Ray-shaped swimming pool object detection catcher

Abstract

A ray-shaped swimming pool object detection and fishing device relates to an underwater fishing device. The present invention includes a ray-shaped shell, a box-type storage bin, and a communication pole. A transparent cover is provided at the front end of the ray-shaped shell, a transparent plane cover is provided in the middle of the bottom of the ray-shaped shell, and a semi-tail fin is provided at the tail of the ray-shaped shell; a tilt camera and a vertical camera are provided in the transparent cover; a middle vertical camera is provided in the transparent plane cover, and a box-type storage bin is provided below the transparent plane cover. Four vertical thrusters are symmetrically provided on the ray-shaped shell, and a front horizontal thruster and a rear horizontal thruster are symmetrically provided on the front and rear sides of the ray-shaped shell; a communication pole is provided at the center of the ray-shaped shell, and the communication pole includes a communication antenna and a working indicator light. The present invention can intelligently and efficiently detect and fish for objects at the bottom of a swimming pool and transmit the captured images in real time. The design structure is reasonable, easy to disassemble and repair, and convenient to operate.

Description

Technical Field

[0001] The invention belongs to an underwater fishing device, in particular to a ray-shaped swimming pool fallen object detection fishing device which combines a ray-shaped shell with a box-type storage bin. Background Art

[0002] As swimming is becoming more and more popular in our lives, more and more people go to indoor swimming pools to exercise, which puts a certain pressure on the safety and hygiene of swimming pools. People often leave garbage or their jewelry and watches in the swimming pool intentionally or unintentionally. When people salvage these fallen objects in the swimming pool, they face various problems such as water surface fluctuations, too many fallen objects to be salvaged, and the fallen objects are far from the shore.

[0003] In the existing technology, people can use a scoop net to salvage objects that have fallen into the swimming pool, but manual salvage is inefficient and it is difficult to salvage objects that are smaller in size, and it is difficult to salvage objects that are far from the shore, and the labor cost is high. Underwater remote-controlled robots can also be used, but they are expensive, difficult to control, and the fishing effect is limited by the operator's skills. In view of the shortcomings of the existing technology, it is urgent to develop a machine that has a reasonable structure, is easy to operate, reliable and intelligent, and can solve the problem of difficulty in salvaging objects that have fallen into the swimming pool. Summary of the invention

[0004] The present invention provides a ray-shaped swimming pool fallen object detection and catching device, which can intelligently and efficiently complete the catching of various fallen objects in the swimming pool.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] A ray-shaped swimming pool object detection and catching device comprises a ray-shaped shell, wherein at least one vertical propeller for controlling the machine to float up and sink down is arranged on each side of the ray-shaped shell, and the vertical propeller is connected to the ray-shaped shell through a third bracket; front horizontal propellers for controlling the machine to move forward and backward are symmetrically arranged on both sides of the front end of the ray-shaped shell, and the front horizontal propellers are connected to the ray-shaped shell through a first bracket; rear horizontal propellers for controlling the machine to turn left and right are symmetrically arranged on both sides of the rear end of the ray-shaped shell, and the rear horizontal propellers are connected to the ray-shaped shell through a second bracket;

[0007] A counterweight is provided at the center of gravity inside the ray-shaped shell, and a central processing unit, a signal transceiver and a device controller are placed above the counterweight;

[0008] A transparent cover is provided at the front end of the manta ray-shaped shell, and a tilt camera and a vertical camera are provided inside the transparent cover; a transparent plane cover is provided at the bottom center of the manta ray-shaped shell, and a middle vertical camera is provided inside the transparent plane cover, and a box-type storage bin is provided below the transparent plane cover; the tail of the manta ray-shaped shell is connected to the semi-tail fin through a semi-tail fin drive servo; a communication pole is provided at the top center of the manta ray-shaped shell, and the interior of the communication pole is a communication antenna, and the top of the communication pole is a working indicator light.

