CN105818944B - A kind of remote control submarine applied to undersea detection - Google Patents
A kind of remote control submarine applied to undersea detection Download PDFInfo
- Publication number
- CN105818944B CN105818944B CN201610203127.2A CN201610203127A CN105818944B CN 105818944 B CN105818944 B CN 105818944B CN 201610203127 A CN201610203127 A CN 201610203127A CN 105818944 B CN105818944 B CN 105818944B
- Authority
- CN
- China
- Prior art keywords
- remote control
- host
- submarine
- module
- control submarine
- 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
- 238000001514 detection method Methods 0.000 title claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000005183 dynamical system Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 2
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000009189 diving Effects 0.000 abstract description 24
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 239000003643 water by type Substances 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 239000011324 bead Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- 241001672694 Citrus reticulata Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000035922 thirst Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 208000008918 voyeurism Diseases 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention relates to a kind of remote control submarines applied to undersea detection, including：It is remotely controlled submarine host；Controller for sending out control signal control remote control submarine host operation；The display for observing underwater environment in real time is connect with controller；And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface；The remote control submarine host includes：Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and power module；Described image acquisition system includes：Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp and ultraviolet light searchlight.The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can underwater environment be easily found out in advance for diving personnel do not know waters, it provides and illuminates and track and record diving process, it is and small by effect of natural conditions, additionally it is possible to help diving personnel quickly to emerge and escape danger.
Description
Technical field
The present invention relates to undersea detection field more particularly to a kind of remote control submarines applied to undersea detection.
Background technology
The desire for finding out the underwater world with the mankind gradually increases, and the people to dive 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
It needs by submersible lighting fixture, meanwhile, to record underwater situation, need the underwater camera-shooting and recording device for carrying profession.But it dives under water
Personnel need by professional training, and diving equipment is heavy expensive, and carrying out dive in unfamiliar waters can also be to the life of people
Safety threatens, in such a way that tradition is dived under water under observation water the world mode can not rapid large-area it is universal；And it is more next
Personage mostly without diving experience also thirst for peeping it is underwater existing undersea detection device is influenced by weather conditions actually,
When encountering that weather condition is bad or the more complicated waters of landform ocean current can also hinder the exploration process of people.
Therefore, the existing technology needs to be improved and developed.
Invention content
In view of above-mentioned deficiencies of the prior art, it is latent that the purpose of the present invention is to provide a kind of remote controls applied to undersea detection
Ship, to overcome undersea detection inconvenience in the prior art, unsafe problem.
Technical scheme is as follows：
A kind of remote control submarine applied to undersea detection, including：It is remotely controlled submarine host；Institute is controlled for sending out control signal
State the controller of remote control submarine host operation；The display for observing underwater environment in real time is connect with the controller；Setting
The signal transceiver being connect with the remote control submarine host more than the water surface or the water surface；
The remote control submarine host includes：The peephole in the waterproof case front end is arranged in waterproof case, is arranged in institute
The dynamical system for driving the remote control submarine host motion on waterproof case is stated, the use in the waterproof case is set
In the master control system for controlling the remote control submarine host operation, the sensor for measuring the remote control submarine host operating parameter
The Image Acquisition system for shooting underwater environment and uploading image/video to the display is arranged after the peephole in system
System, and for the power module to the remote control submarine host supplying power；
Described image acquisition system includes：The lighting circuit plate being arranged on the inside of the peephole is arranged in the illumination
Camera among circuit board, and the high beam, dipped headlight, the infrared ray light compensating lamp and ultraviolet that are arranged on the lighting circuit plate
Line searchlight.
The remote control submarine applied to undersea detection, the controller, the display with the signal transmitting and receiving
Device is connected by wireless communication mode；The remote control submarine host is connect with the signal transceiver by cable.
The remote control submarine applied to undersea detection, the sensing system include：It is arranged in the remote control submarine
On host, the attitude transducer for measuring the remote control underwater posture of submarine host；It is arranged on the remote control submarine host,
Depth transducer for measuring the remote control submarine host submerged depth；It is arranged on the remote control submarine host, for surveying
Measure the sonar sensor of underwater obstacles and the remote control submarine host distance；It is arranged on the remote control submarine host, is used for
Measure the Temperature Humidity Sensor of humiture inside the remote control submarine host；It is arranged on the remote control submarine host, for surveying
Measure the velocity sensor of the remote control submarine main engine trial speed；It is arranged on the remote control submarine host, it is described for measuring
It is remotely controlled the optical imaging sensor of submarine host ambient enviroment.
