An integrated micro-sized underwater video shooting robot

Abstract

The application discloses an integrated micro underwater shooting robot, and belongs to underwater detection equipment. In order to solve the problems of high manufacturing cost, large size, easy water leakage and electricity leakage at the charging port, and short standby time of the existing underwater robot, the application comprises a robot body, a buoy signal device, a video receiver and a remote control handle; the buoy signal device is connected to the robot body; the video receiver is arranged on a ground station; the remote control handle controls underwater movement of the robot; the robot comprises a shell, a shooting control system, a vertical propeller, a power supply system and a horizontal propeller; the shooting control system is used for underwater image acquisition and signal transmission; the vertical propeller is vertically installed in the shell and is used for sinking and floating of the underwater robot; the power supply system supplies power for the shooting control system, the vertical propeller, the buoy signal device and the horizontal propeller; and the horizontal propeller is arranged on the left and right sides of the tail end of the shell respectively and is used for advancing, retreating and deflecting of the underwater robot. The application is mainly used for underwater detection.

Description

Technical Field

[0001] The invention belongs to underwater detection equipment and relates to an underwater robot, in particular to an integrated micro-miniature underwater shooting robot. Background Art

[0002] Underwater robots have been around for a long time, generally used as underwater exploration tools and transportation vehicles for humans, and are rarely used in daily life. However, with the vigorous development of the ocean, marine entertainment has gradually become popular, and the application market for entertainment-grade underwater robots is growing. However, today's underwater robots have many problems and are still not widely used. The problems with underwater robots include the following: First, existing underwater robots are expensive to produce, large in size, and not portable; second, to reduce the operating cost of underwater robots, they generally use rechargeable batteries. When underwater robots are operating, they are prone to water and electricity leakage at the charging port, causing damage to the underwater robot's internal electrical appliances and shortening the underwater robot's service life; third, existing underwater filming robots have a short standby time, which shortens the operation time and affects the final filming effect. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides an integrated micro-sized underwater shooting robot.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] An integrated miniature underwater filming robot comprises a robot body, a buoy signaler, a video receiver, and a remote control handle. The buoy signaler is connected to the robot body via a cable and is used to transmit signals and images. The video receiver is located at a ground station and receives signals and images transmitted by the buoy signaler via a signal receiving system, and is used to display images and videos captured by the robot body. The remote control handle controls the underwater movement of the robot body via an internal remote control system.

[0006] The robot body includes an outer shell and a shooting control system, a vertical thruster, a power supply system and two horizontal thrusters arranged in the outer shell from front to back; the shooting control system is used for collecting underwater images and transmitting signals; the vertical thruster is vertically installed in the outer shell and is used for the sinking and floating of the underwater robot; the power supply system supplies power to the shooting control system, the vertical thruster, the buoy signaler and the two horizontal thrusters; the two horizontal thrusters are respectively arranged on the left and right sides of the tail end of the outer shell and are used for the forward, backward and deflection of the underwater robot.

[0007] Furthermore, the shell includes a bow shell, a midsection shell and a stern shell, which are arranged and connected in sequence from front to back, and the inner cavities of the bow shell, the midsection shell and the stern shell are connected; after the bow shell is connected to the midsection shell, two installation ports that are connected to the interior are formed on the upper and lower surfaces of the shell, and the vertical thrusters are installed in the two installation ports; the shooting control system is arranged in the inner cavity of the bow shell; a cable installation port is opened on the midsection shell, and the cable on the buoy signaler passes through the cable installation port and is electrically connected to the shooting control system; the power supply system is arranged in the inner cavities of the midsection shell and the stern shell; the two horizontal thrusters are respectively arranged in the thruster installation cavities formed on both sides of the midsection shell and the stern shell after installation.

[0008] Furthermore, the bow section shell adopts a streamlined design and is made of photosensitive resin material;

[0009] The front end of the bow section shell is provided with a front viewing window communicating with the inside and outside, and a transparent cover is installed at the front viewing window; two longitudinal reinforcing ribs are arranged on the bow section shell and on the upper and lower sides of the front viewing window respectively.

[0010] Furthermore, the left and right sides of the midsection shell are recessed inward, and the front end of the horizontal propeller faces the recessed portion of the midsection shell; and a handle is provided on each of the left and right sides of the midsection shell facing the recessed portion.

[0011] Furthermore, a plurality of micro holes communicating with the interior of the shell are respectively provided on the upper and lower surfaces of the midsection shell and around the vertical propeller, as well as at the edge of the midsection shell.

[0012] Furthermore, a reserved space for buoyancy material is left in the stern section shell.

[0013] Furthermore, the shooting control system includes an electronic sealed cabin, a first PCB board, a mounting plate, a servo, a camera and two underwater fill lights, the mounting plate and the first PCB board are arranged side by side in the electronic sealed cabin, and the two are fixedly connected by a hexagonal copper column; the servo is fixedly mounted on a hatch cover on one side of the electronic sealed cabin, one end of the mounting plate is connected to the driving end of the servo, and the other end of the mounting plate is rotatably connected to the hatch cover on the other side of the electronic sealed cabin through a rotating shaft; the camera is mounted on the side of the mounting plate facing away from the first PCB board and extends toward the front viewing window side of the bow section housing, wherein the camera, the servo and the servo for driving the vertical thruster and the horizontal thruster are electrically connected to the first PCB board; the two underwater fill lights are respectively arranged on the left and right sides of the camera, and are fixedly mounted on the mounting plate to provide light for the camera.

[0014] Furthermore, the power supply system includes a waterproof battery box, a waterproof charging port and a charging cable. The waterproof battery box contains a lithium battery, and the waterproof charging port is electrically connected to the waterproof battery box via the charging cable.

[0015] The waterproof charging port includes a mounting seat, a charging interface and a waterproof cover. The mounting seat is fixedly mounted on the midsection outer shell, the charging interface is mounted inside the mounting seat and exposed to the outside of the midsection outer shell, the mounting seat and the surrounding area of ​​the charging interface are provided with external threads, the waterproof cover is provided with an internal thread groove, the waterproof cover is screwed to the mounting seat and seals the charging interface.

[0016] Furthermore, the power supply system also includes a battery detection mechanism, which includes a waterproof switch, a waterproof voltmeter, a 12V voltage regulator, a second PCB board, a water leakage detection device and a warning light; the 12V voltage regulator, the second PCB board and the water leakage detection device are arranged in a waterproof battery box, the 12V voltage regulator and the water leakage detection device are installed on the second PCB board, the end of the charging cable passes through the waterproof battery box and is connected to the 12V voltage regulator, and the charging port of the lithium battery is connected to the power supply port of the 12V voltage regulator; the waterproof switch, waterproof voltmeter and warning light are installed on the upper surface of the midsection shell, the water leakage detection device is electrically connected to the warning light; the waterproof voltmeter is electrically connected to the power supply port of the 12V voltage regulator.

[0017] Furthermore, the buoy signaler includes a float shell, a handle receiver and an image transmission antenna. The handle receiver is installed in the float shell, one end of the image transmission antenna is connected to the handle receiver, and the other end extends out of the float shell; the material used to make the upper half of the float shell has a lower density than the material of the lower half to improve the stability of the float shell in the water.

[0018] The beneficial effects of the present invention compared with the prior art are:

[0019] 1. The housing of the present invention is symmetrical and segmented, facilitating quick installation and replacement of components within the housing. Furthermore, the inner cavities of the bow, midship, and stern sections are interconnected and connected by screws, forming a single installation compartment capable of housing the camera control system, vertical thruster, power supply system, and two horizontal thrusters. Furthermore, the design of the electronically sealed compartment and waterproof battery box eliminates the need for housing sealing, significantly reducing the cost of manufacturing the housing and achieving miniaturization and lightweighting. Furthermore, the first PCB board, servo, camera, and two underwater fill lights can all be constructed using conventional, non-waterproof components, saving the cost of manufacturing the underwater robot.

[0020] 2. The shell of the present invention adopts a streamlined design and a micro-hole design to reduce the resistance of the water flow, and the bow section shell is made of an elastic and smooth photosensitive resin material, so that the bow section shell undergoes slight deformation under different water flow conditions, reducing the resistance of the water flow, improving the propulsion efficiency of the robot, reducing the energy consumption, and extending the standby time of the underwater robot.

[0021] 3. The left and right sides of the midship shell in the present invention are concave inward, and the front end of the horizontal propeller is opposite to the concave part of the midship shell, which is equivalent to adding a deflector to the outer edge of the propeller of the horizontal propeller, which can increase the thrust and overall efficiency of the horizontal propeller, reduce fluid resistance and reduce the impact of the propeller on the surrounding environment.

[0022] 4. The underwater robot of the present invention is equipped with a vertical thruster and two horizontal thrusters, which can realize the full range of movement of the robot forward, backward, left turn, right turn, forward and upward, forward and downward, backward and upward, and backward and downward, and can achieve peak hold.

[0023] 5. The present invention leaves a reserved space for buoyancy material in the stern section shell. When the task load of the underwater robot is increased, the buoyancy material is arranged to provide greater buoyancy and adjust the balance of the robot.

[0024] 6. The shooting control system of the present invention adopts an integrated design to reduce the space occupied, thereby reducing the size of the underwater robot and achieving the purpose of lightweighting. The total weight of the robot does not exceed 2.4 kilograms. While ensuring its functionality, it achieves the advantages of low cost, high integration, easy operation, and lightness. In addition, the camera can be flipped up and down under the drive of the servo, increasing the observation range of the underwater robot. At the same time, the underwater fill light and the camera are arranged on the same mounting plate. When the camera is flipped, the underwater fill light is also flipped together, ensuring the clarity of the camera shooting, and realizing high-definition shooting of scenes such as underwater entertainment, fish exploration, research and training, underwater photography, fish nest observation, and marine animal viewing.

[0025] 7. The present invention avoids water leakage and electric leakage through the design of a waterproof charging port.

[0026] 8. This invention features a battery detection mechanism that uses a 12V voltage regulator to output a stable 12V voltage for charging the lithium battery. A water leakage detection device and indicator light detect and indicate any water leaks, protecting circuit safety. A waterproof voltmeter displays the charging voltage in real time, ensuring the lithium battery does not overcharge or over-discharge. The entire battery detection mechanism is designed on a single PCB, resulting in a highly integrated design.