[0009] Furthermore, the inner wall of the box-type storage bin in the present invention is provided with a front perforated storage bin wall, a rear perforated storage bin wall, a left closed storage bin wall and a right closed storage bin wall, the bottom of the box-type storage bin is composed of a gate and a storage partition, rectangular gates are respectively provided at the left and right ends of the gate, gate servos are provided on both sides of the rectangular gates, and the gate servos are respectively fixed on the left closed storage bin wall and the right closed storage bin wall; a pushing device for pushing the storage partition is provided between the left closed storage bin wall and the right closed storage bin wall, the pushing device includes a servo and a push plate, the servo and gear connected by a chain are respectively fixed at the two ends of the inner wall of the left closed storage bin wall and the two ends of the inner wall of the right closed storage bin wall, and the push plate is connected to the chain.

[0010] Furthermore, in the present invention, the semi-tail fin is located on the axis of the ray-shaped shell, the semi-tail fin is higher than the bottom plane of the box-type storage bin, and the length of the semi-tail fin is one third of the ray-shaped shell.

[0011] Furthermore, in the present invention, the angle between the tilt camera and the horizontal plane is 45°.

[0012] Furthermore, in the present invention, the angle between the inclined surface of the push plate and the horizontal plane of the rectangular gate plate in the static state is 30°.

[0013] Furthermore, in the present invention, the gate servo drives the rectangular gate to open and close when it rotates, thereby controlling the box-type storage bin to pick up objects; the servo drives the chain to rotate and drives the push plate to move, pushing the picked up fallen objects to the back side of the storage partition to prevent the fallen objects from leaving the fish body when the rectangular gate opens next time.

[0014] Furthermore, in the present invention, the front perforated storage bin wall, the rear perforated storage bin wall, the left closed storage bin wall and the right closed storage bin wall are made of aluminum, and the rectangular gate plate, the push plate and the storage partition are made of aluminum-magnesium alloy.

[0015] Further, the working method of the ray-shaped swimming pool falling object detection catcher is as follows: the ground station sends the working mode, which is transmitted to the central processor through the signal transceiver;

[0016] When the machine is in manual mode: the tilt camera, vertical camera and middle vertical camera collect underwater images; the central processor sends the collected images back to the ground station through the signal transceiver, and the ground station sends operation instructions based on the collected images, and drives the vertical thruster, front horizontal thruster, rear horizontal thruster, semi-tail fin drive steering gear, gate steering gear and push device to pick up the fallen objects through the equipment controller connected to the signal transceiver, and the work is completed;

[0017] When the machine is in autonomous mode, the machine's driving path is preset, the tilt camera observes the surrounding environment, and the vertical camera collects images. The central processor determines the machine's driving trajectory and detects whether there are fallen objects in the water through the collected images. The equipment controller drives the vertical thrusters, front horizontal thrusters, rear horizontal thrusters and semi-tail fin drive servos to search for fallen objects. The central processor determines whether the fallen objects are within the fishable range of the box storage bin through the images collected by the middle vertical camera; if not, the equipment controller drives the front horizontal thrusters, rear horizontal thrusters and vertical thrusters until the fallen objects are within the fishable range of the box storage bin; the equipment controller drives the gate servos and the pushing device to pick up the fallen objects, and the work is completed.

[0018] Beneficial Effects

[0019] The multiple camera groups of the present invention accurately detect and capture objects at the bottom of the swimming pool and transmit the captured images in real time;

[0020] The partition design in the box-type storage bin of the present invention can prevent falling objects from falling, and the entire box-type storage bin has a reasonable structure design, is easy to disassemble and maintain, and is convenient to operate;

[0021] The present invention can select a working mode and has the advantages of being intelligent and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 is a side view of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the ray-shaped housing, the transparent cover and the communication pole of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the box-type storage bin of the present invention;

[0026] Figure 5 is a block diagram of an electrical appliance of the present invention;

[0027] Figure 6 is a control flow chart of the present invention;

[0028] FIG. 7 (a) and FIG. 7 (b) are partial circuit diagrams of the device controller of the present invention;

[0029] Figure 8 This is a circuit diagram of the camera portion of the present invention;

[0030] Fig. 9 It is a circuit diagram of the signal transceiver part of the present invention.

