CN207923720U - A kind of deep-sea detection equipment using real-time VR technologies - Google Patents

Abstract

The utility model provides a deep-sea detection device using real-time VR technology, which belongs to the field of deep-sea detection. Aiming at the defects of existing products, a VR unmanned remote control device that can restore the seabed topography in a real-time virtual seabed environment is provided to make up for the shortcomings of the existing products. insufficient. The equipment provided by the utility model includes a closed inner cavity 1 formed by an inner umbrella and an outer umbrella imitating the body structure of a jellyfish, an open cavity 6 formed by an inner umbrella, a fixed shaft 2, a cable, a blue-green laser device node, and a blue-green laser sensor. 4. Four sets of eyes 5. Bracket for placing four sets of eyes, 3D sensor, 3D sensor device placement table 9, storage unit 7, fixed feet 3, picker 8. The utility model combines deep-sea detection equipment with real-time VR technology, bionics design and somatosensory technology that have not been used in seabed scientific research to improve the efficiency of deep-sea detection.

Description

A Deep Sea Exploration Equipment Utilizing Real-time VR Technology

technical field

The utility model provides a deep-sea detection device using real-time VR technology. The device feeds back the changes of the deep-sea panorama and all-weather environment to humans in real time to study the changes in the marine environment and even the deep-sea ships, planes or ships that are difficult for humans to explore. It is for the purpose of searching and discovering ancient ruins, and belongs to the field of deep sea exploration. Design and implement remote control equipment that can restore the deep sea environment in real time.

Background technique

The vast ocean occupies 71% of the earth's surface area. The deep-bottom rich oil deposits, numerous manganese clusters and other resources have attracted some industrially developed countries to compete for ocean development. Deep-sea exploration technology is a necessary means for ocean development. It is a complete system composed of deep submersibles, working mother ships (surface support ships) and land bases. Deep sea exploration equipment is an active deep diving device with underwater observation and operation capabilities. It is mainly used to perform tasks such as underwater investigation, seabed exploration, seabed development and salvage, lifesaving, etc., and can be used as an underwater operation base for divers. However, the existing auxiliary devices of deep-sea detection equipment lack devices that not only help to provide sample detection space but also help to realize the storage and filtration functions of detection liquid, which cannot meet the needs of actual conditions.

The current deep-sea exploration and the construction of the marine environment are based on the cable-controlled submersible, which captures the photos and then performs data processing and splicing. It cannot provide real-time feedback information and a dynamic and true response to the overall picture of the ocean. For the detection of deep sea environment, hot spring environment, etc., the existing unmanned remote control equipment often cannot achieve good shooting results. It is only necessary to use submarine equipment to shoot deep sea environment videos, which is equipped with a lot of manpower and material resources. And the current marine VR technology has not been extensively studied and basically can only be used for viewing and entertainment. This design combines somatosensory interaction technology, VR technology and blue-green laser technology to design and realize a remote control device that can restore the deep sea environment in real time. This has profound significance for future deep-sea exploration.

Contents of the invention

The utility model provides a deep-sea detection device using real-time VR technology, aiming at the defects of the existing products, providing a VR unmanned remote control device that can restore the seabed topography in a real-time virtual seabed environment, so as to make up for the shortcomings of the existing products.

The utility model comprises a closed inner cavity (1) formed by an inner umbrella and an outer umbrella imitating the body structure of a jellyfish, an open cavity (6) formed by an inner umbrella, a fixed shaft (2), a cable, a blue-green laser device node, a blue Green laser sensor (4), four sets of eyes (5), bracket for placing four sets of eyes, 3D sensor, 3D sensor device placement table (9), storage unit (7), fixed feet (3), picker (8) . Among them, multiple sets of blue-green laser device nodes are set on the cable, two blue-green sensors are respectively set at the upper and lower ends of the vertical bracket in the middle of the equipment, and four sets of eyes are respectively placed on the four surrounding brackets. The brackets are all connected to the placement platform, and the 3D sensor equipment placement platform is set at the bottom which is circular and is the bottom of the inner umbrella. The above equipment is placed in the inner umbrella and is in a closed state. The storage unit is placed on the right side of the device, between the inner and outer umbrellas. Four feet are fixed on the bottom of the outer umbrella of the equipment. The bottom of each foot has eight stretchable claws. One picker is in the middle of the equipment and fixed under the placing table. It can be stretched and rotated. There are three claws at the bottom.

The utility model has the advantage of combining deep-sea detection equipment with real-time VR technology, bionics design and somatosensory technology that have not been used in seabed scientific research. Seabed topography can provide real-time feedback information and a dynamic and real response to the overall ocean picture, so as to reduce or even eliminate the need to enter these fields to understand its development status, topography, topography and biological status, and to improve the search time for marine accidents such as shipwrecks. search efficiency.

Description of drawings

Figure 1 Front view of the device

Figure 2 Left view of the device

Figure 3 top view of the device

Figure 4 Pickup Design Drawing

Figure 5 Design drawing of fixed foot

Detailed ways

Below in conjunction with accompanying drawing, the utility model will be further described:

In this design, the focus is on the combination of real-time VR technology and somatosensory technology that have not been used in submarine scientific research, and the lightness and simplicity of the equipment are also considered. At the same time, bionic design is applied to imitate the body structure of jellyfish. The sample diagram of the proposed equipment is as follows: figure 1.

1. Design of shooting components

The box jellyfish has twenty-four eyes that can detect obstacles in the way. Here, the camera and somatosensory technology are combined with color distinction to simulate the eyes of box jellyfish. Here, the JADE camera is designed as the main sensor, and each camera is equipped with a 600mm lens, and then a blue-green light detection sensor is added. The eyes of the box jellyfish work in a division of labor. Here, the four sets of eyes have different functions and are replaced by different devices. A pair of eyes that can perceive size and color. The blue-green light detection sensor can realize the function of detecting the size, shape and movement of objects. At the same time, blue-green light sensing technology is also an important communication technology. Here, the infrared CMOS sensor is changed to a blue-green laser CMOS sensor. The RGB color camera plus CMOS image sensor can capture the color of the object, shoot the video of the object and capture the movement of the object in real time. The 3D sensor can synthesize the information and transmit it to the processor in real time to synthesize 3D dynamic models and scenes.

The real-time dynamic model and scene rendering adopt the technology used by LynxA camera combined with the latest 3D imaging technology developed by researchers at MIT. To achieve the purpose of exquisite equipment and fine imaging.

Due to the limitation of the distance used by the existing blue-green laser technology, it is proposed to set up blue-green laser equipment nodes on the cable to increase its usable depth.

2. Design of propeller

In this paper, jellyfish imitation jellyfish propeller is designed by using the jellyfish can generate gas to adjust the pressure and float and sink. Seawater hydraulics are used here as propulsion and pressure regulation mechanisms. Place a pressure-resistant water tank with a volume equal to the required maximum welfare adjustment in the submersible, and use a positive displacement seawater pump to discharge the water in Jiang Shuixiang, or inject water from the outside to change the weight of the submersible, so as to control the submersible ups and downs. The jellyfish absorbs water and sprays water through the same opening, so its shrinking action is relatively slow, and the spout is large, and the swimming speed is relatively slow. Therefore, completely imitating the movement of jellyfish will make the movement of the device too slow and unstable. Here, the swinging movement of the tentacles is used as the movement mode and the water pressure is used as the drive.

3. Design of pickup and storage device

The function of picking up samples is also considered here, and the mouth part of the jellyfish is used as the picker of the device. It is also designed as a mechanical arm driven by seawater hydraulics. This device is a manipulator made by Komatsu Corporation in Japan. Considering the weight and size of the device itself, the space for storing samples is not too large. We only consider grabbing small and light objects. In order to reduce the weight of the device, the thickness of the arm of the device is reduced so that it can carry objects of 1Kg, and the grabbing range remains unchanged.

The storage device is arranged on the inner wall of the open cavity, with the opening facing upwards, in the shape of a "kangaroo's pouch", communicating with the outside world.

4. The design of inner and outer umbrellas

In order to meet the requirements of transparency, insulation and stability of the protective layer for shooting, silicone rubber is used as the material for making the inner and outer umbrellas. The necessary "skeleton" should also be set in the equipment body to prevent the pressure from causing damage to the equipment, and at the same time serve as a platform for fixing the equipment.

In addition, the detector must have the ability to avoid danger, especially to prevent fish organisms from mistaking it for food and swallowing it. The principle of jellyfish evading predators is utilized here. Jellyfish can produce bioluminescence, and when they encounter predators, they will emit dazzling and intense light. The detector adopts laser Raman technology, and uses Raman spectrum instead of bioluminescence. Here, all moving objects are assumed to be dangerous creatures. When the creature is at a certain distance from the device, the sensor will be triggered to emit a dazzling laser. Here, the detector is set Into automatic mode without human control.

5. Fixed foot design

Some species (mussels, cockles, scallops, etc.) have a hole, called a byssusorifice, in the ventral midline of the foot, which leads into the byssusorifice. The substance secreted by its epithelial cells will harden immediately when it meets water to form conchiin filaments, which are assembled into byssus to fix foreign objects. This paper applies this characteristic of shellfish and improves it. The symmetrical two pairs of tentacles of jellyfish are used as fixed feet, and the two pairs of fixed feet are made of corrosion-resistant steel as material. The expansion and flexibility of the fixed foot use the nodes as the control points, and the ends are designed in a 6-shape. The claws are connected with each node using steel wires. When the equipment reaches the bottom of the sea and finds a suitable position, the fixed feet are manually controlled to be lowered. When the fixed feet are fully deployed, the claws are immediately stretched and plunged into the sand and gravel. The whole device will be very strong like this. When the equipment is recovered or moved, the fixed feet are retracted under human control. The design diagram is shown in Figure 3

After the equipment enters the water, the personnel on the remote control platform will control the landing range to find the suitable and needed area or environment. After the device lands, it can control the device to move on the seabed. When necessary, put down the fixed feet to fix the device and transmit clear 3D effects to the console.

Claims (1)

1. A deep-sea detection device utilizing real-time VR technology, characterized in that: comprise an enclosed cavity (1) formed by an imitation jellyfish body structure inner umbrella and an outer umbrella, an open cavity (6) formed by an inner umbrella, a fixed Shaft (2), cable, blue-green laser device node, blue-green laser sensor (4), four sets of eyes (5), bracket for placing four sets of eyes, 3D sensor, 3D sensor device placement table (9), storage unit ( 7), fixed foot (3), pickup (8); Among them, multiple sets of blue-green laser device nodes are set on the cable, two blue-green sensors are respectively set at the upper and lower ends of the vertical bracket in the middle of the equipment, and four sets of eyes are respectively placed on the four surrounding brackets. The brackets are all connected to the placement platform, and the 3D sensor equipment placement platform is set at the bottom, which is round and is the bottom of the inner umbrella. The above equipment is placed in the inner umbrella and is in a closed state; the storage unit is placed on the right side of the equipment, between the inner and outer umbrellas ;Four fixed feet are fixed on the bottom of the outer umbrella of the equipment, each bottom has eight stretchable claws; one picker is in the middle of the equipment, fixed under the placement table, scalable and rotatable, with three claws at the bottom.