[0027] 9. The present invention adopts a cable-type structure, and there is no need to configure expensive sensors in the robot for transmitting signals and images, which reduces costs and reduces the difficulty of operating the robot; in addition, the buoy signaler uses an image transmission antenna to transmit signals and images, and is no longer connected to the upper computer of the display, so the underwater robot is no longer restricted by the cable and can increase the diving depth; the wireless module inside the buoy signaler is wirelessly connected to the handle and the image transmission display respectively, which saves costs and reduces the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are incorporated in and constitute a part of this application and are used to provide a further understanding of the present invention.

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 Axonometric view of the bow section shell Figure 1 .

[0031] Figure 3 Axonometric view of the bow section shell Figure 2 .

[0032] Figure 4 Axonometric view of the midship shell Figure 1 .

[0033] Figure 5 Axonometric view of the midship shell Figure 2 .

[0034] Figure 6 Axonometric view of the stern section shell Figure 1 .

[0035] Figure 7 Axonometric view of the stern section shell Figure 2 .

[0036] Figure 8 This is the main view of the stern section shell.

[0037] Figure 9 To shoot the axonometric view of the control system Figure 1 .

[0038] Figure 10 This is the main view of the shooting control system.

[0039] Figure 11 This is an axonometric view of the electronic sealed cabin.

[0040] Figure 12 Axonometric drawing of the power supply system.

[0041] Figure 13 This is the axonometric view of the battery detection mechanism.

[0042] Figure 14 This is an axonometric view of the buoy signaler.

[0043] Figure 15 This is a schematic diagram of the internal structure of the buoy signaler.

[0044] Figure 16 It is a structural diagram of the video receiver and remote control handle.

[0045] Explanation of reference numerals: A- robot body; B- buoy signaler; C- video receiver; D- remote control handle; 1- shell; 101- bow section shell; 101-1- first groove; 101-2- front view window; 101-3- reinforcing rib; 101-4- connection part; 102- midsection shell; 102-1- second groove; 102-2- first installation port; 102-3- tiny hole; 102-4- cable installation port; 102-5- handle; 103- stern section shell; 103-1- second installation port; 103-2- reserved space for buoyancy material; 2- shooting control system; 201- electronic sealed cabin; 202- 1. PCB board; 203. Mounting plate; 204. Servo; 205. Camera; 206. Underwater fill light; 207. Hexagonal copper column; 3. Vertical thruster; 4. Power supply system; 401. Waterproof battery box; 402. Waterproof charging port; 402-1. Mounting base; 402-2. Charging port; 402-3. Waterproof cover; 402-4. Connecting belt; 403. Charging cable; 404. Waterproof switch; 405. Waterproof voltmeter; 406. 12V voltage regulator; 407. Second PCB board; 408. Water leakage detection device; 5. Horizontal thruster; 6. Float housing; 7. Handle receiver; 8. Image transmission antenna. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0047] See also Figure 1 An embodiment of the present application provides an integrated micro-sized underwater shooting robot, which includes a robot body A, a buoy signaler B, a video receiver C and a remote control handle D; the buoy signaler B is connected to the robot body A through a cable and is used to transmit signals and images; the video receiver C is arranged at a ground station and receives the signals and images transmitted by the buoy signaler B through a signal receiving system, and is used to display the images and videos taken by the robot body A; the remote control handle D controls the underwater movement of the robot body A through an internal remote control system.

[0048] See also Figure 1The robot body A includes a shell 1 and a shooting control system 2, a vertical thruster 3, a power supply system 4 and two horizontal thrusters 5 arranged in the shell 1 from front to back; the shooting control system 2 is a system integrating camera and control, which is used for underwater image acquisition and signal transmission. At the same time, the two are integrated to reduce the size of the underwater robot; the vertical thruster 3 is vertically installed in the shell 1 and is used for the sinking and floating of the underwater robot; the power supply system 4 supplies power to the shooting control system 2, the vertical thruster 3, the buoy signaler B and the two horizontal thrusters 5; the two horizontal thrusters 5 are respectively arranged on the left and right sides of the tail end of the shell 1, and are used for the forward, backward and deflection of the underwater robot.

[0049] Preferably, if Figure 1 As shown, the shell 1 includes a bow shell 101, a midship shell 102, and a stern shell 103, which are sequentially arranged and connected from front to back. The tail end of the bow shell 101 is provided with an integral connecting portion 101-4 on both upper and lower sides. The front end of the midship shell 102 is provided with a second groove 102-1 corresponding to the connecting portion 101-4 on both upper and lower sides. The connecting portion 101-4 of the bow shell 101 is located in the second groove 102-1 of the midship shell 102. And it is flush with the outer surface of the midsection shell 102; the connecting part 101-4 and the bottom of the second groove 102-1 are connected by screws to realize the fixed connection between the bow section shell 101 and the midsection shell 102; at the same time, the connecting part 101-4 of the bow section shell 101 and the second groove 102-1 of the midsection shell 102 form two upper and lower installation ports that are connected to the inside of the shell and are used for the installation of the vertical thruster 3; the shooting control system 2 is arranged in the bow section shell 101.