[0031] In the figure, 1-ray-shaped shell, 2-vertical thruster, 3-front horizontal thruster, 4-rear horizontal thruster, 5-semi-tail fin drive steering gear, 6-semi-tail fin, 7-communication pole, 8-working indicator light, 9-communication antenna, 10-transparent cover, 11-tilt camera, 12-vertical camera, 13-counterweight, 14-box storage bin, 15-front perforated storage bin wall, 16-rear perforated storage bin wall, 17-left enclosed storage bin wall, 18-right enclosed storage bin wall, 19-rectangular gate, 20-gate, 21-gate steering gear, 22-servoir, 23-transparent plane cover, 24-middle vertical camera, 25-storage partition, 26-pushing device, 27-push plate, 28-gear, 29-chain, 30-first bracket, 31-second bracket, 32-third bracket. DETAILED DESCRIPTION

[0032] The present invention will be further explained below in conjunction with the accompanying drawings.

[0033] like Figure 1-4 As shown, the ray-shaped swimming pool falling object detection and fishing device comprises a ray-shaped shell 1, at least one vertical propeller 2 for controlling the machine to float up and sink is arranged on each side of the ray-shaped shell 1, and the vertical propeller 2 is connected to the ray-shaped shell 1 through a third bracket 32; front horizontal propellers 3 for controlling the machine to move forward and backward are symmetrically arranged on both sides of the front end of the ray-shaped shell 1, and the front horizontal propellers 3 are connected to the ray-shaped shell 1 through a first bracket 30; rear horizontal propellers 4 for controlling the machine to turn left and right are symmetrically arranged on both sides of the rear end of the ray-shaped shell 1, and the rear horizontal propellers 4 are connected to the ray-shaped shell 1 through a second bracket 31;

[0034] A counterweight is provided at the center of gravity inside the ray-shaped shell, and a central processing unit, a signal transceiver and a device controller are placed above the counterweight;

[0035] A transparent cover 10 is provided at the front end of the ray-shaped shell 1, and a tilt camera 11 and a vertical camera 12 are provided in the transparent cover 10; a transparent plane cover 23 is provided at the bottom center of the ray-shaped shell 1, and a middle vertical camera 24 is provided in the transparent plane cover 23, and a box-type storage bin 14 is provided below the transparent plane cover 23; the tail of the ray-shaped shell 1 is connected to the semi-tail fin 4 through a semi-tail fin driving steering gear 5; a communication pole 7 is provided at the top center of the ray-shaped shell 1, and a communication antenna 9 is provided inside the communication pole 7, and a working indicator light 8 is provided at the top of the communication pole 7.

[0036] In this embodiment, the inner wall of the box-type storage bin 14 is provided with a front perforated storage bin wall 15, a rear perforated storage bin wall 16, a left closed storage bin wall 17 and a right closed storage bin wall 18. The bottom of the box-type storage bin 14 is composed of a gate 20 and a storage partition 25. A rectangular gate 19 is provided at the left and right ends of the gate 20, and a gate servo 21 is provided on both sides of the rectangular gate 19. The gate servo 21 is respectively fixed on the left closed storage bin wall 17 and the right closed storage bin wall 18; a pushing device 26 for pushing the storage partition 25 is provided between the left closed storage bin wall 17 and the right closed storage bin wall 18, and the pushing device 26 includes a steering gear 22 and a push plate 27. The steering gear 22 and the gear 28 connected by a chain 29 are respectively fixed at the two ends of the inner wall of the left closed storage bin wall 17 and the two ends of the inner wall of the right closed storage bin wall 18, and the push plate 27 is connected to the chain 29. Among them, the inclined surface of the push plate 27 connected to the chain 29 forms an angle of 30° with the horizontal plane of the rectangular gate plate 19 when it is stationary; the front perforated storage bin wall 15, the rear perforated storage bin wall 16, the left closed storage bin wall 17, and the right closed storage bin wall 18 are made of aluminum, and the rectangular gate plate 19, the push plate 27 and the storage partition 25 are made of aluminum-magnesium alloy.

