferred, and reel relaying 200 passes through remote signal
Signal cable 90 reaches underwater robot 100, implements corresponding operation.Another function of reel relaying 200 is realization pair
It the folding and unfolding of data cable 90, can be collected together data cable 90 is attractive in appearance compact, save space.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure under utility model of the present utility model design, made using the utility model specification and accompanying drawing content
Conversion, or directly/be used in other related technical areas indirectly and be included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of underwater robot, including shell, the middle part of the shell formed with least two lifting ducts penetrated vertically,
One elevating screw is installed, the opposite sides of the shell is formed with least two horizontal insertions in each lifting duct
Propulsion duct, it is each it is described propulsion duct in a propelling screws are installed, it is characterised in that the sidepiece of the shell is formed
There is the arc diversion division that the propulsion duct is extended to by the end of the robot, the shell enters in the propulsion duct
Mouthful end is also equipped with multiple spaced water conservancy diversion fins, the arc diversion division by water conservancy diversion fin described in the current deflecting of part,
The water conservancy diversion fin further will promote duct described in the current deflecting.
2. underwater robot as claimed in claim 1, it is characterised in that multiple water conservancy diversion fins are before underwater robot
Enter stacking on direction to be intervally arranged, and each water conservancy diversion fin tilts in institute's guide face in the direction of advance of underwater robot
Set.
3. underwater robot as claimed in claim 2, it is characterised in that each water conservancy diversion fin deviates from the one of the shell
Side is formed with guide face.
4. underwater robot as claimed in claim 2, it is characterised in that each water conservancy diversion fin is formed in the longitudinal direction
Arc curve, and the arc curve is in underwater robot direction of advance projection.
5. the underwater robot as described in any one in Claims 1-4, it is characterised in that the shell is located at underwater machine
The front end of the direction of advance of device people is provided with camera, and the position that the shell closes on the camera is also equipped with illumination dress
Put.
6. underwater robot as claimed in claim 5, it is characterised in that the lighting device includes lighting circuit plate and peace
High beam loaded on the lighting circuit plate, dipped headlight, infrared light compensating lamp and ultraviolet light.
7. underwater robot as claimed in claim 1, it is characterised in that the described at least two lifting ducts penetrated vertically in
The front-end and back-end of the direction of advance of the underwater robot of shell are arranged at intervals, and the underwater robot also includes being detachably connected
In the battery case of shell, the battery case is located between the lifting duct of rear and front end.
8. underwater robot as claimed in claim 1, it is characterised in that be also equipped with the shell gyro sensor,
Cooling-water temperature sensor, sonar sensor and depth transducer.
9. a kind of underwater information acquisition system, it is characterised in that including terminal remote control, reel relaying and as right will
Seek the underwater robot described in any one in 1 to 8, described in the terminal remote control wireless connection reel relay, it is described around
Line wheel relaying is connected with the underwater robot by cable.
10. underwater information acquisition system as claimed in claim 9, it is characterised in that also include and reel relay connection
Display device, control processor is additionally provided with the shell of the underwater robot, described in the reel relay reception at control
The data of device are managed, the display device shows the real time data that the reel relaying is sent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521737.7U CN206885305U (en) | 2017-05-11 | 2017-05-11 | Underwater robot and underwater information acquisition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720521737.7U CN206885305U (en) | 2017-05-11 | 2017-05-11 | Underwater robot and underwater information acquisition system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885305U true CN206885305U (en) | 2018-01-16 |
Family
ID=61341455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720521737.7U Active CN206885305U (en) | 2017-05-11 | 2017-05-11 | Underwater robot and underwater information acquisition system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206885305U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010188A (en) * | 2017-05-11 | 2017-08-04 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
| CN109110093A (en) * | 2018-08-30 | 2019-01-01 | 中华人民共和国天津海关 | The unmanned water gauge viewing device of semi-submersible type |
| CN109895939A (en) * | 2018-12-14 | 2019-06-18 | 上海海事大学 | Vault shell cabin self-saving manned underwater vehicle |
| CN110203366A (en) * | 2019-06-13 | 2019-09-06 | 上海彩虹鱼海洋科技股份有限公司 | Preposition vector propulsion system peculiar to vessel |
| CN112013205A (en) * | 2020-09-10 | 2020-12-01 | 深圳市博铭维智能科技有限公司 | Flow multiplication propulsion pipeline detection robot |
-
2017
- 2017-05-11 CN CN201720521737.7U patent/CN206885305U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010188A (en) * | 2017-05-11 | 2017-08-04 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
| CN107010188B (en) * | 2017-05-11 | 2023-05-23 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
| CN109110093A (en) * | 2018-08-30 | 2019-01-01 | 中华人民共和国天津海关 | The unmanned water gauge viewing device of semi-submersible type |
| CN109110093B (en) * | 2018-08-30 | 2023-09-01 | 中华人民共和国天津海关 | Semi-submersible unmanned water gauge observer |
| CN109895939A (en) * | 2018-12-14 | 2019-06-18 | 上海海事大学 | Vault shell cabin self-saving manned underwater vehicle |
| CN110203366A (en) * | 2019-06-13 | 2019-09-06 | 上海彩虹鱼海洋科技股份有限公司 | Preposition vector propulsion system peculiar to vessel |
| CN110203366B (en) * | 2019-06-13 | 2020-08-28 | 上海彩虹鱼海洋科技股份有限公司 | Method for controlling the travel of an unmanned ship with a front-mounted vector propulsion system |
| CN112013205A (en) * | 2020-09-10 | 2020-12-01 | 深圳市博铭维智能科技有限公司 | Flow multiplication propulsion pipeline detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107010188A (en) | Underwater robot and underwater information acquisition system | |
| CN206885305U (en) | Underwater robot and underwater information acquisition system | |
| CN105818944B (en) | A kind of remote control submarine applied to undersea detection | |
| CN205524893U (en) | Be applied to underwater detection's remote control submarine | |
| CN106628026B (en) | Unmanned ship and unmanned ship system | |
| CN104777845B (en) | The underwater body apparatus and automatic obstacle avoiding method of underwater robot | |
| CN204021234U (en) | A kind of under-water robot and propelling unit thereof | |
| CN207510667U (en) | Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat | |
| CN207311796U (en) | A kind of small-sized three-dimensional degree moves underwater robot | |
| CN206895622U (en) | Visual fishing by diver apparatus and system | |
| CN110562419A (en) | Multi-fin cooperation driving robotic fish based on vision | |
| CN113060261A (en) | Multi-degree-of-freedom underwater shooting boosting robot | |
| CN207510644U (en) | A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling | |
| CN205378034U (en) | Float and shoot device | |
| CN208606752U (en) | Water resource integrated data instrument of surveying and mapping | |
| CN113148080A (en) | Underwater detection robot | |
| CN109319073A (en) | A kind of deep autonomous remote underwater robot physique structure in the full sea of detecting | |
| CN206520736U (en) | Underwater robot | |
| CN108345228A (en) | A kind of self-powered deep-sea image capturing system, method and device | |
| CN205574243U (en) | Pull -type is degree of depth underwater observation system independently | |
| CN108945353A (en) | The diving boost motor of handheld tape shooting function | |
| CN108408003A (en) | A kind of undersea detection multi-function robot | |
| CN204871540U (en) | Scuba is shot to deep water | |
| CN206575524U (en) | A kind of unmanned boat and control system | |
| CN210734464U (en) | Multi-fin cooperation driving robotic fish based on vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |