CN207773410U - A kind of shallow water observation grade underwater robot - Google Patents
A kind of shallow water observation grade underwater robot Download PDFInfo
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- CN207773410U CN207773410U CN201721905069.4U CN201721905069U CN207773410U CN 207773410 U CN207773410 U CN 207773410U CN 201721905069 U CN201721905069 U CN 201721905069U CN 207773410 U CN207773410 U CN 207773410U
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Abstract
The utility model discloses a kind of shallow water observation grade underwater robots, including robot frame, robot cloud platform is equipped in robot frame, robot cloud platform is connected with camera shooting group, camera shooting group is arranged in acrylic pressure pipe, the camera of camera shooting group is fixed on the front side of the robot frame, camera shooting group includes Dynamic Photography machine, still camera, low-light video camera and thermal infrared imaging camera, underwater luminaire is equipped with above Dynamic Photography machine, electric rotating machine is equipped in robot frame, turntable is connected with below robot frame, electric rotating machine connects the turntable, horizontal propeller propeller is arranged in the side of the turntable.The utility model set Dynamic Photography machine, still camera, low-light video camera and thermal infrared imaging camera, can picture catching be carried out to the substance of dynamic suspension object, biology and static state in shallow water area simultaneously, dynamic and static shooting match, it can be ensured that underwater robot obtains accurate image information.
Description
Technical field
The utility model is related to underwater operation apparatus field, more particularly to a kind of shallow water observation grade underwater robot.
Background technology
Underwater robot is also known as remotely pilotless submersible, and core component is underwater propeller and underwater photographic system,
It is widely used in army, coast guard, maritime affairs, customs, nuclear power, water power, offshore oil, fishery, marine salvage, pipeline detection
With the every field such as scientific research of seas, can be divided into it is manned with it is not manned, have the different types such as cable and autonomy.Currently, development is most
Soon, the most ripe and be most widely used one is observation grade underwater robots.Observation grade underwater robot is taken the photograph by configuring
As head, multifunction manipulator, carrying serves many purposes various multiple with the progress of the acoustic sounding instrument and professional tool of function
Miscellaneous underwater operation task.
In order to accurately obtain underwater image information, underwater robot is fitted with underwater visual system, visible system
Underwater border and target information can be passed to water surface control system.However, due to being influenced by tide, lead to sea shallow water area
Mostly more muddy, suspended matter is more, and movement is irregular, and video camera, can be by the suspension before camera under the irradiation of light source
Object shoots very bright, to just be difficult to obtain accurate image information.
Utility model content
The utility model is in view of the above-mentioned problems of the prior art, provide a kind of shallow water observation grade underwater robot.
In order to achieve the above purpose, the utility model uses following technical measures：
A kind of shallow water observation grade underwater robot, including robot frame, horizontal propeller propeller, vertical spin paddle push away
Into device and floating body, robot cloud platform is equipped in the robot frame, the robot cloud platform is connected with camera shooting group, institute
It states camera shooting group to be arranged in acrylic pressure pipe, the camera of camera shooting group is fixed on the front side of the robot frame, described to take the photograph
Include Dynamic Photography machine, still camera, low-light video camera and thermal infrared imaging camera as organizing, is set above Dynamic Photography machine
There is underwater luminaire, electric rotating machine is equipped in the robot frame, turntable, the rotation are connected with below robot frame
Motor connects the turntable, and the horizontal propeller propeller is arranged in the side of the turntable.
Preferably, the robot frame fixing seal, in seal box, the front side of seal box is equipped with observation window, described
Observation window is arranged in the front of the camera of the camera shooting group, and observation window is smooth semicircular arc-shaped structure, is equipped in observation window
Interlayer fills pure water in interlayer.
Preferably, being equipped with controller in the robot frame, the controller is connected with sonar contact device, the sound
Extend the robot frame in one end of detector.
Preferably, the both sides of the seal box offer board slot, it is equipped with the floating body in the board slot, the two of floating body
Side is equipped with shaft, and the floating body is flexibly connected the both sides of the board slot by shaft.
Preferably, the board slot is equipped with separate cavities, it is equipped with discaling roll in the separate cavities, one end of the discaling roll passes through
Axle sleeve connects the separate cavities, and other end extension is connected with servo motor, half discaling roll, half discaling roll are equipped on the inside of the floating body
Connection is engaged with the discaling roll.
Preferably, being equipped with booster pump in the robot frame, one end of the booster pump is connected with by solenoid valve
The other end of water inlet pipe, booster pump is connected with High Pressure Drain pipe.
Preferably, the vertical spin paddle propeller setting is in the robot frame upper end, vertical spin paddle promotes
It is 8-15 ° that device, which vertically tilts,.
The beneficial effects of the utility model are：
Compared to traditional underwater robot, the shallow water observation grade underwater robot set of the application Dynamic Photography machine,
Still camera, low-light video camera and thermal infrared imaging camera, can be simultaneously to the dynamic suspension object in shallow water area, life
Object and the substance of static state carry out picture catching, are dynamically matched with static state shooting, it can be ensured that underwater robot obtains more
Accurate image information, and Dynamic Photography function same Time Exposure twice, it is primary fast, it is primary slow, then carry out synthesis and make it
Can see clearly simultaneously it is bright with dark object on picture, to overcome high-brightness region, shade or backlight under strong illumination with
The lower region of relative luminance exists simultaneously in the picture, and the image that video camera exports is caused bright areas occur because over-exposed
As white, and dark area is because under-exposure becomes black, the problem of seriously affecting picture quality, and low-light video camera is available
The illumination that starlight, moonlight or other micro illumination generate in target is enhanced, and is shown as visible image, enhancing tradition
Information collecting function of the underwater robot under dark light environment, and infrared thermal imaging video camera can then be captured with detection image
To the invisible infrared energy that whether sends out of object, convenient for judging whether the substance is biology.
Description of the drawings
Fig. 1 is the robot frame schematic diagram of the utility model；
Fig. 2 is the dimensional structure diagram of the utility model；
Fig. 3 is the seal box and floating body connection diagram of the utility model.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1-Figure 3, a kind of shallow water observation grade underwater robot, including robot frame 1, horizontal propeller promote
Device 2, vertical spin paddle propeller 3 and floating body 4, the robot frame 1 is interior to be equipped with robot cloud platform 5, the robot
Cloud platform 5 is connected with camera shooting group, and the camera shooting group is arranged in acrylic pressure pipe 20, and the camera of camera shooting group is fixed on described
The front side of robot frame 1, the camera shooting group include Dynamic Photography machine 14, still camera 15, low-light video camera 16 and red
Outer thermal imaging camera 17, the top of Dynamic Photography machine 14 are equipped with underwater luminaire 7, there are two the underwater luminaire 7 is set, respectively
Both sides above 7 Dynamic Photography machine 14 of the underwater luminaire are set, can be the camera shooting group under conditions of light is extremely low
Light source is provided, is equipped with electric rotating machine 7 in the robot frame 1, the lower section of robot frame 1 is connected with turntable 8, the rotation
Motor 7 connects the turntable 8, and the horizontal propeller propeller 2 is arranged in the side of the turntable 8, and electric rotating machine 7 can drive
The turntable 8 rotates so that horizontal propeller propeller 2 can carry out 0 ° -360 ° of direction adjustment in the horizontal plane, convenient for underwater
Robot is orientated movement.
The horizontal propeller propeller 2, vertical spin paddle propeller 3 are at least respectively provided with two, and vertical spin paddle promotes
The upper end of robot under water is arranged in device 3, and it is 8-15 ° that vertical spin paddle propeller, which vertically tilts, in the present embodiment,
There are two the horizontal propeller propeller 2 and vertical spin paddle propeller 3 are all provided with, vertical spin paddle propeller is vertically
Tilt is 10 °.In addition, the Dynamic Photography machine 14 be ultra-low illumination ultra-wide dynamic camera, can same Time Exposure twice,
It is primary fast, it is primary slow, then carry out synthesis can see clearly simultaneously it is bright with dark object on picture, to overcome strong illumination
Under high-brightness region, shade or backlight and the lower region of relative luminance exist simultaneously in the picture, cause video camera to export
Image occur bright areas because it is over-exposed become white, and dark area because under-exposure become black, seriously affect figure
The problem of image quality amount.Low-light video camera can be increased using the illumination that starlight, moonlight or other micro illumination generate in target
By force, and it is shown as visible image, enhances information collecting function of traditional underwater robot under dark light environment, and it is infrared
The invisible infrared energy whether thermal image camera can then be sent out with the object that detection image captures, convenient for judging the substance
Whether it is biology, is conducive to improve the accurate image information of underwater robot acquisition.
For 1 fixing seal of the robot frame in seal box 9, the front side of seal box 9 is equipped with observation window 18, the observation
Window 18 is arranged in the front of the camera of the camera shooting group, and camera shooting group obtains underwater image information through observation window 18.Institute
It is smooth semicircular arc-shaped structure to state observation window 18, and interlayer 19 is equipped in observation window 18, the pure water of free from admixture is filled in interlayer 19,
Thickness is 15cm, it is ensured that observation window 18 keeps higher clarity.The seal box 9 is by water source and the robot frame 1
Isolation, in case the precise part in robot frame 1 described in water erosion, influences underwater robot service life.
As the preferred embodiment of the present embodiment, controller (not shown), the controller are equipped in the robot frame 1
(not shown) is connected with sonar contact device 10, and the robot frame 1 is extended in one end of the sonar contact device 10, and sonar is visited
The upper end that device 10 is fixed on the underwater robot is surveyed, the sonar contact device 10 visits submarine target using underwater acoustic wave
Survey, positioning and communication, prevent underwater robot under water operation when hit a submerged reef, also allow for camera shooting group capture photography target.
In the prior art, floating body 4 is generally arranged at the top of robot frame 1, when underwater robot dive be easy by
The buoyancy effect of floating body 4, leads to that dive efficiency is low and degree of difficulty is high, for the ease of underwater robot dive, in some implementations
In example, the both sides of the seal box 9 offer board slot 19, and floating body compatible with the board slot 19 is equipped in the board slot 19
4, the floating block 4 is plate structure, and the both sides of floating body 4 are equipped with shaft, and the floating body 4 passes through shaft (figure does not regard) flexible connection institute
The both sides of board slot 19 are stated, floating block 4 can be overturn by shaft.The board slot 19 is equipped with separate cavities 21, is set in the separate cavities 21
Have a discaling roll 22, one end of the discaling roll 22 connects the side of the separate cavities 21 by axle sleeve, the other end extend through it is described every
The other side from chamber 21 is simultaneously connected with servo motor 23, and the servo motor 23 is fixed in the robot frame 1, described floating
4 inside of body is equipped with half discaling roll 24, and half discaling roll 24 engages connection, axle center and the shaft of half discaling roll 24 with the discaling roll 22
(not shown) is in same horizontal line.When dive, the floating body 4 rotation close up with the board slot 19 coordinate, reduce floating body 4 with
The effective area of water contact, to reduce the reaction force of buoyancy during dive to underwater robot, when rising, the floating body
4 rotary expansions increase the effective area that floating body 4 is contacted with water so that the buoyancy that underwater robot is subject to increases, and is convenient for underwater machine
Device people rises.
In addition, underwater robot only relies on the progradation of vertical spin paddle propeller 3 when rising, for vertical spin paddle
The load of propeller 3 is too big, is easy loss vertical spin paddle propeller 3, in order to mitigate when vertical spin paddle propeller 3 rises
Load, the robot frame 1 is interior to be equipped with booster pump 11, and one end of the booster pump 11 is connected with water inlet pipe by solenoid valve
12, the other end of booster pump 11 is connected with High Pressure Drain pipe 13, and pressure charging valve, High Pressure Drain can be equipped on the High Pressure Drain pipe 13
The discharge outlet of pipe 13 is arranged in the side of the turntable 8.When the booster pump 11 starts, 12 feed liquor of water inlet pipe, by booster pump
11 and pressure charging valve supercharging after, formed high-pressure fluid, by High Pressure Drain pipe 13 from underwater robot bottom high speed be discharged, in water
Huge thrust is formed on lower robot bottom, can accelerate the efficiency of underwater robot floating.
Operation principle：The rotation of vertical spin paddle propeller 3 generates thrust, and control underwater robot moves down, water
Flat spin paddle propeller 2 controls the underwater robot and is moved forward and backward, when horizontal propeller propeller 2 turns to, electric rotating machine
Turntable rotation is controlled, horizontal propeller propeller 2 is rotated to the reversed side of direction of advance, is rotated with differential, underwater
Arbitrary radius rotation may be implemented in people so that underwater robot can be moved all around in the horizontal plane.
In conclusion the shallow water observation grade underwater robot set of the application Dynamic Photography machine, still camera, low-light
Video camera and thermal infrared imaging camera, can be simultaneously to the object of dynamic suspension object, biology and static state in shallow water area
Matter carries out picture catching, is dynamically matched with static state shooting, it can be ensured that underwater robot obtains accurate image information.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the scope of protection of the utility model.
Claims (7)
1. a kind of shallow water observation grade underwater robot, including robot frame, horizontal propeller propeller, vertical spin paddle promote
Device and floating body, which is characterized in that robot cloud platform is equipped in the robot frame, the robot cloud platform is connected with
Camera shooting group, the camera shooting group are arranged in acrylic pressure pipe, before the camera of camera shooting group is fixed on the robot frame
Side, the camera shooting group includes Dynamic Photography machine, still camera, low-light video camera and thermal infrared imaging camera, is dynamically taken the photograph
It is equipped with underwater luminaire above shadow machine, electric rotating machine is equipped in the robot frame, is connected with and turns below robot frame
Disk, the electric rotating machine connect the turntable, and the horizontal propeller propeller is arranged in the side of the turntable.
