An underwater robot based on 3D imaging technology

Abstract

The present invention relates to the field of robots and discloses an underwater robot based on 3D imaging technology. The robot comprises a base plate, a controller, a servo motor, rollers, a mounting groove, a slot, and a buoyancy control mechanism. The buoyancy control mechanism is installed in the middle of the base plate of the underwater robot, and a waterproof motor inside the buoyancy control mechanism rotates paddles. The rotation of the paddles controls the ascent and descent of the underwater robot, and increases the ground contact effect of the rollers underwater, thereby facilitating the underwater robot's movement. A fixing mechanism is provided at the bottom end of the buoyancy control mechanism, and the fixing mechanism allows for quick disassembly and assembly of the buoyancy control mechanism, facilitating installation of the buoyancy control mechanism.

Description

Technical Field

[0001] The present invention specifically relates to an underwater robot based on 3D imaging technology, and relates to the relevant field of underwater robots. Background Art

[0002] 3D imaging is produced by the visual difference between the human eyes. There is usually a distance of about 8 cm between the two eyes. In order for people to see 3D images, the left eye and the right eye must see different images, so that there is a certain gap between the two pictures. In other words, it simulates the actual situation when the human eye sees. This is how the 3D stereoscopic feeling comes from.

[0003] The existing technology uses underwater robots based on 3D imaging technology to perform underwater photography. Underwater robots generally use rollers to move underwater. Due to the influence of buoyancy in the water, it is inconvenient to control the underwater robot and it is not easy to control the robot's ascent and descent. Summary of the Invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides an underwater robot based on 3D imaging technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an underwater robot based on 3D imaging technology, the device comprising a base plate and a buoyancy control mechanism, a controller being installed at the front end of the base plate, a servo motor being installed at the top corners of the base plate, and the output shafts on the outsides of the servo motors being connected to rollers respectively, a mounting groove being provided in the middle of the top of the base plate, and a slot being provided in the middle of the mounting groove, the buoyancy control mechanism being installed inside the mounting groove, the buoyancy control mechanism comprising an outer frame, a 3D imaging camera, a waterproof motor, a fixing rod, paddles and a fixing mechanism, a 3D imaging camera being fixed on the outside of the outer frame, a waterproof motor being provided at the bottom end of the inner part of the outer frame, the bottom ends of the left and right sides of the waterproof motor being respectively locked with one end of the fixing rod, and the other end of the fixing rod being fixedly connected to the outer frame, the output shaft at the top of the waterproof motor being connected to the paddles, a fixing mechanism being installed at the bottom end of the outer frame, and the bottom end of the fixing mechanism being embedded in the mounting groove.

[0006] Preferably, the fixing mechanism includes a support ring, a fixing plate, a slide groove, a light rod, a connecting rod, a connecting plate, a vertical plate, a screw and a knob, and the front and rear sides of the support ring are embedded with fixing plates, a slide groove is opened in the middle of the fixing plate, a light rod is inserted into the slide groove, the inner side of the light rod is locked with the waterproof motor through a bolt, the right side of the fixing plate is rotatably connected to the connecting rod through a rotating shaft, the right end of the connecting rod is rotatably connected to the connecting plate through a rotating shaft, the connecting plate extends through the support ring, a vertical plate is welded on the right side of the top of the connecting plate, a screw is horizontally penetrated by the top of the vertical plate, and the vertical plate is threadedly connected to the screw, the right end of the screw is plugged into the knob, the support ring is embedded in the installation groove, and the fixing plate and the slot are plugged into each other, and the top of the support ring is locked with the outer frame through a bolt.

[0007] Preferably, four servo motors and four rollers are provided, and waterproof structures are provided on the outsides of the servo motors and the controller.

[0008] Preferably, the fixing plate is in the shape of a support plate, and the inner wall of the slot is in contact with the fixing plate.

[0009] Preferably, the surface of the polished rod is smooth, and the inner wall of the fixing plate fits the polished rod.

[0010] Preferably, two connecting rods are provided, and both connecting rods are inclined outward in an arc shape from right to left.

