An underwater inspection video robot for low-visibility waters

Abstract

The invention discloses an underwater detection video robot for low-visibility waters, and relates to the technical field of diving equipment manufacturing. The invention comprises an underwater robot, wherein the bottom of the underwater robot is fixedly connected to a base frame, and the bottom of the base frame is provided with a stabilizing mechanism; wherein the top of the electric telescopic rod is fixedly connected to the bottom of the base frame, the bottom of the electric telescopic rod is fixedly connected to a fixing plate, the bottom of the fixing plate is fixedly connected to an articulated block A, and the inner wall of the articulated block A is articulated with an articulated rod A; by providing the stabilizing mechanism, four insert blocks A will drive the articulated rod A to be articulated, rise and rotate on the articulated block A through fixing parts, and the four articulated rods A will start to open and close upwards, and be firmly inserted into the bottom soil, so that the underwater robot and the base frame are fixed in the soil as a whole, and the shaking caused by the impact of water flow during the long-term static detection period of the underwater robot is reduced, and the problem of affecting the detection effect is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of diving equipment manufacturing, in particular to an underwater detection video robot used in low-visibility waters. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are robots that work underwater for extreme operations. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean;

[0003] An underwater detection robot for low-visibility waters described in the patent application with publication number CN108082424A relates to the technical field of diving equipment manufacturing, and includes: a main structure, which is an open frame structure; a power system, which realizes the precise control of the robot's position in the water and the movement in all directions; a sensor system, which is used to monitor the underwater posture and water depth of the underwater robot in real time; a control system, which completes the adjustment of the movement speed and direction of the underwater robot; an image system, which is used to record and transmit the video image of the underwater detection part during the movement of the underwater robot;

[0004] At present, when underwater video robots collect data and information in underwater areas with low visibility, they need to sink to the bottom of the water and use detection equipment to collect and detect the water quality and soil environment at the bottom for a long time. However, when underwater video robots conduct long-term detection, there is a problem of unstable underwater detection and poor detection accuracy due to the impact of underwater water flow. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an underwater detection video robot for use in low-visibility waters to solve the above problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an underwater detection video robot for low-visibility waters, comprising an underwater robot, a bottom of the underwater robot is fixedly connected to a chassis, and a stabilizing mechanism is provided at the bottom of the chassis;

[0007] The stabilizing mechanism comprises:

[0008] An electric telescopic rod, the top of which is fixedly connected to the bottom of the chassis, the bottom of which is fixedly connected to a fixed plate, the bottom of which is fixedly connected to an articulated block A, the inner wall of which is articulated with an articulated rod A, the articulated rod A is a round rod-shaped structure, and the electric telescopic rod is used to drive the fixed plate to achieve lifting;

[0009] The plug block A is a conical structure, the outer wall of the plug block A is fixedly connected with a fixing piece, the inner wall of the fixing piece is fixedly connected with a hinged rod A, one end of the hinged rod A is hinged to the inner wall of the hinged block A, and the plug block A is used to insert the tip into the soil and hook the soil and fix it through the conical shape.

[0010] Preferably, the outer wall of the hinged rod A is fixedly connected to a fixed block, the outer wall of the fixed block is fixedly connected to a hinged block B, and the inner wall of the hinged block B is hinged to a hinged rod B.

[0011] Preferably, the outer wall of the hinged rod B is fixedly connected with a spike block, the spike block is conical, one end of the hinged rod B is hinged with a hinge block C, and the outer wall of the hinge block C is fixedly connected with a lifting rod.

[0012] Preferably, the top of the lifting rod is in contact with the bottom of the fixed plate, and the outer wall of the lifting rod is slidably connected with a fixing sleeve.

[0013] Preferably, a fixing rod is fixedly connected to the top of the fixing sleeve, and a top end of the fixing rod is fixedly connected to the bottom of the fixing plate.

[0014] Preferably, a square groove is formed on the inner wall of the fixing sleeve, an insert block B is fixedly connected to the bottom of the lifting rod, and an inclined block is fixedly connected to the outer wall of the lifting rod.

[0015] Preferably, the insert block B is a conical structure, the inclined block is an inverted tooth structure, and the outer wall of the hinge rod A is provided with a leveling mechanism, and the leveling mechanism includes a rotating shaft.

[0016] Preferably, the outer wall of the rotating shaft is rotatably connected to the inner wall of the hinge rod A, and one end of the rotating shaft is fixedly connected to a connecting piece, and the connecting piece is a circular disc-shaped structure.

[0017] Preferably, a spring is fixedly connected to one side of the connecting member, one end of the spring is fixedly connected to the outer wall of the hinged rod A, the outer wall of the hinged rod A contacts an opening and closing plate, one end of the opening and closing plate is fixedly connected to an elliptical block, the outer wall of the elliptical block is fixedly connected to a pull rope, and the pull rope is made of rubber and is elastic.

[0018] The present invention provides an underwater video detection robot for low-visibility waters, which has the following beneficial effects:

[0019] 1. The present invention sets a stabilizing mechanism so that the four insert blocks A drive the articulated rods A to rise and rotate through the fixing parts, and the four articulated rods A begin to open and close upward and are firmly inserted into the bottom soil, so that the underwater robot and the chassis are fixed in the soil as a whole, reducing the shaking of the underwater robot caused by the impact of water flow during the long-term static detection period, and avoiding the occurrence of problems affecting the detection effect.

[0020] 2. The present invention sets a stabilizing mechanism so that the lifting rod is difficult to be pulled up and out of the soil by the water flow, and then the underwater robot is locked between the soil as a whole. Under the action of four plug blocks A around the lifting rod obliquely inserted into the soil, the underwater robot is restricted in the horizontal direction as a whole, so that the underwater robot will not move in the horizontal direction when the water flow is moving. Under the action of the lifting rod, the oblique block and the plug block B, the underwater robot is restricted in the vertical direction, so that the underwater robot is difficult to be pulled out and tilted in the vertical direction when the water flow is moving, and then the underwater robot is automatically and stably locked, so that the accuracy of data detection and collection can be maintained during long-term information collection and detection.

[0021] 3. The present invention sets a stabilizing mechanism. When the lifting rod descends vertically, it drives the square slot and the articulated rod B to move, and the articulated rod B changes from the original inclined state to the horizontal state. When the articulated rod B is in the horizontal state, it limits the four surrounding articulated rods A. At this time, the four articulated rods A cannot continue to expand in the soil, thereby maintaining stability. When the articulated rod B changes from the inclined state to the horizontal state, the spike block under the articulated rod B can be evenly inserted into the soil, thereby further improving the restriction between the underwater robot and the soil and reducing the problem of being pushed by water flow and underwater organisms.

[0022] 4. The present invention sets a leveling mechanism so that the elliptical block cannot be inserted into the soil, so it stays on the soil and is pushed out. The pull rope connected to the elliptical block forms a circle of outward diffusion propulsion, pushing and flattening the water plants and weeds below the underwater robot, preventing the water plants from floating upward with their buoyancy and being drawn into the blade propeller inside the underwater robot, and preventing the water plants from blocking and interfering with the surface of the underwater robot, resulting in a decrease in the external detection effect of the underwater robot. The pull rope can push away some other materials, keep the soil at the bottom of the underwater robot smooth, and make the underwater robot more stable when placed.

[0023] 5. The present invention sets a leveling mechanism so that the opening and closing plate always presses down the soil below, and forms a clamping effect of the opening and closing plate and the hinged rod A on the soil, and also clamps plants such as water plants in the soil, thereby maintaining the stability of the underwater robot. When part of the underwater soil is too soft, the opening and closing plate and the hinged rod A are used to clamp the soil and the water plants in the soil to form a more stable fixation of the underwater robot, further ensuring the accuracy and stability of the underwater robot during data information collection and detection in a long-term static state. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2The structure of the stabilizing mechanism of the present invention is shown in FIG. Figure 1 ;

[0026] Figure 3 For the present invention Figure 2 A magnified image of point A;

[0027] Figure 4 For the present invention Figure 2 A magnified view of point B;

[0028] Figure 5 The structure of the stabilizing mechanism of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 6 The disassembled structure of the stabilizing mechanism of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 7 The structure of the stabilizing mechanism of the present invention is shown in FIG. Figure 3 ;

[0031] Figure 8 The disassembled structure of the stabilizing mechanism of the present invention is shown in FIG. Figure 2 ;

[0032] Fig. 9 The motion state of the stabilizing mechanism of the present invention is Figure 1 ;

[0033] Fig.10 The motion state of the stabilizing mechanism of the present invention is Figure 2 ;

[0034] Fig.11 The structure diagram of the leveling mechanism of the present invention is shown in FIG. Figure 1 ;

[0035] Fig.12 The structure diagram of the leveling mechanism of the present invention is shown in FIG. Figure 2 ;

[0036] Fig.13 It is the motion state diagram of the leveling mechanism of the present invention.

[0037] In the figure: 1 chassis, 2 underwater robot, 3 stabilizing mechanism, 301 electric telescopic rod, 302 fixing plate, 303 hinge block A, 304 hinge rod A, 305 fixing part, 306 plug block A, 307 fixing block, 308 hinge block B, 309 hinge rod B, 310 hinge block C, 311 lifting rod, 312 fixing rod, 313 fixing sleeve, 314 square groove, 315 spike block, 316 oblique block, 317 plug block B, 4 leveling mechanism, 401 rotating shaft, 402 connecting part, 403 spring, 405 opening and closing plate, 406 elliptical block, 407 pull rope. DETAILED DESCRIPTION

[0038] Example 1: Please refer to Figure 1-4 , the present invention provides a technical solution: an underwater detection video robot for low-visibility waters, comprising an underwater robot 2, a bottom of the underwater robot 2 is fixedly connected to a base frame 1, and a stabilizing mechanism 3 is arranged at the bottom of the base frame 1;

[0039] The stabilizing mechanism 3 comprises:

[0040] The electric telescopic rod 301, the top of the electric telescopic rod 301 is fixedly connected to the bottom of the base frame 1, the bottom of the electric telescopic rod 301 is fixedly connected to a fixed plate 302, the bottom of the fixed plate 302 is fixedly connected to a hinge block A303, the inner wall of the hinge block A303 is hinged with a hinge rod A304, the hinge rod A304 is a round rod structure, and the electric telescopic rod 301 is used to drive the fixed plate 302 to play a lifting role;

[0041] Plug block A306 is a conical structure. The outer wall of the plug block A306 is fixedly connected with a fixing piece 305. The inner wall of the fixing piece 305 is fixedly connected with a hinged rod A304. One end of the hinged rod A304 is hinged to the inner wall of the hinged block A303. The plug block A306 is used to insert the tip into the soil and hook the soil and fix it through the conical shape.

[0042] When in use, after the underwater robot 2 dives into the water, the underwater robot 2 uses a propeller to push water in the water and moves to a designated detection position and then stops. After stopping at the position, the underwater robot 2 performs a long-term detection of the surrounding underwater data. After the detection is completed, the underwater robot 2 begins to rise in the water, and is recovered by the staff after rising to the surface, completing the collection and detection of various underwater data information;

[0043] Example 2: Please refer to Figure 1-10 On the basis of the first embodiment, the present invention provides a technical solution: the outer wall of the hinged rod A304 is fixedly connected with a fixed block 307, the outer wall of the fixed block 307 is fixedly connected with a hinged block B308, and the inner wall of the hinged block B308 is hinged with a hinged rod B309.