2. a kind of shallow water observation grade underwater robot according to claim 1, which is characterized in that the robot frame is solid
Surely it is sealed in seal box, the front side of seal box is equipped with observation window, and the camera in the camera shooting group is arranged in the observation window
Front, observation window are smooth semicircular arc-shaped structure, and interlayer is equipped in observation window, pure water is filled in interlayer.
3. a kind of shallow water observation grade underwater robot according to claim 1 or 2, which is characterized in that the robot frame
Controller is equipped in frame, the controller is connected with sonar contact device, and the machine is extended in one end of the sonar contact device
People's frame.
4. a kind of shallow water observation grade underwater robot according to claim 2, which is characterized in that the both sides of the seal box
Board slot is offered, the floating body is equipped in the board slot, the both sides of floating body are equipped with shaft, and the floating body is connected by shaft activity
Connect the both sides of the board slot.
5. a kind of shallow water observation grade underwater robot according to claim 4, which is characterized in that the board slot be equipped with every
From chamber, discaling roll is equipped in the separate cavities, one end of the discaling roll connects the separate cavities by axle sleeve, and the other end extends connection
There is servo motor, is equipped with half discaling roll on the inside of the floating body, half discaling roll engages connection with the discaling roll.
6. a kind of shallow water observation grade underwater robot according to claim 1, which is characterized in that in the robot frame
Equipped with booster pump, one end of the booster pump is connected with water inlet pipe by solenoid valve, and the other end of booster pump is connected with high pressure
Water pipe.
7. a kind of shallow water observation grade underwater robot according to claim 4, which is characterized in that the vertical spin paddle pushes away
It is arranged into device in the robot frame upper end, it is 8-15 ° that vertical spin paddle propeller, which vertically tilts,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721905069.4U CN207773410U (en) | 2017-12-29 | 2017-12-29 | A kind of shallow water observation grade underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721905069.4U CN207773410U (en) | 2017-12-29 | 2017-12-29 | A kind of shallow water observation grade underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207773410U true CN207773410U (en) | 2018-08-28 |
Family
ID=63225746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721905069.4U Expired - Fee Related CN207773410U (en) | 2017-12-29 | 2017-12-29 | A kind of shallow water observation grade underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207773410U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099854A (en) * | 2018-08-29 | 2018-12-28 | 江苏省工程勘测研究院有限责任公司 | A kind of measuring device and measuring method of Larger water depths |
| CN109342424A (en) * | 2018-10-25 | 2019-02-15 | 南京水动力信息科技有限公司 | A kind of road drainage pipeline of view-based access control model detection makes an on-the-spot survey method |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110789695A (en) * | 2019-08-29 | 2020-02-14 | 金陵科技学院 | Rapid obstacle avoidance system and method for underwater robot |
| CN111711673A (en) * | 2020-06-05 | 2020-09-25 | 唐友慧 | Cloud control emergency rescue underwater working system |
| CN112896469A (en) * | 2021-01-27 | 2021-06-04 | 广州大学 | Equipment carrying platform based on underwater robot |
-
2017
- 2017-12-29 CN CN201721905069.4U patent/CN207773410U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099854A (en) * | 2018-08-29 | 2018-12-28 | 江苏省工程勘测研究院有限责任公司 | A kind of measuring device and measuring method of Larger water depths |
| CN109342424A (en) * | 2018-10-25 | 2019-02-15 | 南京水动力信息科技有限公司 | A kind of road drainage pipeline of view-based access control model detection makes an on-the-spot survey method |
| CN110789695A (en) * | 2019-08-29 | 2020-02-14 | 金陵科技学院 | Rapid obstacle avoidance system and method for underwater robot |
| CN110789695B (en) * | 2019-08-29 | 2020-11-06 | 金陵科技学院 | Rapid obstacle avoidance system and method for underwater robot |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110606178B (en) * | 2019-10-28 | 2024-04-23 | 南京工程学院 | Submarine observation underwater robot based on three-eye vision and control method thereof |
| CN111711673A (en) * | 2020-06-05 | 2020-09-25 | 唐友慧 | Cloud control emergency rescue underwater working system |
| CN112896469A (en) * | 2021-01-27 | 2021-06-04 | 广州大学 | Equipment carrying platform based on underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180828 Termination date: 20191229 |