The remote control submarine applied to undersea detection, the high beam, the dipped headlight, the infrared ray light compensating lamp
And the ultraviolet light searchlight be both provided with it is multiple；The dipped headlight is arranged around the camera；The infrared ray light compensating lamp,
The ultraviolet light searchlight is all symmetricly set on the both sides of the camera；The high beam is symmetricly set on the lighting circuit
The both ends of plate.
The remote control submarine applied to undersea detection, the centre of the waterproof case are provided with described anti-up and down
The first kind duct of water shell, the both sides of the waterproof case are symmetrical arranged that there are two Second Type ducts；
The dynamical system includes：Lifting motor and elevating screw in the first kind duct are set；Setting
Propulsion electric machine and propelling screws in the Second Type duct.
The remote control submarine applied to undersea detection, the signal transceiver include：For managing the power supply mould
The energy supply control module of block, the first signal transmitting and receiving module for sending and receiving signal are connect with the remote control submarine host
Signal cable.
The remote control submarine applied to undersea detection, the master control system include：Main control board is arranged in master control
Main control chip, second signal transceiver module, motor drive module, camera control module on circuit board and memory module；
The second signal transceiver module, the motor drive module, the camera control module and the memory module
It is electrically connected with the main control chip；
The second signal transceiver module, for receiving control signal, uploading image/video and sensing data；The electricity
Machine drive module, for driving the lifting motor and the propulsion electric machine to run；The camera control module, for controlling
State camera shooting image/video；The memory module, for storing image/video and sensing data.
The remote control submarine applied to undersea detection, the controller include：Control for generating control signal
Module, the first communication module for sending out control signal.
The remote control submarine applied to undersea detection, the display include：Second communication module, data store mould
Block and data processing and display module；
The second communication module, for receiving the data information uploaded；The data memory module is received for storing
The data information arrived；The data processing and display module for handling the data information received, and show corresponding image
Video and sensing data.
The remote control submarine applied to undersea detection, the display be intelligent mobile terminal, separate display screens and
One kind of VR glasses.
The beneficial effects of the invention are as follows：A kind of remote control submarine applied to undersea detection provided by the invention, including：Remote control
Submarine host；Controller for sending out control signal control remote control submarine host operation；It is connect with controller for seeing in real time
Examine the display of underwater environment；And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface；It is described
Being remotely controlled submarine host includes：Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and
Power module；Described image acquisition system includes：Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp
With ultraviolet light searchlight.The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can
Underwater environment is easily found out in advance for diving personnel and does not know waters, and illumination is provided and tracks and records diving process, Er Qieshou
Effect of natural conditions is small, additionally it is possible to help diving personnel quickly to emerge and escape danger.
Description of the drawings
Fig. 1 is the structural schematic diagram for the remote control submarine preferred embodiment that the present invention is applied to undersea detection.
Fig. 2 is the structural schematic diagram of remote control submarine host preferred embodiment of the present invention.
Fig. 3 is the vertical view of remote control submarine host preferred embodiment of the present invention.
Fig. 4 is the structural schematic diagram of image capturing system preferred embodiment of the present invention.
Fig. 5 is the structural schematic diagram of lighting system preferred embodiment of the present invention.
Fig. 6 is the principle schematic of master control system preferred embodiment of the present invention.
Fig. 7 is the fundamental diagram of the remote control submarine of the present invention applied to undersea detection.
Specific implementation mode
The present invention provides a kind of remote control submarine applied to undersea detection, to make the purpose of the present invention, technical solution and effect
Fruit is clearer, clear, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.It should be appreciated that this place
The specific embodiment of description is only used to explain the present invention, is not intended to limit the present invention.
The remote control submarine applied to undersea detection of present pre-ferred embodiments, as shown in Figure 1, including：It is remotely controlled submarine master
Machine 1；Controller 2 for sending out 1 operation of control signal control remote control submarine host；It is connect with controller 2 for observing in real time
The display 3 of underwater environment；The signal transceiver 4 being connect with remote control submarine host 1 in 10 or more the water surface is set.In other implementations
In example, signal transceiver 4 can also be arranged on the water surface, that is, swim in water surface.
Further, also referring to Fig. 2, Fig. 3, Fig. 6 and Fig. 7, remote control submarine host 1 includes：Waterproof case 61, setting
Peephole 62 in 61 front end of waterproof case, what is be arranged on waterproof case 61 is dynamic for driving remote control submarine host 1 to move
Force system (not shown), the master control system 8 for controlling 1 operation of remote control submarine host being arranged in waterproof case 61, is used for
The sensing system 9 for measuring 1 operating parameter of remote control submarine host, is arranged after peephole 62 for shooting underwater environment and uploading
Image capturing system (not shown) of the image/video to display 3；And the power module 5 for powering to remote control submarine host 1；
Power module 5 (built-in power), that is, an internal battery group are arranged in the inside of remote control submarine host 1, and can tear open
It unloads, is convenient for changing repair.Preferably, remote control submarine host 1 can also external power supply, can flexibly select to set according to actual conditions
It sets.Remote control submarine host 1 is arranged in the water surface hereinafter, being the underwater main equipment for executing command adapted thereto.Waterproof case 61 that is to say
It is remotely controlled submarine host main body, for carrying hydraulic pressure and preventing water from flowing into remote control submarine host 1, is set in protection remote control submarine host 1
Standby safety.
Further, as shown in Figure 4 and Figure 5, described image acquisition system includes：Illumination in 62 inside of peephole is set
The camera 72 among lighting circuit plate 71, high beam 73, the dipped beam being arranged on lighting circuit plate 71 is arranged in circuit board 71
Lamp 74, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76.Wherein, high beam 73 is used for searchlighting distant place water environment, dipped headlight
74 for closely illuminating, and infrared light compensating lamp 75 carries out light filling use, ultraviolet light searchlight 76 for improving image taking effect
For capture light environment it is bad in the case of animals and plants form；Lighting circuit plate 71 is for controlling high beam 73, dipped headlight
74, the switch of infrared ray light compensating lamp 75 and ultraviolet light searchlight 76.Lighting circuit plate 71, high beam 73, dipped headlight 74, infrared ray
Light compensating lamp 75 and ultraviolet light searchlight 76 constitute lighting system.In addition, in other embodiments, also being set on lighting circuit plate 71
It is equipped with multiple feux rouges lamp beads, purple light lamp bead and white light lamp bead, is respectively intended to provide feux rouges, purple light and white light, it is further to improve
Light filling effect.
It is well known that under weather conditions good situations, diving observation can be carried out in underwater 20 meters by natural light, but
More than 20 meters natural lights can not reach needs by submersible lighting fixture, therefore, to record underwater situation, need to carry profession
Underwater camera-shooting and recording device, it is expensive, it is inconvenient.Submarine is remotely controlled described in the embodiment of the present invention, the configuration camera shooting system after surveillance mirror
System, while it being equipped with the above specific lighting system again, it is capable of providing illumination, is also convenient for finding out underwater environment in advance not for diver
Clear waters is also convenient for track record diving process.
Preferably, high beam 73, dipped headlight 74, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76 are both provided with multiple,
For example, as shown in Figure 3, Figure 4, high beam 73, infrared ray light compensating lamp 75 and ultraviolet light searchlight 76 all install 2, dipped headlight 74
Installation 6；Meanwhile dipped headlight 73 being arranged around camera 72；Infrared ray light compensating lamp 75, ultraviolet light searchlight 76 is all symmetrical
It is arranged in the both sides of camera 72；High beam 73 is symmetricly set on to the both ends of lighting circuit plate 71, to reach most suitable photograph
Obvious results fruit, convenient for 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 (signal cable), power management
Module (not shown) and the first signal transmitting and receiving module 42；Signal cable 41 is connect with remote control submarine host 1；The power management mould
Block is electrically connected with power module 5, for managing power module 5；First signal transmitting and receiving module 42 is for sending and receiving signal.It is excellent
Choosing, it is also equipped with power supply inside signal transceiver 4：That is signal transceiver power supply (not shown), and this power supply and power supply mould
Block 5 is relatively independent, and under normal circumstances, the signal transceiver power supply is served only for giving signal transceiver 4 power itself, still
When the electricity of power module 5 exhausts, the signal transceiver power supply also can temporarily provide electric energy and give remote control submarine host 1.Letter
Number transceiver 4 receives remote signal and 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 circuit board), setting
Main control chip 81, second signal transceiver module 82 on main control board 80, motor drive module 83, camera control module 84
With memory module 85；Second signal transceiver module 82, motor drive module 83, camera control module 84, memory module 85 and photograph
Bright circuit board 71 (lighting module) is electrically connected with the main control chip 81；Wherein lighting circuit plate 71 and the main control chip 81
Electric connection mode be conducting wire connection, winding displacement connection or connector (connector) connection one kind.Second signal transceiver module 82,
It is electrically connected with the first signal transmitting and receiving module 42, for receiving control signal, uploading image/video and sensing data；Motor drives
Module 83 is electrically connected with driving lifting motor 65, the first propulsion electric machine 661, the second propulsion electric machine 663, for driving lifting electricity
Machine 65, the first propulsion electric machine 661 and the operation of the second propulsion electric machine 662；Camera control module 84 is electrically connected with camera 72, is used for
It controls camera 72 and shoots image/video；Memory module 85 is for storing image/video and sensing data, it is preferred that setting is deposited
Storage module 85 is a storage card, is conveniently replaceable.It should be noted simultaneously that the camera control module 84 of master control system 8 is additionally operable to
The image/video of shooting is changed into digital signal.
Preferably, controller 2, the display 3 for submarine being remotely controlled described in the embodiment of the present invention pass through nothing with signal transceiver 4
Line communication modes connect；As shown in Figure 1, remote control submarine host 1 is connect with signal transceiver 4 by signal cable 41, specifically,
As shown in fig. 6, the second signal transceiver module 82 of master control system 8 and the first signal transmitting and receiving module 42 of signal transceiver 4 are electrically connected
It connects, image/video is uploaded to display 3 by second signal transceiver module 82 by the first signal transmitting and receiving module 42, that is to say, that
First, the digital signal of image/video is uploaded to signal transceiver 4 by master control system 8 by signal cable 41, and then signal is received
The digital signal of image/video is uploaded to display 3 by hair device 4 by Radio Transmission Technology, and last display 3 is received and shown
Image/video.In addition, may also set up controller 2, display 3 is connect with signal transceiver 4 by wired mode, that is, pass through line
Cable connects, to improve the stability of signal.It should be noted that the image/video information stored is needed to be stored in remote control submarine
It on storage card (memory module 85) in host, is saved on mobile phone if necessary, and will by remote control submarine host 1
Image video files in storage card are reached by signal transceiver 4 to be preserved on mobile phone.
Further, in the embodiment of the present invention, controller 2 is to make submarine host 1 according to instruction for sending out telecommand
The equipment for executing corresponding task.When concrete application, the control command that controller 2 is sent out is passed to by wireless communication mode first
Then signal transceiver 4 reaches submarine host 1 along signal cable 41 by signal transceiver 4 and executes corresponding operation.Controller
2 include：Control module for generating control signal, the first communication module for sending out control signal.Controller 2 can be used
Wireless controller, or intelligent mobile terminal, such as smart mobile phone, tablet computer etc..
Further, in the embodiment of the present invention, display 3 is for allowing the people on the water surface to see sub-marine situations in real time
The equipment seen, display 3 include：Second communication module, data memory module and data processing and display module；Described second is logical
Module is believed, for receiving the data information uploaded；The data memory module, for storing the data information received；It is described
Data processing and display module for handling the data information received, and show corresponding image/video and sensing data.
Mobile phone, tablet computer or separate display screens can be used in display 3, it is possible to use VR glasses watch 3D realtime graphics.In other words,
Display 3 can be intelligent mobile terminal, one kind of separate display screens and VR glasses.
Further, also referring to Fig. 2, Fig. 3 and Fig. 6, the centre of waterproof case 61 is provided with outside waterproof up and down
The first kind duct of shell 61：First duct 63, the both sides of waterproof case 61 are symmetrical arranged that there are two Second Type ducts：Second
Duct 641 and third duct 642；The dynamical system includes：The lifting motor 65 and lifting spiral shell being arranged in the first duct 63
Revolve paddle 67；The first propulsion electric machine 661 being arranged in the second duct 641 and the first propelling screws (not shown), setting is the
The second propulsion electric machine 662 in three ducts 642 and the second propelling screws 682.
That is, dynamical system 9 is made of three motors and propeller, wherein lifting motor and elevating screw are installed
In in the duct of remote control submarine host middle part up and down, other two propulsion electric machine and propelling screws are installed on remote control submarine
In the duct that host both sides become a mandarin.Two propelling screws, which are located at both sides, can make remote control submarine host advance and retreat, when distant
When controlling submarine host forward or backward, in the case of the propelling screws rotating speed difference of both sides, remote control submarine host can realize steering；
When remote control submarine host stops in situ, the direction of rotation of adjustment both sides propelling screws can realize pivot stud.Positioned at distant
Elevating screw in control submarine host perforation duct can provide floating dive, be both also adjustable remote control submarine host bow
Face upward posture.
Further, as shown in fig. 6, sensing system 9 includes：Setting (specifically may be provided on remote control submarine host 1
In waterproof case 61), the attitude transducer 91 for measuring 1 underwater posture of remote control submarine host；Setting is in remote control submarine host 1
Upper (specifically may be provided on waterproof case 61), the depth transducer 92 for measuring 1 submerged depth of remote control submarine host；Setting
It (specifically may be provided in waterproof case 61) on remote control submarine host 1, for measuring underwater obstacles and remote control submarine host 1
The sonar sensor 93 of distance；Setting (specifically may be provided in waterproof case 61) on remote control submarine host 1, distant for measuring
Control the Temperature Humidity Sensor 94 of 1 inside humiture of submarine host；Setting (specifically may be provided at waterproof on remote control submarine host 1
In shell 61), the velocity sensor 95 for measuring 1 headway of remote control submarine host；Setting is on remote control submarine host 1
(specifically may be provided in waterproof case 61), the optical imaging sensor 96 for measuring 1 ambient enviroment of remote control submarine host.Appearance
State sensor 91, depth transducer 92, sonar sensor 93, Temperature Humidity Sensor 94, velocity sensor 95 and optical imagery pass
Sensor 96 is electrically connected with main control chip 81.Additionally, it is preferred that, 3-axis acceleration biography can be also set on remote control submarine host 1
Sensor, for detecting collision and impact suffered by remote control submarine host 1.
Wherein, the attitude transducer 91 includes three-axis gyroscope, can perceive remote control submarine host posture in water, when
When by external disturbance, remote control submarine host can carry out posture according to the data that three-axis gyroscope acquires by augmentation control system
It corrects.Being remotely controlled submarine host 1 can be according to the depth data for 1 dive of remote control submarine host that depth sensing 92 measures, and adjustment is dynamic
The lifting motor of Force system and the operation conditions of elevating screw control submerged depth.It is former that sonar sensor is based on sound wave reflection
Disturbance of perception object is managed at a distance from remote control submarine host, reference is provided for avoidance.
In the embodiment of the present invention, the various sensing datas that controller 2 is measured according to sensing system 9 send out remote control letter
Number, the power system operation of control remote control submarine host 1 realizes that remote control submarine host 1 advances under water, retreats, rise, dive,
Turn left in traveling, turns right in traveling, flicker, the movement of flicker and pitching, to realize captured in real-time under water
HD video and candid photograph high definition photo.In addition, it is necessary to explanation, the various sensings that above-described sensing system 9 measures
Device data, and signal transceiver 4 is uploaded to by signal cable 41 by master control system 8, then signal transceiver 4 is by wireless
Sensing data is uploaded to display 3 by transmission technology, and last display 3 receives and shows various sensing datas.
Further, as shown in fig. 7, the operation principle of the remote control submarine for being applied to undersea detection of the embodiment of the present invention
For：Controller 2 is wirelessly connected with signal transceiver 4, and control signal (control instruction) is sent to signal transmitting and receiving by wireless technology
Device 4, signal transceiver 4 is reached by signal cable 41 after translating the control signal and is remotely controlled submarine host 1, by remote control submarine
Host 1 executes corresponding control instruction；At the same time, master of the remote control submarine host 1 by the image/video taken inside
Image/video is changed into digital signal by control system 8, and by the digital signal of image/video and sensing data along signal cable 41
Signal transceiver 4 is reached, signal transceiver 4 reaches the digital signal of image/video and sensing data by wireless transmission aobvious
Show device 3, so as to allow people to see underwater situation in real time and monitor the operation conditions of remote control submarine host 1.It needs to illustrate
It is that controller 2 can not only send out the control signal for making remote control submarine host 1 move, can also sends out control described image acquisition
System carries out the associated command signal of image/video shooting.
It, can be people capable of being helped to follow one's inclinations in the case of water under employment using being remotely controlled submarine described in the embodiment of the present invention
The desired underwater world of observation not only assists in the people without diving experience and observes sub-marine situations in real time, can also be carried for diving personnel
Before find out the noncommittal waters of underwater environment, for diving personnel provide necessary underwater lighting and track and record shooting diving it is complete
Process；Also latent bat can be carried out for water under people by being remotely controlled submarine in the case where natural conditions are not suitable for diving, scene will be shot
It is stored in the memory card in remote control submarine host, is copied into computer afterwards and can carry out playing back and shared；It is sent out in diving personnel
When raw fortuitous event, the remote control manipulator on the water surface can have found and manipulate underwater submarine to become an interim lifesaving in time
Equipment, personnel, which float, under water supply provides certain auxiliary pulling force, helps diver quickly to emerge and escape danger.
Therefore, a kind of remote control submarine applied to undersea detection provided by the invention, including：It is remotely controlled submarine host；For
Send out the controller of control signal control remote control submarine host operation；It is connect with controller for observing the aobvious of underwater environment in real time
Show device；And the signal transceiver being connect with remote control submarine host is set more than the water surface or the water surface；The remote control submarine host packet
It includes：Waterproof case, peephole, dynamical system, master control system, sensing system, image capturing system and power module；The figure
As acquisition system includes：Lighting circuit plate, camera and high beam, dipped headlight, infrared ray light compensating lamp and ultraviolet light searchlight.
The remote control submarine can not only help the people without diving experience to observe sub-marine situations in real time, also can be easily diving personnel
Underwater environment is found out in advance and does not know waters, illumination is provided and tracks and records diving process, and is small by effect of natural conditions, also
Diving personnel can be helped quickly to emerge to escape danger.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.
Claims (6)
1. a kind of remote control submarine applied to undersea detection, which is characterized in that including：It is remotely controlled submarine host；For sending out control
Signal controls the controller of the remote control submarine host operation；It is connect with the controller for observing the aobvious of underwater environment in real time
Show device；The signal transceiver being connect with the remote control submarine host is set more than the water surface or the water surface；
The remote control submarine host includes：The peephole in the waterproof case front end is arranged in waterproof case, and setting is described anti-
The dynamical system for driving the remote control submarine host motion on water shell, what is be arranged in the waterproof case is used to control
The master control system for making the remote control submarine host operation, the sensor system for measuring the remote control submarine host operating parameter
The Image Acquisition system for shooting underwater environment and uploading image/video to the display is arranged after the peephole in system
System, and for the power module to the remote control submarine host supplying power；
Described image acquisition system includes：The lighting circuit plate being arranged on the inside of the peephole is arranged in the lighting circuit
Camera among plate, and the high beam, dipped headlight, infrared ray light compensating lamp and the ultraviolet light that are arranged on the lighting circuit plate are visited
Illuminator；
The centre of waterproof case is provided with the first duct of waterproof case up and down, and the both sides of waterproof case are symmetrically arranged with
Two ducts and third duct；The dynamical system includes：The lifting motor and elevating screw being arranged in the first duct；Setting
The first propulsion electric machine in the second duct and the first propelling screws, the second propulsion electric machine being arranged in third duct and
Two propelling screws；
The both sides that first propelling screws and the second propelling screws are located at waterproof case make remote control submarine host advance and retreat,
When being remotely controlled submarine host forward or backward, in the case of the first propelling screws and the second propelling screws rotating speed difference,
Remote control submarine host can realize steering；When be remotely controlled submarine host stop it is in situ when, adjust both sides the first propelling screws and
The direction of rotation of second propelling screws can realize pivot stud；Elevating screw provides floating dive and adjusts remote control submarine master
The pitch attitude of machine；
The controller, the display are connect with the signal transceiver by wireless communication mode；The remote control submarine
Host is connect with the signal transceiver by cable；
The sensing system includes：It is arranged on the remote control submarine host, it is underwater for measuring the remote control submarine host
The attitude transducer of posture；It is arranged on the remote control submarine host, for measuring the remote control submarine host submerged depth
Depth transducer；It is arranged on the remote control submarine host, for measuring underwater obstacles and the remote control submarine host distance
Sonar sensor；It is arranged on the remote control submarine host, the temperature for measuring humiture inside the remote control submarine host
Humidity sensor；It is arranged on the remote control submarine host, the speed for measuring the remote control submarine main engine trial speed passes
Sensor；It is arranged on the remote control submarine host, the optical imagery sensing for measuring the remote control submarine host ambient enviroment
Device；
The high beam, the dipped headlight, the infrared ray light compensating lamp and the ultraviolet light searchlight are both provided with multiple；It is described
Dipped headlight is arranged around the camera；The infrared ray light compensating lamp, the ultraviolet light searchlight are all symmetricly set on described take the photograph
As the both sides of head；The high beam is symmetricly set on the both ends of the lighting circuit plate.
2. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the signal transceiver packet
It includes：Energy supply control module for managing the power module, the first signal transmitting and receiving module for sending and receiving signal, with
The signal cable of the remote control submarine host connection.
3. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the master control system packet
It includes：Main control board, the main control chip being arranged on main control board, second signal transceiver module, motor drive module, camera shooting
Control module and memory module；
The second signal transceiver module, the motor drive module, the camera control module and the memory module with
The main control chip electrical connection；
The second signal transceiver module, for receiving control signal, uploading image/video and sensing data；The motor drives
Dynamic model block, for driving the lifting motor and the propulsion electric machine to run；The camera control module, for controlling described take the photograph
As head shoots image/video；The memory module, for storing image/video and sensing data.
4. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the controller includes：
Control module for generating control signal, the first communication module for sending out control signal.
5. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the display includes：
Second communication module, data memory module and data processing and display module；
The second communication module, for receiving the data information uploaded；The data memory module is received for storing
Data information；The data processing and display module for handling the data information received, and show corresponding image/video
And sensing data.