[0011] Preferably, the connecting plate is in the shape of a straight plate, the inner wall of the support ring is in contact with the connecting plate, and the connecting plate extends through the top end of the outer side of the support ring.

[0012] Preferably, a layer of rubber pad is sleeved on the outer side of the knob, and anti-slip lines are provided on the outer side of the rubber pad.

[0013] Preferably, the fixing plate and the polished rod are both made of stainless steel.

[0014] Preferably, the screw is made of hard alloy.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention describes an underwater robot based on 3D imaging technology. A buoyancy control mechanism is installed in the middle of the bottom plate of the underwater robot. A waterproof motor inside the buoyancy control mechanism rotates the blades. The rotation of the blades controls the ascent and descent of the underwater robot, and increases the ground-adherence effect of the rollers underwater, thereby facilitating the underwater robot's walking underwater. A fixing mechanism is provided at the bottom end of the buoyancy control mechanism. The buoyancy control mechanism is quickly disassembled and assembled through the fixing mechanism, facilitating the installation of the buoyancy control mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic structural diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the bottom plate structure of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the buoyancy control mechanism of the present invention;

[0020] Figure 4 It is a top sectional view of the fixed machine structure of the present invention;

[0021] Figure 5 This invention Figure 4 A partial enlarged view of area A.

[0022] The components include: base plate 1, controller 2, servo motor 3, roller 4, mounting slot 5, slot 6, buoyancy control mechanism 7, outer frame 71, 3D imaging camera 72, waterproof motor 73, fixing rod 74, paddle 75, fixing mechanism 76, support ring 761, fixing plate 762, slide 763, polished rod 764, connecting rod 765, connecting plate 766, vertical plate 767, screw 768, and knob 769. DETAILED DESCRIPTION

[0023] The following, in conjunction with the accompanying drawings, provides a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments represent only a portion of the embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments of the present invention, all other embodiments derived by persons of ordinary skill in the art without inventive effort are intended to fall within the scope of protection of the present invention. It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are intended solely to illustrate the relative positional relationships and movement of components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. Furthermore, references to "first," "second," and the like in the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, references to features as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, for example, two or three, unless otherwise specifically defined. Moreover, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] See also Figure 1 and Figure 2 The present invention provides an underwater robot based on 3D imaging technology through improvement, including a base plate 1 and a buoyancy control mechanism 7. A controller 2 is installed at the front end of the base plate 1, a servo motor 3 is installed at the top corner of the base plate 1, and the output shafts on the outside of the servo motor 3 are respectively connected to rollers 4. A mounting groove 5 is opened in the middle of the top of the base plate 1, and a slot 6 is opened in the middle of the mounting groove 5. The buoyancy control mechanism 7 is installed inside the mounting groove 5. Four servo motors 3 and four rollers 4 are provided, and waterproof structures are provided on the outside of the servo motor 3 and the controller 2 to control the movement and steering of the base plate 1 and to waterproof the servo motor 3 and the controller 2.

[0025] See also Figure 3 The present invention provides an underwater robot based on 3D imaging technology through improvement. The buoyancy control mechanism 7 includes an outer frame 71, a 3D imaging camera 72, a waterproof motor 73, a fixing rod 74, a paddle 75 and a fixing mechanism 76. The 3D imaging camera 72 is fixed on the outside of the outer frame 71, and a waterproof motor 73 is provided at the bottom end of the inner part of the outer frame 71. The bottom ends of the left and right sides of the waterproof motor 73 are respectively locked with one end of the fixing rod 74, and the other end of the fixing rod 74 is fixedly connected to the outer frame 71. The output shaft at the top of the waterproof motor 73 is connected to the paddle 75. The bottom end of the outer frame 71 is installed with a fixing mechanism 76, and the bottom end of the fixing mechanism 76 is embedded in the mounting groove 5.