[0050] The midship shell 102 is provided with a cable installation port 102-4, and the cable on the buoy signaler B passes through the cable installation port 102-4 and is electrically connected to the shooting control system 2; a threaded hole is provided on the tail end face of the midship shell 102 and at the four top corners, and a threaded hole is provided on the front end face of the stern shell 103 and at the four top corners, the midship shell 102 and the stern shell 103 are fixedly connected by screws, and the inner cavity of the midship shell 102 and the stern shell 103 are communicated, and the power supply system 4 is arranged at The midship shell 102 and the stern shell 103 are respectively provided with a first installation port 102-2 on both sides of the midship shell 102, and a second installation port 103-1 opposite to the first installation port 102-2 is respectively provided on both sides of the stern shell 103. After the midship shell 102 and the stern shell 103 are connected, the first installation port 102-2 and the second installation port 103-1 form a propeller installation cavity, and the two horizontal propellers 5 are respectively arranged in the left and right propeller installation cavities formed by the midship shell 102 and the stern shell 103.

[0051] In order to reduce the fluid resistance of the robot moving underwater, see Figure 2 and Figure 3 The cross-sectional area of ​​the bow section housing 101 gradually increases from its tip to its end, forming a streamlined design. This reduces water resistance when the robot navigates the water, thereby improving its propulsion efficiency. Furthermore, the bow section housing 101 is made of a photosensitive resin material, ensuring a smooth exterior while also possessing a certain degree of elasticity. This allows the bow section housing 101 to slightly deform under varying water flow conditions (flow rate and flow pattern), thereby reducing water resistance.

[0052] In order to achieve underwater shooting and lightweight, see Figure 2 and Figure 3 The front end of the bow section shell 101 is provided with a first groove 101-1 along the shape of the shell surface to reduce the weight of the robot and achieve the purpose of lightweighting; at the same time, a front viewing window 101-2 communicating with the inside and outside is provided in the first groove 101-1, and a transparent cover is installed at the front viewing window 101-2 to ensure the clarity of the camera shooting.

[0053] In order to ensure the strength of the bow section shell 101, see Figure 2 and Figure 3 Two longitudinal reinforcing ribs 101-3 are arranged on the bow section shell 101 and on the upper and lower sides of the front viewing window 101-2. The reinforcing ribs 101-3 can improve the structural strength of the robot, enabling it to better adapt to complex water environments and provide great stability.

[0054] To increase the thrust and overall efficiency of the horizontal propeller, reduce fluid resistance, and minimize the propeller's impact on the surrounding environment, the left and right sides of the midship housing 102 are recessed inward, with the front end of the horizontal propeller 5 facing the recessed portion of the midship housing 102. Since the underwater robot in this embodiment uses a waterproof motor without a shroud, the inward recessed structure on the left and right sides is equivalent to adding a shroud to the outer edge of the propeller, producing the following effects:

[0055] 1) Enhanced thrust: By adopting an inward concave structure, the thrust of the propeller will be significantly improved. This is mainly because the flow direction of the fluid is changed, allowing more fluid to act directly on the propeller blades, thereby increasing the conversion efficiency of fluid kinetic energy and increasing the thrust by 30-35% to meet navigation needs.

[0056] 2) Reduced Drag: This reduces fluid resistance and energy consumption. When a propeller without a deflector is in operation, the contact area between the fluid and the propeller blades is larger, generating greater drag. This structure, however, guides the fluid in a predetermined direction, reducing the contact area with the propeller blades and thus reducing drag.

[0057] 3) Improved Overall Efficiency: The inward concave design optimizes the overall efficiency of the propeller. Through proper flow guidance, the propeller maintains high efficiency across a wider speed range. Furthermore, the inward concave design reduces vibration and noise during operation, improving comfort.

[0058] 4) Reduced impact on the surrounding environment: The use of an inward-concave structure can reduce the impact of the propeller on the surrounding environment during operation. For example, the use of an inward-concave structure can reduce the noise generated by the propeller and reduce the interference with marine life.

[0059] In order to facilitate the grasping of the underwater robot, a handle 102 - 5 is provided on each of the left and right sides of the midsection shell 102 and facing the recess.

[0060] When the fluid flows over the surface of the robot, a layer of fluid adhering to the surface of the object is formed, which is the boundary layer. However, due to the large change in the surface curvature of the robot, the boundary layer will separate from the surface of the robot, resulting in a decrease in fluid dynamics performance, additional resistance to the underwater robot, or even instability of the underwater robot. In order to solve the separation of the boundary layer and the robot surface, Figure 4 and Figure 5As shown, a number of micro holes 102-3 communicating with the interior of the shell are respectively provided on the upper and lower surfaces of the midship shell 102 and around the vertical thruster 3, as well as at the edge of the midship shell 102. By designing micro holes 102-3 on the surface and edge of the object, the flow of the fluid can be guided and controlled, and tiny vortices can be generated. These vortices can increase the interaction between the fluid and the surface of the object, help stabilize the boundary layer, reduce or even prevent the separation of the boundary layer, and achieve more efficient and stable propulsion and operation of the underwater robot.

[0061] When increasing the task load of the underwater robot (such as a robotic arm), in order to increase the buoyancy of the robot, such as Figure 8 As shown, the tail section housing 103 includes a reserved space 103-2 for buoyancy material. This buoyant material provides greater buoyancy and helps balance the robot. Furthermore, the robot in this embodiment is lightweight (only 2 kg), resulting in minimal inertia. Furthermore, the robot's interior contains numerous cavities specifically reserved for buoyancy material, allowing the robot to maintain a suspended state. When disturbances are minimal, fixed-point photography can be achieved without requiring thrust from the vertical thruster, or with minimal thrust. Shooting at different angles can be accomplished using a combination of the thruster and the photography platform, reducing thruster power consumption and increasing standby time.