6. the remote control submarine according to claim 1 applied to undersea detection, which is characterized in that the display is intelligence
One kind of mobile terminal, separate display screens and VR glasses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610203127.2A CN105818944B (en) | 2016-04-01 | 2016-04-01 | A kind of remote control submarine applied to undersea detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610203127.2A CN105818944B (en) | 2016-04-01 | 2016-04-01 | A kind of remote control submarine applied to undersea detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105818944A CN105818944A (en) | 2016-08-03 |
| CN105818944B true CN105818944B (en) | 2018-07-17 |
Family
ID=56525481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610203127.2A Active CN105818944B (en) | 2016-04-01 | 2016-04-01 | A kind of remote control submarine applied to undersea detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105818944B (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314733B (en) * | 2016-10-26 | 2018-04-20 | 朱苏学 | A kind of unmanned underwater photography machine people |
| CN106275329B (en) * | 2016-11-16 | 2018-06-29 | 深圳潜行创新科技有限公司 | Remote-controlled vehicle and remote-controlled vehicle system |
| CN106814735B (en) * | 2016-12-06 | 2020-08-14 | 北京臻迪科技股份有限公司 | Control system of unmanned ship |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN106774356B (en) * | 2017-01-04 | 2020-10-30 | 北京臻迪科技股份有限公司 | Communication system |
| CN106786951B (en) * | 2017-01-04 | 2020-11-17 | 北京臻迪科技股份有限公司 | Unmanned ship system |
| CN107021195B (en) * | 2017-04-19 | 2018-09-18 | 西安伺动科技有限公司 | Culvert type unmanned submersible |
| CN106997057B (en) * | 2017-05-11 | 2023-10-27 | 深圳潜水侠创新动力科技有限公司 | Positioning system for underwater detector and positioning method thereof |
| CN107416156A (en) * | 2017-05-11 | 2017-12-01 | 深圳潜水侠创新动力科技有限公司 | Vert the control system and its method of nacelle underwater remote-control submarine |
| 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 |
| CN107380381A (en) * | 2017-07-29 | 2017-11-24 | 深圳市丝路蓝创意展示有限公司 | A kind of floatable diving system |
| CN107600375B (en) * | 2017-08-11 | 2019-12-20 | 江苏科技大学 | Design method of observation type unmanned remote control submersible |
| CN109973858B (en) * | 2017-12-28 | 2022-03-08 | 中国科学院深圳先进技术研究院 | An Illuminator for Underwater Dark Field Imaging |
| CN108710378A (en) * | 2018-04-28 | 2018-10-26 | 长沙金信诺防务技术有限公司 | A kind of device and its control method for underwater kit wireless communication |
| CN108995785A (en) * | 2018-07-14 | 2018-12-14 | 芜湖益浩昌智能设备有限公司 | It is a kind of can multidirectional propulsion underwater robot |
| WO2020034400A1 (en) * | 2018-08-14 | 2020-02-20 | 深圳潜水侠创新动力科技有限公司 | Remote-controlled underwater intelligent robot |
| CN108750045B (en) * | 2018-08-14 | 2020-10-23 | 深圳潜水侠创新动力科技有限公司 | Modular underwater robot |
| CN108750024A (en) * | 2018-08-14 | 2018-11-06 | 深圳潜水侠创新动力科技有限公司 | A kind of water surface intelligence carrying platform and its application |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | An autonomous underwater robot surface remote control system and method |
| CN109665078B (en) * | 2019-02-11 | 2024-05-24 | 深圳鳍源科技有限公司 | Remote-controlled submersible |
| CN112193390A (en) * | 2020-08-31 | 2021-01-08 | 长江三峡集团福建能源投资有限公司 | Underwater grouting monitoring device for offshore wind turbine jacket |
| CN112429182A (en) * | 2020-12-03 | 2021-03-02 | 上海江南长兴造船有限责任公司 | Underwater ship shell inspection equipment |
| CN114407592B (en) * | 2022-01-06 | 2023-10-17 | 北京理工大学 | Amphibious unmanned patrol car capable of realizing real-time communication |
| CN114670995B (en) * | 2022-02-19 | 2022-10-28 | 山东省渔业发展和资源养护总站 | Multifunctional underwater operation device for fishery |
| CN115656547B (en) * | 2022-11-04 | 2025-04-22 | 爱默里(河北)科技有限公司 | A flow velocity and direction meter based on image recognition and control method |
| CN118182777B (en) * | 2024-03-19 | 2025-10-21 | 哈尔滨工程大学 | An integrated micro underwater shooting robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1976252A (en) * | 2005-11-28 | 2007-06-06 | 中国科学院自动化研究所 | Water surface information relay system used for bionic machine fish |