[0037] In the embodiment of the present invention, due to the error between the installation position of each part and the design position, and the large fluctuation in the water, the ray-shaped swimming pool falling object detection and catching device sways violently during operation and cannot operate stably. Therefore, a counterweight block 13 is placed at the center of gravity of the ray-shaped housing 1 to enable the ray-shaped swimming pool falling object detection and catching device to operate stably.

[0038] In the specific implementation process, Figure 5-6 As shown, the working mode is selected by the ground station. When the machine is in manual mode, all cameras are turned on to collect images. The central processor sends the collected images back to the ground station through the signal transceiver. The ground station sends operation instructions based on the collected images, and drives the machine to the front of the fallen objects through the equipment controller connected to the signal transceiver. The gate servo 21 is turned to open the rectangular gate 19, and the servo 22 drives the chain 29 to rotate and drives the push plate 27 to move. The machine pushes the captured fallen objects to the back side of the storage partition 25 to prevent the fallen objects from leaving the machine when the rectangular gate 19 is separated next time. The gate servo 21 is turned again to close the rectangular gate 19, and the work is completed.

[0039] When the machine is in autonomous mode, the machine's driving path is preset, all cameras are turned on, the tilt camera 11 observes the surrounding environment, and the vertical camera 12 collects images; the central processor determines the machine's driving trajectory and detects whether there are fallen objects in the water through the collected images, and the equipment controller drives the vertical thruster 2, the front horizontal thruster 3, the rear horizontal thruster 4 and the semi-tail fin drive steering gear 5 to search for fallen objects. The central processor determines whether the fallen objects are within the catchable range of the box-type storage bin 14 through the images collected by the middle vertical camera 24; if not within the range, the equipment controller drives the front horizontal thruster 3, The rear horizontal thruster 4 and the vertical thruster 2 work until the fallen objects are within the catchable range of the box-type storage bin 14, at which time the working indicator light 8 of the communication pole 7 is green; the equipment controller drives the gate servo 21 and the pushing device 26 to pick up the fallen objects, at which time the working indicator light 8 of the communication pole 7 is red; the gate servo 21 is turned to open the rectangular gate 19, and the servo 22 drives the chain 29 to rotate and drives the push plate 27 to move, and the machine pushes the caught fallen objects to the back side of the storage partition 25 to prevent the fallen objects from leaving the machine when the rectangular gate 19 is separated next time, and the gate servo 21 is turned again to close the rectangular gate 19, and the work is completed.

[0040] The model of the vertical thruster 2, the front horizontal thruster 3, and the rear horizontal thruster 4 in the present invention is 015-HGB; the model of the semi-tail fin drive servo 5, the gate servo 21 and the servo 22 in the present invention is LD-20MG; the model of the tilt camera 11 and the middle vertical camera 24 in the present invention is CLB-PJ08, and the model of the vertical camera 12 is OV7725; the model of the central processing unit in the present invention is Raspberry Pi 3B+; the model of the device controller in the present invention is TM4C123GH6PM; the model of the signal transceiver in the present invention is JDY-40.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A ray-shaped swimming pool object detection and catching device, characterized by: The invention comprises a ray-shaped housing (1), wherein at least one vertical propeller (2) for controlling the machine to float up and sink is arranged on each side of the ray-shaped housing (1), and the vertical propeller (2) is connected to the ray-shaped housing (1) via a third bracket (32); front horizontal propellers (3) for controlling the machine to move forward and backward are symmetrically arranged on both sides of the front end of the ray-shaped housing (1), and the front horizontal propellers (3) are connected to the ray-shaped housing (1) via a first bracket (30); rear horizontal propellers (4) for controlling the machine to turn left and right are symmetrically arranged on both sides of the rear end of the ray-shaped housing (1), and the rear horizontal propellers (4) are connected to the ray-shaped housing (1) via a second bracket (31); A counterweight (13) is provided at the center of gravity of the ray-shaped housing (1), and a central processing unit, a signal transceiver and a device controller are placed above the counterweight (13); A transparent cover (10) is provided at the front end of the ray-shaped housing (1), and a tilt camera (11) and a vertical camera (12) are provided in the transparent cover (10); a transparent plane cover (23) is provided at the bottom center of the ray-shaped housing (1), and a middle vertical camera (24) is provided in the transparent plane cover (23); a box-type storage bin (14) is provided below the transparent plane cover (23); the tail of the ray-shaped housing (1) is connected to the semi-tail fin (6) via a semi-tail fin drive steering engine (5); a communication pole (7) is provided at the top center of the ray-shaped housing (1), and a communication antenna (9) is provided inside the communication pole (7), and a working indicator light (8) is provided at the top of the communication pole (7); The inner wall of the box-type storage bin (14) is provided with a front perforated storage bin wall (15), a rear perforated storage bin wall (16), a left sealed storage bin wall (17) and a right sealed storage bin wall (18). The bottom of the box-type storage bin (14) is composed of a gate (20) and a storage partition (25). The gate (20) is provided with a rectangular gate plate (19) at the left and right ends respectively. Gate plate steering gears (21) are provided on both sides of the rectangular gate plate. The gate plate steering gears (21) are respectively fixed on the left and right sealed storage bin wall (17). On the sealed storage bin wall (18); a pushing device (26) for pushing the storage partition (25) is provided between the left sealed storage bin wall (17) and the right sealed storage bin wall (18); the pushing device (26) comprises a steering gear (22) and a push plate (27); the steering gear (22) and the gear (28) connected by a chain (29) are respectively fixed to two ends of the inner wall of the left sealed storage bin wall (17) and two ends of the inner wall of the right sealed storage bin wall (18); the push plate (27) is connected to the chain (29).

2. The ray-shaped swimming pool object detection and catching device according to claim 1, characterized in that: The semi-tail fin (6) is located on the axis of the ray-shaped shell (1), the semi-tail fin (6) is higher than the bottom plane of the box-type storage bin (14), and the length of the semi-tail fin (6) is one third of the length of the ray-shaped shell (1).

3. The ray-shaped swimming pool object detection and fishing device according to claim 1, characterized in that: The angle between the tilt camera (11) and the horizontal plane is 45°.

4. The ray-shaped swimming pool object detection and catching device according to claim 1, characterized in that: In the static state, the angle between the inclined surface of the push plate (27) and the horizontal plane of the rectangular gate plate (19) is 30°.

5. The ray-shaped swimming pool object detection and fishing device according to claim 1, characterized in that: The front perforated storage bin wall (15), the rear perforated storage bin wall (16), the left sealed storage bin wall (17) and the right sealed storage bin wall (18) are made of aluminum, and the rectangular gate plate (19), the push plate (27) and the storage partition plate (25) are made of aluminum-magnesium alloy.

6. The working method of the ray-shaped swimming pool object detection and catching device according to claim 1, characterized in that: The ground station sends the working mode to the central processor through the signal transceiver; When the machine is in manual mode: the tilt camera (11), the vertical camera (12) and the middle vertical camera (24) collect underwater images; the central processor sends the collected images back to the ground station through the signal transceiver, and the ground station sends an operation instruction based on the collected images, and drives the vertical thruster (2), the front horizontal thruster (3), the rear horizontal thruster (4), the semi-tail fin driving steering gear (5), the gate steering gear (21) and the push device (26) to pick up the fallen objects through the device controller connected to the signal transceiver, and the work is completed; When the machine is in autonomous mode, a travel path of the machine is preset, the tilt camera (11) observes the surrounding environment, the vertical camera (12) collects images, the central processor determines the travel path of the machine by itself through the collected images and detects whether there is any fallen object in the water, the device controller drives the vertical thruster (2), the front horizontal thruster (3), the rear horizontal thruster (4) and the semi-tail fin driving steering gear (5) to search for the fallen object, and the central processor determines whether the fallen object is within the catchable range of the box-type storage bin (14) through the images collected by the middle vertical camera (24); if it is not within the range, the device controller drives the front horizontal thruster (3), the rear horizontal thruster (4) and the vertical thruster (2) until the fallen object is within the catchable range of the box-type storage bin (14); the device controller drives the gate steering gear (21) and the push device (26) to pick up the fallen object, and the work is completed.

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