[0044] A spike block 315 is fixedly connected to the outer wall of the hinged rod B309, and the spike block 315 is conical. A hinge block C310 is hinged to one end of the hinged rod B309, and a lifting rod 311 is fixedly connected to the outer wall of the hinge block C310.

[0045] The top of the lifting rod 311 contacts the bottom of the fixing plate 302 , and the outer wall of the lifting rod 311 is slidably connected with a fixing sleeve 313 .

[0046] The top of the fixing sleeve 313 is fixedly connected with a fixing rod 312 , and the top of the fixing rod 312 is fixedly connected with the bottom of the fixing plate 302 .

[0047] A square groove 314 is formed on the inner wall of the fixing sleeve 313 , an insert block B317 is fixedly connected to the bottom of the lifting rod 311 , and an inclined block 316 is fixedly connected to the outer wall of the lifting rod 311 .

[0048] When the underwater robot 2 dives into the water to perform long-term stable and stationary collection and detection, the bottom frame 1 of the underwater robot 2 contacts the bottom soil, and the underwater robot 2 is pushed downward by the propeller in the underwater robot 2, so that the bottom frame 1 of the underwater robot 2 and the stabilizing mechanism 3 under the bottom frame 1 increase the contact force with the bottom soil, and the plug A306 will contact the soil and insert into the soil with the downward pressure, and at the same time, the electric telescopic rod 301 begins to extend, accelerating the speed and force of the plug A306 inserting into the soil, so that the four plugs A306 under the fixed plate 302 are inserted into the soil at the same time, and with the gravity of the underwater robot 2 and the downward propulsion force and The extension of the electric telescopic rod 301 causes the fixing plate 302 and the hinge block A303 to descend, and the hinge block A303 pushes the hinge rod A304, the fixing piece 305 and one end of the plug block A306 to start to insert downward and continuously around in the soil, so that the four plug blocks A306 drive the hinge rod A304 to hinge and rise and rotate on the hinge block A303 through the fixing piece 305, and the four hinge rods A304 begin to open and close upward and firmly insert into the bottom soil, so that the underwater robot 2 and the base frame 1 are fixed in the soil as a whole, reducing the shaking caused by the impact of the water flow during the long-term static detection period of the underwater robot 2, and avoiding the problem of affecting the detection effect;

[0049] When the four insert blocks A306 are inserted into the soil to drive the fixing member 305 and the hinge rod A304 to start hinged rotation, the distance between the four hinge rods A304 is far away, so that when the four hinge rods A304 are lifted, the fixing block 307 and the hinge block B308 are driven to move, and the hinge block B308 pulls the hinge rod B309 through the hinge relationship, and the other end of the hinge rod B309 drives the lifting rod 311 to slide on the inner wall of the fixing sleeve 313 through the square groove 314. When the lifting rod 311 is lowered, the fixing sleeve 313 plays a role in limiting the vertical lifting of the lifting rod 311. When the lifting rod 311 is vertically lowered, the square slot 314 and the hinged rod B309 are driven to move, and the hinged rod B309 changes from the original inclined state to the horizontal state. When the hinged rod B309 is in the horizontal state, it plays a role in limiting the four surrounding hinged rods A304. At this time, the four hinged rods A304 cannot continue to expand in the soil, thereby maintaining stability and passing through the lifting rod The descent of 311 drives the plug block B317 at the bottom of the lifting rod 311 to be vertically inserted into the soil. At the same time, several inclined blocks 316 on the outer wall of the lifting rod 311 are also inserted into the soil through their inclined surfaces. Under the inverted tooth shape of the inclined surfaces of the plug block B317 and the outer wall of the inclined block 316, the lifting rod 311 is difficult to be pulled out of the soil by the water flow, and then the underwater robot 2 is locked between the entire body and the soil. Under the action of the four plug blocks A306 around the lifting rod 311 being obliquely inserted into the soil, the horizontal direction of the entire underwater robot 2 is restricted, so that the underwater robot 2 will not move horizontally when the water flow is moving. Under the action of the lifting rod 311, the inclined block 316, and the plug block B317, the vertical direction of the underwater robot 2 is restricted, so that the underwater robot 2 is difficult to be pulled out and tilted in the vertical direction under the water flow, and then the underwater robot 2 is automatically and stably locked, so that the accuracy of data detection and collection is maintained during long-term information collection and detection.

[0050] When the articulated rod B309 changes from the inclined state to the horizontal state, the spike block 315 below the articulated rod B309 can be evenly inserted into the soil, thereby further improving the restriction between the underwater robot 2 and the soil, reducing the problem of being pushed by the water flow and underwater creatures;

[0051] Example 3: Please refer to Figure 1-13 On the basis of the first and second embodiments, the present invention provides a technical solution: the insert block B317 is a conical structure, the inclined block 316 is an inverted tooth structure, and a leveling mechanism 4 is provided on the outer wall of the hinge rod A304, and the leveling mechanism 4 includes a rotating shaft 401.

[0052] The outer wall of the rotating shaft 401 is rotatably connected to the inner wall of the hinge rod A304, and one end of the rotating shaft 401 is fixedly connected to a connecting piece 402, which is a circular disc-shaped structure.

[0053] A spring 403 is fixedly connected to one side of the connecting piece 402, one end of the spring 403 is fixedly connected to the outer wall of the hinged rod A304, the outer wall of the hinged rod A304 contacts an opening and closing plate 405, one end of the opening and closing plate 405 is fixedly connected to an elliptical block 406, the outer wall of the elliptical block 406 is fixedly connected to a pull rope 407, and the pull rope 407 is made of rubber and is elastic.

[0054] When the hinged rod A304 pushes the fixing member 305 and the plug A306 into the soil, the elliptical block 406 will remain on the soil surface due to its circular surface, and as the hinged rod A304 is pushed outward, the opening and closing plate 405 and the elliptical block 406 are extended forward, and the elliptical block 406 cannot be inserted into the soil, so it stays on the soil and is pushed out, and the pull rope 407 connected to the elliptical block 406 will form a circle of outward diffusion-type propulsion, pushing out and flattening the water grass and weeds below the underwater robot 2 at this time, so as to prevent the water grass from floating upward with its buoyancy and being rolled into the blade propeller in the underwater robot 2, and to prevent the water grass from blocking and interfering with the surface of the underwater robot 2, resulting in the problem of reduced external detection effect of the underwater robot 2, and the pull rope 407 can push away some other substances to keep the soil at the bottom of the underwater robot 2 smooth, so that the underwater robot 2 is more stable when placed;

[0055] At the same time, because the opening and closing plate 405 is located above the soil, and the hinge rod A304 is inserted into the soil, and because the rotating shaft 401 on the opening and closing plate 405 is subjected to the elastic force of the spring 403 on the connecting member 402 to reset it, when the plug A306 is inserted into the soil, causing the opening and closing plate 405 to stay on the soil, the opening and closing plate 405 rotates on the hinge rod A304 through the rotating shaft 401 to open and close, and when the angle between the two increases, the opening and closing plate 405 will be subjected to the resetting rotation force due to the elastic force of the spring 403, so that it is close to the hinge rod A304. , so that the opening and closing plate 405 always presses down the soil below, and the opening and closing plate 405 and the hinged rod A304 clamp the soil, and also clamp the water plants and other plants in the soil, thereby maintaining the stability of the underwater robot 2. When part of the underwater soil is too soft, the opening and closing plate 405 and the hinged rod A304 clamp the soil and the water plants in the soil to form a more stable fixation of the underwater robot 2, further ensuring the accuracy and stability of the underwater robot 2 in data information collection and detection in a long-term static state;

[0056] Finally, after the detection is completed, the electric telescopic rod 301 is retracted to directly withdraw the articulated rod A304 embedded in the soil, and the base frame 1 at the bottom of the underwater robot 2 presses the soil to directly withdraw the articulated rod A304 and the lifting rod 311 back to their original positions, thereby making the underwater robot 2 and the base frame 1 lose their fixing effect on the soil.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater video detection robot for use in low-visibility waters, comprising an underwater robot (2), wherein the bottom of the underwater robot (2) is fixedly connected to a base frame (1), and wherein: A stabilizing mechanism (3) is provided at the bottom of the base frame (1); The stabilizing mechanism (3) comprises: An electric telescopic rod (301), the top of the electric telescopic rod (301) being fixedly connected to the bottom of the base frame (1), the bottom of the electric telescopic rod (301) being fixedly connected to a fixed plate (302), the bottom of the fixed plate (302) being fixedly connected to a hinge block A (303), the inner wall of the hinge block A (303) being hinged to a hinge rod A (304), the hinge rod A (304) being a circular rod-shaped structure, the electric telescopic rod (301) being used to drive the fixed plate (302) to achieve a lifting effect; An insert block A (306), the insert block A (306) being of a conical structure, the outer wall of the insert block A (306) being fixedly connected to a fixing member (305), the inner wall of the fixing member (305) being fixedly connected to a hinged rod A (304), one end of the hinged rod A (304) being hinged to the inner wall of the hinged block A (303), the insert block A (306) being used to insert the tip into the soil and to hook the soil and fix it through the conical shape; The outer wall of the hinged rod A (304) is fixedly connected to a fixed block (307), the outer wall of the fixed block (307) is fixedly connected to a hinged block B (308), and the inner wall of the hinged block B (308) is hinged to a hinged rod B (309); The outer wall of the hinged rod B (309) is fixedly connected to a spike block (315), the spike block (315) is conical, one end of the hinged rod B (309) is hinged to a hinge block C (310), and the outer wall of the hinge block C (310) is fixedly connected to a lifting rod (311).

2. The underwater video detection robot for low-visibility waters according to claim 1, characterized in that: The top of the lifting rod (311) contacts the bottom of the fixed plate (302), and the outer wall of the lifting rod (311) is slidably connected to a fixed sleeve (313).

3. The underwater video detection robot for low-visibility waters according to claim 2, characterized in that: The top of the fixing sleeve (313) is fixedly connected to a fixing rod (312), and the top of the fixing rod (312) is fixedly connected to the bottom of the fixing plate (302).

4. The underwater video detection robot for low-visibility waters according to claim 3, characterized in that: The inner wall of the fixing sleeve (313) is provided with a square groove (314), the bottom of the lifting rod (311) is fixedly connected with an insert block B (317), and the outer wall of the lifting rod (311) is fixedly connected with an inclined block (316).

5. The underwater video detection robot for low-visibility waters according to claim 4, characterized in that: The insert block B (317) is a conical structure, the inclined block (316) is an inverted tooth structure, and the outer wall of the hinge rod A (304) is provided with a leveling mechanism (4), and the leveling mechanism (4) includes a rotating shaft (401).

6. The underwater video detection robot for low-visibility waters according to claim 5, characterized in that: The outer wall of the rotating shaft (401) is rotatably connected to the inner wall of the hinge rod A (304); one end of the rotating shaft (401) is fixedly connected to a connecting piece (402); the connecting piece (402) is a circular disc-shaped structure.

7. The underwater video detection robot for low-visibility waters according to claim 6, characterized in that: A spring (403) is fixedly connected to one side of the connecting member (402); one end of the spring (403) is fixedly connected to the outer wall of the hinged rod A (304); the outer wall of the hinged rod A (304) contacts an opening and closing plate (405); one end of the opening and closing plate (405) is fixedly connected to an elliptical block (406); the outer wall of the elliptical block (406) is fixedly connected to a pull rope (407); the pull rope (407) is made of rubber and has elasticity.

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