| CN101234665A (en) * | 2008-03-03 | 2008-08-06 | 中国科学院光电技术研究所 | A small underwater observation robot |
| CN201797882U (en) * | 2010-08-31 | 2011-04-20 | 王卿 | Multi-purpose underwater visual fish finder |
| CN103473914A (en) * | 2013-09-30 | 2013-12-25 | 天津深之蓝海洋设备科技有限公司 | Underwater robot communication signal wireless transmission system |
| CN103869807A (en) * | 2014-03-21 | 2014-06-18 | 上海邦达电子系统工程有限公司 | Fault diagnosis device for small underwater robot |
| CN303306780S (en) * | 2015-07-29 | |||
| CN205524893U (en) * | 2016-04-01 | 2016-08-31 | 深圳潜水侠创新动力科技有限公司 | Be applied to underwater detection's remote control submarine |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070242134A1 (en) * | 1998-11-05 | 2007-10-18 | Zernov Jeffrey P | Submersible video viewing system |
| CN2893749Y (en) * | 2006-03-06 | 2007-04-25 | 上海汇申智科信息技术有限公司 | Angling pendant with underwater picuture taking and transmitting function |
| CN204242998U (en) * | 2014-07-07 | 2015-04-01 | 杨春辉 | Electrodeless ultraviolet lamp under water |
| CN205037112U (en) * | 2015-08-25 | 2016-02-17 | 深圳市飞锐照明有限公司 | Multifunctional headlight |
-
2016
- 2016-04-01 CN CN201610203127.2A patent/CN105818944B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN303306780S (en) * | 2015-07-29 | |||
| CN1976252A (en) * | 2005-11-28 | 2007-06-06 | 中国科学院自动化研究所 | Water surface information relay system used for bionic machine fish |
| CN101234665A (en) * | 2008-03-03 | 2008-08-06 | 中国科学院光电技术研究所 | A small underwater observation robot |
| CN201797882U (en) * | 2010-08-31 | 2011-04-20 | 王卿 | Multi-purpose underwater visual fish finder |
| CN103473914A (en) * | 2013-09-30 | 2013-12-25 | 天津深之蓝海洋设备科技有限公司 | Underwater robot communication signal wireless transmission system |
| CN103869807A (en) * | 2014-03-21 | 2014-06-18 | 上海邦达电子系统工程有限公司 | Fault diagnosis device for small underwater robot |
| CN205524893U (en) * | 2016-04-01 | 2016-08-31 | 深圳潜水侠创新动力科技有限公司 | Be applied to underwater detection's remote control submarine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105818944A (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105818944B (en) | A kind of remote control submarine applied to undersea detection | |
| CN205524893U (en) | Be applied to underwater detection's remote control submarine | |
| US6662742B2 (en) | Remote operated vehicles | |
| CN106240774B (en) | Unmanned ship and system | |
| CN106628026B (en) | Unmanned ship and unmanned ship system | |
| CN107010188B (en) | Underwater robot and underwater information acquisition system | |
| CN106394815B (en) | A combined system of unmanned ship and unmanned submersible | |
| CN106275329B (en) | Remote-controlled vehicle and remote-controlled vehicle system | |
| CN108045530A (en) | A kind of submarine cable detection underwater robot and operational method | |
| CN104777845A (en) | Underwater main body device of underwater robot and autonomous obstacle avoidance method | |
| WO2017140096A1 (en) | Unmanned ship and system | |
| CN106781371A (en) | A kind of communication system of unmanned boat under water | |
| CN206307246U (en) | A kind of unmanned boat adds the combined system of unmanned submersible | |
| CN206674087U (en) | A kind of portable remote ship for the shooting of underwater real-time high-definition | |
| CN206885305U (en) | Underwater robot and underwater information acquisition system | |
| CN106454038B (en) | Intelligent filming apparatus | |
| KR102078160B1 (en) | Underwater Remote Unmanned System | |
| CN206278243U (en) | Remote-controlled vehicle and remote-controlled vehicle system | |
| CN205378034U (en) | Float and shoot device | |
| CN109178212B (en) | Mooring submerged buoy for measuring horizontal section flow field | |
| CN207300300U (en) | A kind of robot and underwater observation system for underwater observation | |
| CN116946327A (en) | Small-sized water surface intelligent rescue U-shaped boat | |
| CN206575524U (en) | A kind of unmanned boat and control system | |
| CN211001764U (en) | A multifunctional bionic whale shark device | |
| CN207747999U (en) | A kind of submersible experience cabin |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |