CN113830266A - Single Camera Handy Remote Control Unmanned Submarine Vehicle - Google Patents
Single Camera Handy Remote Control Unmanned Submarine Vehicle Download PDFInfo
- Publication number
- CN113830266A CN113830266A CN202110397924.XA CN202110397924A CN113830266A CN 113830266 A CN113830266 A CN 113830266A CN 202110397924 A CN202110397924 A CN 202110397924A CN 113830266 A CN113830266 A CN 113830266A
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- China
- Prior art keywords
- underwater vehicle
- camera
- remote control
- control unmanned
- unmanned underwater
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- 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.)
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- 239000013589 supplement Substances 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 4
- 230000004297 night vision Effects 0.000 claims description 3
- 239000013598 vector Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Studio Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明涉及一种单摄像头灵便型遥控无人潜航器，其主要特征是六推进器和尾翼共同控制水下运行的动力系统和可装红外灯或补光灯与摄像头为一体的摄像系统。本发明主旨在于改善水下遥控无人潜航器水下航行能力，通过采用上述的动力系统，与现有技术相比，本发明的有益效果是使得遥控无人潜航器的水下航行的稳定性能、响应性能、运行准确性有了新的突破。通过采用上述的摄像系统使得无人潜航器具有一定的节能效果，且拍摄的图片较清晰。
The invention relates to a flexible remote-controlled unmanned underwater vehicle with a single camera, which is mainly characterized by a power system in which six propellers and tails jointly control underwater operation, and a camera system that can be equipped with infrared lights or fill lights and cameras. The main purpose of the present invention is to improve the underwater navigation capability of the underwater remote-controlled unmanned underwater vehicle. By using the above-mentioned power system, compared with the prior art, the beneficial effect of the present invention is to make the underwater navigation stability of the remote-controlled unmanned underwater vehicle. , response performance, running accuracy has a new breakthrough. By using the above-mentioned camera system, the unmanned underwater vehicle has a certain energy saving effect, and the pictures taken are clearer.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a single-camera flexible remote control unmanned underwater vehicle.
Background
The cable-controlled underwater vehicle can complete corresponding operation in unknown dangerous areas underwater and at depths which cannot be reached by diving workers, and can reveal the secrecy of the sea and develop abundant sea resources by means of the flexible and stable motion capability of the cable-controlled underwater vehicle in water, and the cable-controlled underwater vehicle is extremely important equipment. The remote control unmanned underwater vehicle can replace a diver to enter a severe environment under the sea to carry out various tasks, so that the range of underwater operation of human beings is enlarged, and therefore, the remote control unmanned underwater vehicle not only increases the utilization rate of underwater resources to a new stage, but also greatly reduces the risk and economic cost of the underwater working personnel for executing work tasks in deep water.
Disclosure of Invention
In order to solve the existing design problem, the invention relates to a remote control unmanned underwater vehicle, in particular to a single-camera flexible remote control unmanned underwater vehicle, which comprises a carrier frame, an empennage is fixedly arranged at the rear end above the carrier frame, a floating body is fixedly arranged on the carrier frame, a propeller is fixedly arranged on a vertical frame of the carrier frame, a sealed pressure-resistant cabin is fixedly arranged in the floating body frame of the carrier frame, and a camera and a light-compensating lamp are fixedly arranged at the front end of the floating body, and is characterized in that: six propellers and a tail wing are adopted to form the remote control unmanned underwater vehicle.
As further optimization of the scheme of the invention, the power system of the single-camera flexible remote control unmanned underwater vehicle comprises 6 propellers and a tail wing, wherein 4 propellers are arranged in a horizontal vector manner at 90 degrees, 2 propellers are vertically arranged at two sides of the remote control unmanned underwater vehicle, the motion of the remote control unmanned underwater vehicle is mainly controlled, and 5 degrees of freedom motion except pitching can be realized; the tail wing can counteract the torque generated by the asymmetric fluid acting force due to the incomplete symmetry of the remote-control unmanned underwater vehicle.
As further optimization of the scheme of the invention, the camera system of the single-camera flexible remote control unmanned underwater vehicle can be provided with an infrared lamp to cope with an underwater night vision environment; the light supplement lamp can be replaced and integrated with the camera, the number of light supplement lamp arrangement positions additionally arranged on the remote control unmanned underwater vehicle carrier is reduced, and the energy consumption is reduced.
Compared with the prior art, the invention has the beneficial effects that: the stability, flexibility and operation accuracy of underwater navigation of the remote control unmanned underwater vehicle are enabled to have new breakthroughs.
Drawings
Fig. 1 is a front view of the single-camera handy remote control unmanned underwater vehicle of the invention.
Fig. 2 is a left side view of the single-camera handy remote control unmanned underwater vehicle of the invention.
Fig. 3 is a top view of the single-camera handy remote control unmanned underwater vehicle of the invention.
In the figure: the novel propeller is characterized by comprising a left carrier frame (1), an empennage (2), a camera (3), an infrared lamp (4), a right carrier frame (5), a propeller air guide sleeve (6), a carrier base (7), a pressure-resistant cabin mounting seat (8), a pressure-resistant cabin front cover (9), a pressure-resistant cabin (10), an empennage fixed knob (11 floating body (12), a pressure-resistant cabin front cover (13), a waterproof glue-pouring brushless motor (14), a motor rear cover (15) and a propeller (16).
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows: the embodiment is described below by combining fig. 1, 2 and 3, and the invention relates to the technical field of underwater robots, in particular to a single-camera flexible remote control unmanned underwater vehicle. Including carrier frame 1, 2 fixed mounting of fin are in carrier frame top rear end, and 3 fixed mounting of body are on carrier frame, and 6 fixed mounting of propeller are on carrier frame's vertical frame, and 7 fixed mounting of sealed pressure-resistant cabin are in carrier frame's body frame, and camera 4, 5 fixed mounting of light filling lamp are at the front end of body, its characterized in that: a propeller and a tail wing are adopted to jointly control the remote control unmanned underwater vehicle to operate underwater; camera and removable light filling lamp module camera system as an organic whole.
The second embodiment is as follows: the embodiment is described below with reference to fig. 1, 2 and 3, and the first embodiment is further described in the present embodiment, where the propellers 6 and the tail 2 can be matched with each other, where 4 propellers are arranged at 90 ° horizontal vectors, and 2 propellers are vertically arranged at two sides of the remote-controlled unmanned underwater vehicle, so that five-degree-of-freedom motion of the remote-controlled unmanned underwater vehicle can be realized, and the tail can counteract torque generated by asymmetric fluid acting force due to incomplete symmetry of the remote-controlled unmanned underwater vehicle, so that the remote-controlled unmanned underwater vehicle can move stably.
The third concrete implementation mode: the present embodiment is described below with reference to fig. 1, 2 and 3, and the present embodiment further describes the first embodiment, in which the camera system can be equipped with an infrared lamp to cope with an underwater night vision environment; the light supplement lamp can be replaced and integrated with the camera, the number of light supplement lamp arrangement positions additionally arranged on the remote control unmanned underwater vehicle carrier is reduced, and the energy consumption is reduced.
Claims (3)
1. The utility model provides a unmanned ware of single camera nimble type remote control, includes carrier frame (1), fin (2) fixed mounting in carrier frame top rear end, and body (3) fixed mounting is on carrier frame, and propeller (6) fixed mounting is on carrier frame's perpendicular frame, and sealed withstand voltage cabin (7) fixed mounting is in carrier frame's body frame, and camera (4), light filling lamp (5) fixed mounting are at the front end of body, its characterized in that: a propeller and a tail wing are adopted to jointly control the remote control unmanned underwater vehicle to operate underwater; camera and removable light filling lamp module camera system as an organic whole.
2. The single-camera handy remote-control unmanned underwater vehicle according to claim 1, characterized in that: the power system consists of 6 propellers and an empennage, wherein 4 propellers are arranged in a horizontal vector manner at an angle of 90 degrees, 2 propellers are vertically arranged at two sides of the remote control unmanned underwater vehicle, the motion of the remote control unmanned underwater vehicle is mainly controlled, and the motion with 5 degrees of freedom except pitching can be realized; the empennage can offset the torque generated by the asymmetric fluid acting force due to the incomplete symmetry of the remote control unmanned underwater vehicle, and the torque and the fluid acting force act together to make a power system more stable.
3. The single-camera handy remote-control unmanned underwater vehicle according to claim 1, characterized in that: the camera system can be provided with an infrared lamp to cope with an underwater night vision environment; the light supplement lamp can be replaced and turned off, and the light supplement lamp and the camera are integrated, so that the situation that a light supplement lamp arrangement position is additionally arranged on a remote control unmanned underwater vehicle carrier is reduced, and the consumption of energy is also reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110397924.XA CN113830266A (en) | 2021-04-14 | 2021-04-14 | Single Camera Handy Remote Control Unmanned Submarine Vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110397924.XA CN113830266A (en) | 2021-04-14 | 2021-04-14 | Single Camera Handy Remote Control Unmanned Submarine Vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113830266A true CN113830266A (en) | 2021-12-24 |
Family
ID=78962510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110397924.XA Withdrawn CN113830266A (en) | 2021-04-14 | 2021-04-14 | Single Camera Handy Remote Control Unmanned Submarine Vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113830266A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2614055A (en) * | 2021-12-17 | 2023-06-28 | Bae Systems Plc | Underwater imaging |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1985003269A1 (en) * | 1984-01-17 | 1985-08-01 | John Thomas Pado | Remotely operated underwater vehicle |
| CN106043632A (en) * | 2016-07-06 | 2016-10-26 | 中国船舶重工集团公司第七〇九研究所 | Deep-sea unmanned underwater vehicle and application method thereof |
| CN206900618U (en) * | 2017-07-06 | 2018-01-19 | 深圳潜行创新科技有限公司 | A kind of empennage and underwater vehicle |
| GB2557922A (en) * | 2016-12-16 | 2018-07-04 | Autonomous Robotics Ltd | Autonomous underwater vehicle |
| CN109421905A (en) * | 2017-08-31 | 2019-03-05 | 青岛赶海机器人有限公司 | Formula of carrying a load on the back underwater robot |
| CN209617425U (en) * | 2018-12-28 | 2019-11-12 | 中国航天空气动力技术研究院 | A kind of underwater unmanned vehicle vector propulsion device |
| CN110510084A (en) * | 2018-11-29 | 2019-11-29 | 上海海洋大学 | A full-sea deep composite exploration vehicle and its use method |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112249282A (en) * | 2020-12-02 | 2021-01-22 | 陕西中建建乐智能机器人股份有限公司 | Water conservancy dam underwater detection's robot |
-
2021
- 2021-04-14 CN CN202110397924.XA patent/CN113830266A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1985003269A1 (en) * | 1984-01-17 | 1985-08-01 | John Thomas Pado | Remotely operated underwater vehicle |
| CN106043632A (en) * | 2016-07-06 | 2016-10-26 | 中国船舶重工集团公司第七〇九研究所 | Deep-sea unmanned underwater vehicle and application method thereof |
| GB2557922A (en) * | 2016-12-16 | 2018-07-04 | Autonomous Robotics Ltd | Autonomous underwater vehicle |
| CN206900618U (en) * | 2017-07-06 | 2018-01-19 | 深圳潜行创新科技有限公司 | A kind of empennage and underwater vehicle |
| CN109421905A (en) * | 2017-08-31 | 2019-03-05 | 青岛赶海机器人有限公司 | Formula of carrying a load on the back underwater robot |
| CN110510084A (en) * | 2018-11-29 | 2019-11-29 | 上海海洋大学 | A full-sea deep composite exploration vehicle and its use method |
| CN209617425U (en) * | 2018-12-28 | 2019-11-12 | 中国航天空气动力技术研究院 | A kind of underwater unmanned vehicle vector propulsion device |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112249282A (en) * | 2020-12-02 | 2021-01-22 | 陕西中建建乐智能机器人股份有限公司 | Water conservancy dam underwater detection's robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2614055A (en) * | 2021-12-17 | 2023-06-28 | Bae Systems Plc | Underwater imaging |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211224 |