[0026] See also Figure 4 and Figure 5The present invention provides an underwater robot based on 3D imaging technology through improvement. The fixing mechanism 76 includes a support ring 761, a fixing plate 762, a slide 763, a light rod 764, a connecting rod 765, a connecting plate 766, a vertical plate 767, a screw 768 and a knob 769. The fixing plates 762 are embedded in the front and rear sides of the support ring 761. A slide 763 is opened in the middle of the fixing plate 762. A light rod 764 is inserted into the slide 763. The inner side of the light rod 764 is locked with the waterproof motor 73 by bolts. The right side of the fixing plate 762 The right end of the connecting rod 765 is connected to the connecting plate 766 through the rotating shaft, and the connecting plate 766 extends through the support ring 761. A vertical plate 767 is welded to the right side of the top of the connecting plate 766. A screw 768 is passed through the top of the vertical plate 767, and the vertical plate 767 is threadedly connected to the screw 768. The right end of the screw 768 is plugged into the knob 769. The support ring 761 is embedded in the installation groove 5, and the fixing plate 762 is plugged into the slot 6. The top of the support ring 761 is connected to the outer frame 71 through bolts. The fixing plate 762 is in the shape of a support plate, and the inner wall of the slot 6 fits with the fixing plate 762, which increases the connection stability of the buoyancy control mechanism 7. The surface of the light rod 764 is smooth, and the inner wall of the fixing plate 762 fits with the light rod 764. The moving trajectory of the fixing plate 762 is restricted by the light rod 764. There are two connecting rods 765, and the two connecting rods 765 are inclined in an arc shape from right to left, so that when the connecting plate 766 moves inward, the connecting rod 765 pushes the two fixing plates 762 to expand outward at the same time. The connecting plate 766 is in the shape of a straight plate, which supports The inner wall of the support ring 761 fits with the connecting plate 766, and the connecting plate 766 extends through the top outer side of the support ring 761 to limit the movement trajectory of the connecting plate 766 and prevent the connecting plate 766 from contacting the bottom plate 1. A layer of rubber pad is sleeved on the outside of the knob 769, and anti-slip grooves are provided on the outside of the rubber pad to prevent the knob 769 from slipping and facilitate the rotation of the knob 769. The fixing plate 762 and the light rod 764 are both made of stainless steel, which has high hardness and is not easy to rust. The screw 768 is made of carbide, which has high hardness and is not easy to wear.

[0027] The present invention provides an underwater robot based on 3D imaging technology through improvement, and its working principle is as follows:

[0028] When the buoyancy control mechanism 7 is installed, the support ring 761 is inserted into the installation groove 5, and then the knob 769 is rotated to drive the screw rod 768 to rotate. The screw rod 768 drives the vertical plate 767 to move inward through the threaded engagement with the vertical plate 767, and the vertical plate 767 drives the connecting plate 766 to retract inward. Since there are two connecting rods 765, both connecting rods 765 are inclined in an arc shape from right to left outward, and since the surface of the light rod 764 is smooth and the inner wall of the fixing plate 762 is in contact with the light rod 764, the moving trajectory of the fixing plate 762 is restricted by the light rod 764, so that when the connecting plate 766 moves inward, the two fixing plates 762 are pushed outward at the same time by the connecting rod 765. The fixing plate 762 is inserted into the slot 6 to complete the installation and fixation of the buoyancy control mechanism 7.

[0029] Second, when in use, the underwater robot is placed in the water where shooting is required, and then the waterproof motor 73 is controlled to generate power to drive the blades 75 to rotate through the output shaft. The rotation of the blades 75 generates an upward thrust, causing the underwater robot to sink, and after sinking, the roller 4 increases the ground-sticking effect underwater, thereby facilitating the underwater robot to walk underwater. Since there are four servo motors 3 and four rollers 4, the movement and steering of the bottom plate 1 are controlled by the four servo motors 3 and rollers 4, and 3D imaging shooting is performed underwater through the 3D imaging camera 72.

[0030] The present invention provides an underwater robot based on 3D imaging technology through improvement. A buoyancy control mechanism 7 is installed in the middle of the bottom plate 1 of the underwater robot. The waterproof motor 73 inside the buoyancy control mechanism 7 rotates the paddle 75. The rotation of the paddle 75 controls the ascent and descent of the underwater robot, and increases the ground-sticking effect of the roller 4 underwater, thereby facilitating the underwater robot to walk underwater. A fixing mechanism 76 is provided at the bottom end of the buoyancy control mechanism 7. The buoyancy control mechanism 7 is quickly disassembled and assembled through the fixing mechanism 76, which facilitates the installation of the buoyancy control mechanism 7.

[0031] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An underwater robot based on 3D imaging technology, comprising a base plate (1), a controller (2) being installed at the front end of the base plate (1), servo motors (3) being installed at the corners of the top end of the base plate (1), and rollers (4) being connected to the output shafts on the outside of the servo motors (3), a mounting groove (5) being provided at the middle of the top end of the base plate (1), and a slot (6) being provided in the middle of the mounting groove (5); characterized in that: The buoyancy control mechanism (7) is also included. The buoyancy control mechanism (7) is installed inside the installation groove (5). The buoyancy control mechanism (7) includes an outer frame (71), a 3D imaging camera (72), a waterproof motor (73), a fixing rod (74), a paddle (75) and a fixing mechanism (76). The 3D imaging camera (72) is fixed on the outside of the outer frame (71). The waterproof motor (73) is provided at the bottom end of the inner part of the outer frame (71). The bottom ends of the left and right sides of the waterproof motor (73) are respectively connected to one end of the fixing rod (74). The outer frame (71) is locked to each other, and the other end of the fixing rod (74) is fixedly connected to the outer frame (71). The output shaft of the top end of the waterproof motor (73) is connected to the blade (75). The bottom end of the outer frame (71) is installed with a fixing mechanism (76), and the bottom end of the fixing mechanism (76) is embedded in the installation groove (5); the fixing mechanism (76) includes a support ring (761), a fixing plate (762), a slide groove (763), a light rod (764), a connecting rod (765), a connecting plate (766), a vertical plate (767), a screw (768) and The knob (769) is provided, and the front and rear sides of the support ring (761) are both embedded with a fixing plate (762), a slide groove (763) is provided in the middle of the fixing plate (762), a light rod (764) is inserted into the slide groove (763), and the inner side of the light rod (764) is mutually locked with the waterproof motor (73) by bolts, and the right side of the fixing plate (762) is rotatably connected to the connecting rod (765) through a rotating shaft, and the right end of the connecting rod (765) is rotatably connected to the connecting plate (766) through a rotating shaft, and the connecting plate (766) is connected to the connecting plate (766) through a rotating shaft. The connecting plate (766) extends through the support ring (761), and a vertical plate (767) is welded to the right side of the top of the connecting plate (766). A screw (768) is passed through the top of the vertical plate (767) in a horizontal direction, and the vertical plate (767) and the screw (768) are threadedly connected. The right end of the screw (768) and the knob (769) are plugged into each other. The support ring (761) is embedded in the installation groove (5), and the fixing plate (762) and the slot (6) are plugged into each other. The top of the support ring (761) is locked with the outer frame (71) by bolts.

2. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: Four servo motors (3) and four rollers (4) are provided, and waterproof structures are provided on the outsides of the servo motors (3) and the controller (2).

3. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: The fixing plate (762) is in the shape of a support plate, and the inner wall of the slot (6) is in contact with the fixing plate (762).

4. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: The surface of the polished rod (764) is smooth, and the inner wall of the fixing plate (762) fits the polished rod (764).

5. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: Two connecting rods (765) are provided, and both connecting rods (765) are inclined outward in an arc shape from right to left.

6. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: The connecting plate (766) is in the shape of a straight plate, the inner wall of the support ring (761) is in contact with the connecting plate (766), and the connecting plate (766) extends through the outer top end of the support ring (761).

7. The underwater robot based on 3D imaging technology according to claim 1, characterized in that: The outer side of the knob (769) is sleeved with a layer of rubber pad, and the outer side of the rubber pad is provided with anti-slip lines.

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