[0062] In this embodiment, the housing 1 is a symmetrical structure consisting of a bow housing 101, a midship housing 102, and a stern housing 103. This segmented design facilitates rapid installation of the housing and replacement of components within each housing. Furthermore, previous underwater robots typically employ a compartmentalized design with sealing, resulting in complex cabin structures, high material usage, and manufacturing costs, hindering the realization of miniaturization, lightweighting, and low cost. To achieve these goals, the bow, midship, and stern housings 101, 102, and 103 are interconnected and connected using screws, forming a single installation compartment capable of housing the camera control system 2, vertical thruster 3, power supply system 4, and two horizontal thrusters 5. Furthermore, the design of the electronic sealed compartment 201 and waterproof battery compartment 401 eliminates the need for sealing, significantly reducing manufacturing costs and achieving miniaturization and lightweighting.

[0063] In this embodiment, the shell 1 adopts a streamlined design and a micro-hole 102-3 design, which reduces the resistance of the water flow, improves the propulsion efficiency of the robot, reduces energy consumption, and extends the standby time of the underwater robot.

[0064] In this embodiment, the underwater robot is equipped with a vertical thruster 3 and two horizontal thrusters 5, which can realize the full range of movement of the robot forward, backward, left turn, right turn, forward and floating, forward and sinking, backward and floating, and backward and sinking, and can achieve peak maintenance; at the same time, the thrust testing device is used to perform thrust tests on the vertical thruster 3 and the two horizontal thrusters 5 respectively to obtain an accurate thrust distribution curve. While achieving high-precision control, it also realizes the coordinated work of multiple thrusters and automatically adjusts the speed and direction to maintain the stability of the equipment.

[0065] Preferably, if Figures 9 to 11 As shown, the shooting control system 2 includes an electronic sealed cabin 201, a first PCB board 202, a mounting plate 203, a steering gear 204, a camera 205 and two underwater fill lights 206. The mounting plate 203 and the first PCB board 202 are arranged side by side in the electronic sealed cabin 201, and the two are fixedly connected by a hexagonal copper column 207; the steering gear 204 is fixedly installed on a hatch cover on one side of the electronic sealed cabin 201, one end of the mounting plate 203 is connected to the driving end of the steering gear 204, and the other end of the mounting plate 203 is rotatably connected to the electronic sealed cabin 201 through a rotating shaft. On the hatch cover on the other side of the sub-sealed cabin 201; the camera 205 is installed on the side of the mounting plate 203 facing away from the first PCB board 202, and extends toward the front view window 101-2 side of the bow section shell 101, wherein the camera 205, the servo 204 and the servo for driving the vertical thruster 3 and the horizontal thruster 5 are electrically connected to the first PCB board 202; the two underwater fill lights 206 are respectively arranged on the left and right sides of the camera 205, and are fixedly mounted on the mounting plate 203, and the underwater fill lights 206 provide a certain amount of light for the camera 205.

[0066] It should be noted that in order to achieve underwater shooting, the electronic sealed cabin 201, except for the hatches on both sides, is made of transparent material so that the camera 205 can clearly shoot the scene in the water through the electronic sealed cabin 201 and the front viewing window 101-2 on the shell.

[0067] Since underwater robots need to work stably underwater, the hardware requirements of underwater robots are extremely high. Waterproof hardware facilities are often used, such as waterproof servos, waterproof cameras and waterproof lights. These devices are often much more expensive than non-waterproof products of the same type, and some are even more than 10 times more expensive. In order to reduce cost input, the electronic sealed cabin 201 in this embodiment is a sealed cabin to prevent water from entering. Therefore, the first PCB board 202, servo 204, camera 205 and two underwater fill lights 206 can all use ordinary, non-waterproof devices, saving the production cost of the underwater robot.

[0068] In this embodiment, a threading hole is respectively opened on the left and right side hatch covers of the electronic sealed cabin 201, one of the threading holes is used for passing the cable connecting the buoy signaler B, and the cable on the buoy signaler B is electrically connected to the first PCB board 202 to realize the transmission of images and signals; the other threading hole is used for passing the power line of the power supply system 4 and the power line of the servo for controlling the vertical thruster 3 and the horizontal thruster 5, and the power supply system 4 supplies power to the first PCB board 202, the servo 204, the camera 205 and the two underwater fill lights 206; the remote control handle D controls the servo 204 and the servo for driving the vertical thruster 3 and the horizontal thruster 5 in turn through the buoy signaler B and the first PCB board 202; wherein, the threading holes on the left and right side hatch covers of the electronic sealed cabin 201 are sealed to prevent water from entering the electronic sealed cabin 201.

[0069] In this embodiment, to increase the underwater robot's observation range, the camera 205, driven by the servo 204, can be flipped up and down through a 30° angle. The propellers and camera are coordinated and linked, employing an intelligent control system that adjusts the camera's shooting angle to compensate for the need to adjust the robot's overall angle through the propellers. In the event of current or disturbance, only the horizontal propellers need to fine-tune the robot's body and camera platform, significantly reducing the power consumption of the vertical propellers. Simultaneously, an underwater fill light 206 is mounted on the same mounting plate 203 as the camera 205. When the camera 205 flips, the fill light 206 also flips, ensuring clarity. It should be noted that the camera 205 is a high-definition camera, and the fill light's cooperation enables high-definition underwater video capture, making it suitable for fish scouting, underwater photography, and observing fish nests. It should also be noted that, in this embodiment, under the arrangement of the mounting plate 203, the camera 205 is not directly mounted on the steering wheel of the servo 204, but is at a certain distance from the steering wheel of the servo 204, thereby increasing the length of the lever arm for flipping the camera 205. When the torque for flipping the camera 205 remains the same, the torque output by the servo 204 is reduced, thereby reducing the power consumption of the robot.

[0070] Preferably, if Figure 12 and Figure 13 As shown, the power supply system 4 includes a waterproof battery box 401, a waterproof charging port 402 and a charging cable 403. A 12V, 3S lithium battery is installed in the waterproof battery box 401. The waterproof charging port 402 is electrically connected to the waterproof battery box 401 through the charging cable 403. The lithium battery is charged through the waterproof charging port 402 and the charging cable 403, thereby realizing the lithium battery to power the first PCB board 202, the servo 204, the camera 205, the two underwater fill lights 206, the vertical thruster 3 and the two horizontal thrusters 5.

[0071] To achieve the waterproof function of the waterproof charging port 402, see Figure 12 and Figure 13 The waterproof charging port 402 includes a mounting base 402-1, a charging interface 402-2 and a waterproof cover 402-3. The mounting base 402-1 is fixedly mounted on the midsection shell 102, and the charging interface 402-2 is mounted inside the mounting base 402-1 and exposed to the outside of the midsection shell 102. The mounting base 402-1 and the surrounding area of ​​the charging interface 402-2 are provided with external threads, and the waterproof cover 402-3 is provided with an internal thread groove. The waterproof cover 402-3 is screwed onto the mounting base 402-1 and seals the charging interface 402-2; wherein the charging interface 402-2 is a Type-C charging port.

[0072] In order to prevent the waterproof cover 402-3 from being lost, the waterproof cover 402-3 is connected to the mounting base 402-1 via a connecting belt 402-4.

[0073] In order to ensure the safety of charging, Figure 12 and Figure 13 As shown, the power supply system 4 also includes a battery detection mechanism, which includes a waterproof switch 404, a waterproof voltmeter 405, a 12V voltage regulator 406, a second PCB board 407, a water leakage detection device 408 and a warning light; the 12V voltage regulator 406, the second PCB board 407 and the water leakage detection device 408 are arranged in a waterproof battery box 401, and the 12V voltage regulator 406 and the water leakage detection device 408 are mounted on the second PCB board 407. The end of the charging line 403 passes through the waterproof battery box 401 and is connected to the 12V voltage regulator 406. The charging port of the lithium battery is connected to the power supply port of the 12V voltage regulator 406. 6 outputs a stable 12V voltage to charge the lithium battery; the waterproof switch 404, waterproof voltmeter 405 and warning light are installed on the upper surface of the midsection shell 102, and the water leakage detection device 408 is electrically connected to the warning light. If a water leakage occurs, the warning light will flash to protect the circuit safety; the waterproof voltmeter 405 is electrically connected to the power supply port of the 12V voltage stabilizing device 406, and the charging voltage is displayed in real time through the waterproof voltmeter 405 to ensure that the lithium battery will not be overcharged or over-discharged; the waterproof switch 404 can realize the power on and off of the robot as a whole, wherein the waterproof switch 404 is sealed and waterproof with epoxy resin, which not only ensures excellent waterproof performance but also reduces costs.

[0074] It should be noted that the waterproof battery box 401 is a sealed box body, and the threading holes on the box body are sealed to ensure the safety of battery use.

[0075] In this embodiment, the design of the waterproof charging port 402 avoids water leakage and electric leakage.

[0076] This embodiment features a battery detection mechanism. A 12V voltage regulator 406 provides a stable 12V output for charging the lithium battery. A water leakage detector 408 and indicator light detect and indicate any water leaks, protecting the circuit. A waterproof voltmeter 405 displays the charging voltage in real time, ensuring the lithium battery is not overcharged or over-discharged. The entire battery detection mechanism is designed on a single PCB, resulting in a highly integrated design.

[0077] See also Figure 14 and Figure 15 The buoy signaler B includes a float housing 6, a handle receiver 7 and an image transmission antenna 8. The handle receiver 7 is installed in the float housing 6. One end of the image transmission antenna 8 is connected to the handle receiver 7, and the other end extends out of the float housing 6, for receiving the signal transmitted by the remote control handle D and transmitting it to the handle receiver 7, which then transmits it to the first PCB board 202 through a cable.

[0078] In order to achieve the floating stability of the buoy signaler B, the float shell 6 is made of resin materials of different densities and is made by 3D printing, wherein the upper part of the float shell 6 is made of resin material with lower density, and the lower part is made of resin material with higher density, so that the center of gravity of the buoy signaler B is lower, and the stability is improved; at the same time, the float shell 6 in this embodiment has increased its volume while ensuring a small mass, giving the internal components of the float shell 6 a larger space to ensure sufficient heat dissipation, and at the same time, a small fan can be optionally installed inside the float shell 6 to better dissipate heat.

[0079] Currently, common underwater robots are divided into cabled and cableless types. The cableless type is an automatically controlled robot that often requires a variety of expensive sensor devices to achieve precise control. Therefore, cabled control is generally used for markets such as underwater entertainment. Traditional cabled robots are connected to the display host computer via cables, resulting in high hardware costs and limiting the robot's control range. In this embodiment, to reduce production costs, a cabled structure is adopted. This eliminates the need for expensive sensors within the robot, reducing costs and making the robot easier to operate. In addition, buoy signaler B uses an image transmission antenna 8 to transmit signals and images, and is no longer connected to the display host computer. Therefore, the underwater robot is no longer restricted by the cable and can dive deeper. The wireless module within buoy signaler B is wirelessly connected to the handle and image transmission display, respectively, saving costs and reducing operational difficulty.

[0080] See also Figure 16, the video receiver C is a display.

[0081] See also Figure 16 The remote control handle D has two modes: red light mode with red light + green light on and green light mode with only green light on. The two modes can be switched by pressing the MODE button. Since the analog output of the joystick is only valid in red light mode, it is necessary to switch to red light mode by pressing the MODE button before controlling the robot.

[0082] The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:

[0083] The underwater robot floats up or dives down: the remote control handle D is operated. The remote control handle D transmits a signal to the servo that drives the vertical thruster 3 through the buoy signaler B and the first PCB board 202, and controls the servo to rotate forward or reverse to realize the floating up or diving of the underwater robot.

[0084] The underwater robot moves forward or backward: operate the remote control handle D, which transmits signals to the servos that drive the two horizontal thrusters 5 through the buoy signaler B and the first PCB board 202, and controls the two servos to rotate forward or reverse synchronously to realize the forward or backward movement of the underwater robot.

[0085] The underwater robot turns left or right: operate the remote control handle D, which transmits signals to the servos that drive the two horizontal thrusters 5 through the buoy signaler B and the first PCB board 202, and controls the rotation of the two servos, where there is a speed difference between the two servos. The speed difference can realize the underwater robot turning left or right.

[0086] The underwater robot moves forward and floats up: the remote control handle D is operated, and the remote control handle D transmits signals to the servos driving the two horizontal thrusters 5 and the servos driving the vertical thrusters 3 through the buoy signaler B and the first PCB board 202. The servos driving the vertical thrusters 3 rotate forward, and the servos driving the two horizontal thrusters 5 rotate forward synchronously, thereby realizing the movement forward and floating of the underwater robot.

[0087] The underwater robot moves forward and sinks by manipulating the remote control handle D, which transmits signals to the servos driving the two horizontal thrusters 5 and the servos driving the vertical thrusters 3 through the buoy signaler B and the first PCB board 202. The servos driving the vertical thrusters 3 are reversed, and the servos driving the two horizontal thrusters 5 rotate forward synchronously, thereby realizing the movement forward and sinking of the underwater robot.

[0088] The underwater robot retreats and rises: operate the remote control handle D, which transmits signals to the servos driving the two horizontal thrusters 5 and the servos driving the vertical thrusters 3 through the buoy signaler B and the first PCB board 202. The servos driving the vertical thrusters 3 rotate forward, and the servos driving the two horizontal thrusters 5 reverse synchronously, thereby realizing the retreat and rise of the underwater robot.

[0089] The underwater robot retreats and sinks: operate the remote control handle D, which transmits signals to the servos driving the two horizontal thrusters 5 and the servos driving the vertical thrusters 3 through the buoy signaler B and the first PCB board 202. The servos driving the vertical thrusters 3 are reversed, and the servos driving the two horizontal thrusters 5 are reversed synchronously, thereby realizing the retreat and sinking of the underwater robot.

[0090] The present invention can achieve omnidirectional movement through the remote control handle D and the vertical thruster 3 and the horizontal thruster 5.

[0091] The underwater filming robot has an underwater range of 0 to 200 meters, is equipped with a high-definition camera, and is IP68-rated waterproof, enabling detection up to 30 meters underwater. It has a range of 5 kilometers. The robot is 36 centimeters long, 21 centimeters wide, and 10 centimeters high, with a flight time of 1.4 hours and a total power consumption of approximately 15 watts.

[0092] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. An integrated miniature underwater photography robot, characterized by: The system comprises a robot body (A), a buoy signaler (B), a video receiver (C) and a remote control handle (D); the buoy signaler (B) is connected to the robot body (A) via a cable and is used for transmitting signals and images; the video receiver (C) is set at a ground station and receives signals and images transmitted by the buoy signaler (B) through a signal receiving system, and is used to display images and videos captured by the robot body (A); the remote control handle (D) controls the underwater movement of the robot body (A) through an internal remote control system; The robot body (A) comprises a shell (1) and a shooting control system (2), a vertical thruster (3), a power supply system (4) and two horizontal thrusters (5) arranged in sequence from front to back in the shell (1); the shooting control system (2) is used for collecting underwater images and transmitting signals; the vertical thruster (3) is vertically installed in the shell (1) and is used for the sinking and floating of the underwater robot; the power supply system (4) supplies power to the shooting control system (2), the vertical thruster (3), the buoy signaler (B) and the two horizontal thrusters (5); the two horizontal thrusters (5) are respectively arranged on the left and right sides of the tail end of the shell (1) and are used for the forward, backward and deflection of the underwater robot; The shell (1) includes a bow shell (101), a midship shell (102) and a stern shell (103) which are sequentially arranged and connected from front to back, and the inner cavities of the bow shell (101), the midship shell (102) and the stern shell (103) are connected; after the bow shell (101) and the midship shell (102) are connected, two mounting ports communicating with the interior are formed on the upper and lower surfaces of the shell, and the vertical thruster (3) is installed in the two mounting ports; the shooting control system (2) is arranged outside the bow The midship shell (102) is provided with a cable installation opening (102-4), and the cable on the buoy signaler (B) passes through the cable installation opening (102-4) and is electrically connected to the shooting control system (2); the power supply system (4) is arranged in the inner cavity of the midship shell (102) and the stern shell (103); the two horizontal thrusters (5) are respectively arranged in the thruster installation cavities formed on both sides of the midship shell (102) and the stern shell (103) after installation; The bow section housing (101) adopts a streamlined design and is made of photosensitive resin material; The front end of the bow section housing (101) is provided with a front viewing window (101-2) communicating with the inside and outside, and a transparent cover is installed at the front viewing window (101-2); two longitudinal reinforcing ribs (101-3) are arranged on the bow section housing (101) and on the upper and lower sides of the front viewing window (101-2); The left and right sides of the midsection shell (102) are recessed inwards, and the front end of the horizontal propeller (5) faces the recessed portion of the midsection shell (102); a handle (102-5) is provided on each of the left and right sides of the midsection shell (102) facing the recessed portion; A plurality of micro holes (102-3) communicating with the interior of the shell are respectively provided on the upper and lower surfaces of the midsection shell (102) and around the vertical propeller (3), as well as on the edge of the midsection shell (102).

2. The integrated micro underwater photography robot according to claim 1, characterized in that: A reserved space (103-2) for buoyancy material is reserved in the stern section shell (103).

3. The integrated micro underwater photography robot according to claim 1, characterized in that: The shooting control system (2) comprises an electronic sealed cabin (201), a first PCB board (202), a mounting plate (203), a steering gear (204), a camera (205) and two underwater fill lights (206); the mounting plate (203) and the first PCB board (202) are arranged side by side in the electronic sealed cabin (201), and the two are fixedly connected via a hexagonal copper column (207); the steering gear (204) is fixedly mounted on a hatch cover on one side of the electronic sealed cabin (201); one end of the mounting plate (203) is connected to the driving end of the steering gear (204), and the other end of the mounting plate (203) is rotatably connected to the other side of the electronic sealed cabin (201) via a rotating shaft. The invention relates to a hatch cover; the camera (205) is installed on a side of the mounting plate (203) facing away from the first PCB board (202), and extends out of the electronic sealed cabin (201) and extends toward the front view window (101-2) side of the bow section housing (101), wherein the camera (205), the steering gear (204) and the steering gear for driving the vertical propeller (3) and the horizontal propeller (5) are electrically connected to the first PCB board (202); the two underwater fill lights (206) are respectively arranged on the left and right sides of the camera (205) and fixedly mounted on the mounting plate (203); the underwater fill lights (206) extend out of the electronic sealed cabin (201) and provide light for the camera (205).

4. The integrated micro underwater photography robot according to claim 1, characterized in that: The power supply system (4) comprises a battery box (401), a waterproof charging port (402) and a charging cable (403); a lithium battery is installed in the battery box (401), and the waterproof charging port (402) is electrically connected to the battery box (401) via the charging cable (403); The waterproof charging port (402) includes a mounting seat (402-1), a charging interface (402-2) and a waterproof cover (402-3). The mounting seat (402-1) is fixedly mounted on the midsection housing (102). The charging interface (402-2) is mounted inside the mounting seat (402-1) and is exposed to the outside of the midsection housing (102). External threads are provided on the mounting seat (402-1) and around the charging interface (402-2). An internal thread groove is provided on the waterproof cover (402-3). The waterproof cover (402-3) is screwed onto the mounting seat (402-1) and seals the charging interface (402-2).

5. The integrated micro underwater photography robot according to claim 4, characterized in that: The power supply system (4) further comprises a battery detection mechanism, which is arranged between the charging line (403) and the battery box (401); the battery detection mechanism comprises a waterproof switch (404), a waterproof voltmeter (405), a 12V voltage stabilizing device (406), a second PCB board (407), a water leakage detection device (408) and a warning light; the 12V voltage stabilizing device (406) and the water leakage detection device (408) are mounted on the second PCB board (407), and the charging line (403) and the battery box (401) are connected to the 12V voltage stabilizing device (406); the waterproof switch (404), the waterproof voltmeter (405) and the warning light are mounted on the upper surface of the midship shell (102), and the water leakage detection device (408) is electrically connected to the warning light; the waterproof voltmeter (405) is connected to the power supply port of the 12V voltage stabilizing device (406).

6. The integrated micro underwater photography robot according to claim 1, characterized in that: The buoy signaler (B) comprises a float housing (6), a handle receiver (7) and an image transmission antenna (8), wherein the handle receiver (7) is installed in the float housing (6), and one end of the image transmission antenna (8) is connected to the handle receiver (7) and the other end extends out of the float housing (6); The material used to make the upper half of the float shell (6) has a lower density than the material of the lower half, so as to improve the stability of the float shell (6) in water.

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