Moving mechanism and intelligent coast safety patrol and underwater search robot
The intelligent coastal security patrol and underwater search robot, which integrates navigation and vision acquisition modules, solves the problems of low efficiency in coastal patrol and high risk in underwater search in existing technologies, and realizes autonomous operation and efficient search in complex environments.
Patent Information
- Application Number
- CN202511124776.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-12
- Publication Date
- 2025-11-04
AI Technical Summary
Current coastal patrols rely on manpower, which is inefficient and poses safety risks. Underwater search and rescue missions rely on divers or specialized equipment, which are costly and risky. Robots lack intelligent decision-making capabilities and are unable to cope with complex environments.
Design an intelligent coastal security patrol and underwater search robot that integrates a navigation module, a vision acquisition module, a SLAM system, an inertial navigation attitude sensor, a dynamic vision sensor, an ultrasonic obstacle avoidance sensor, etc. It is equipped with a 3D structured light camera and a binocular dynamic camera, and uses deep learning algorithms for target recognition and obstacle avoidance, and has the ability to autonomously judge potential threats.
It enables robots to move flexibly underwater and on land, has the ability to autonomously assess potential threats, significantly improves mission execution efficiency and safety, and achieves comprehensive monitoring and efficient search and capture of coastal and underwater environments.
Smart Images
Figure CN120886601A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of inspection robot technology, specifically a mobile intelligent coastal security patrol and underwater search robot. Background Technology
[0002] In applications such as coastal security patrols and underwater search and rescue, existing technologies have significant shortcomings. For example, traditional coastal patrols rely primarily on manpower, which is not only inefficient but also difficult to achieve comprehensive coverage, posing significant safety risks. Meanwhile, underwater search and rescue missions typically depend on divers or specialized equipment, which is not only costly but also risky, especially in adverse weather or complex water conditions. Furthermore, existing robots have limited functionality and lack intelligent decision-making capabilities. Specifically, some current coastal patrol robots only possess basic movement and monitoring functions and cannot autonomously assess potential threats, making them prone to getting trapped underwater, such as entangled in underwater vegetation or becoming stuck in narrow environments. Summary of the Invention
[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.
[0004] To address the technical problems reflected in the background section, the present invention provides the following technical solution:
[0005] An intelligent coastal security patrol and underwater search robot includes a base that moves in water or on land, and also includes components mounted on the base:
[0006] The base unit determines its movement path in water via a navigation module.
[0007] The visual acquisition module works in conjunction with the navigation module to construct 3D image information of the surrounding area and acquire underwater targets.
[0008] In the above scheme, the base is the main body of the robot. The navigation module enables the robot to record its real-time position when moving underwater and on land, so that the robot does not get lost. The vision acquisition module is responsible for collecting information about the surrounding environment, such as taking pictures and constructing 3D image structures, and at the same time, it establishes navigation paths for the navigation module.
[0009] As a preferred technical solution for an intelligent coastal security patrol and underwater search robot, the navigation module includes a SLAM system integrated on the base, as well as an inertial navigation attitude sensor and a dynamic vision sensor. The inertial navigation attitude sensor is disposed inside the base, and the dynamic vision sensor is symmetrically disposed on the base.
[0010] In the above scheme, the SLAM system, together with the collected information about the surrounding environment, constructs a three-dimensional structure within the area, while the inertial navigation attitude sensor and the dynamic vision sensor play the role of navigating the robot within the environment.
[0011] As a preferred technical solution for an intelligent coastal security patrol and underwater search robot, the base integrates model data, and the visual acquisition module includes a 3D structured light camera and a binocular dynamic camera, which performs target image acquisition and establishes a comparison with the model data through deep learning algorithms.
[0012] In the above scheme, the collected images can be identified through comparison processing to determine potential underwater threats, thereby ensuring the robot's safe underwater operation.
[0013] As a preferred technical solution for an intelligent coastal security patrol and underwater search robot, the navigation module also includes an ultrasonic obstacle avoidance sensor, which is integrated with the binocular dynamic camera.
[0014] In the above scheme, the cooperation of sensors further enables the robot to identify obstacles in front of it, allowing the robot to better avoid potential underwater threats during operation.
[0015] As a preferred technical solution for intelligent coastal security patrol and underwater search robots, the inertial navigation system, in conjunction with the SLAM system, constructs coordinate position points, and the target image is located using these coordinate position points.
[0016] In the above scheme, a 3D image of the area is constructed in real time through the SLAM system, and the robot's current position is located in the image, which can better assist the robot's underwater navigation.
[0017] To further improve the underwater capabilities of the aforementioned robot, this invention also provides a mobile mechanism, specifically:
[0018] A mobility mechanism is provided for mounting on the robot described in the above embodiments, enabling the robot to have good mobility both underwater and on land. The mechanism includes a support portion, and:
[0019] A land surface moving assembly connected to the support portion maintains movement on the land surface;
[0020] The thrust assembly connected to the support generates thrust in the water.
[0021] In the above scheme, the land-based movement mechanism is used for the robot's land movement process, while the thrust reverser allows the robot to swim directly underwater, thereby reducing movement restrictions caused by rugged terrain.
[0022] As a preferred technical solution for a mobile mechanism, the land surface moving component includes a drive sprocket disposed on a support.
[0023] In the above scheme, the transmission sprocket can ensure that the robot can move stably on land and underwater, ensuring the robot can move forward steadily, thereby ensuring the safety of underwater operations.
[0024] As a preferred technical solution for a mobile mechanism, the land-based mobile component further includes a steering wheel disposed on the support, and the transmission sprocket and the steering wheel are distributed sequentially along the forward direction of the base.
[0025] In the above scheme, the addition of steering wheels further increases the robot's ground contact area, thereby increasing the grip and making the movement process more stable. At the same time, the steering wheels can better assist the robot in turning.
[0026] As a preferred technical solution for a mobile mechanism, the thrust reverser assembly includes an electric propeller mounted on a support.
[0027] In the above scheme, the propeller can ensure that the robot can move forward smoothly underwater.
[0028] As a preferred technical solution for a moving mechanism, the electric propeller is distributed at least in the horizontal and longitudinal directions of the support.
[0029] In the above scheme, the distribution of electric propellers ensures that the robot can not only move laterally but also longitudinally underwater, thereby suspending itself in the water and traversing terrain, thus improving its underwater mobility.
[0030] The intelligent coastal security patrol and underwater search robot provided by this invention has the following beneficial effects:
[0031] The robot provided by this invention possesses the ability to autonomously assess potential threats, flexibly respond to complex environments, significantly improve task execution efficiency, and ensure operational safety. By integrating advanced perception, decision-making, and execution modules, this patent aims to achieve comprehensive monitoring and efficient search and capture of coastal and underwater environments, meeting diverse security patrol needs. Attached Figure Description
[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:
[0033] Figure 1 This is a perspective view of the robot involved in the embodiments of the present invention.
[0034] Figure 2 for Figure 1 A three-dimensional view of the structure shown in the middle section.
[0035] Figure 3 for Figure 2 Side view of the structure shown.
[0036] Figure 4 for Figure 2 A schematic diagram of the internal structure of the structure shown.
[0037] Figure 5 for Figure 1 A three-dimensional diagram of another part of the structure shown.
[0038] Figure 6 A schematic diagram showing the setup of the binocular dynamic camera and obstacle avoidance sensor inside the sealed chamber.
[0039] Figure label:
[0040] 1. Waterproof high-precision servo motor; 2. Anti-detachment chain link; 3. Steering wheel; 4. 3D structured light camera; 5. Control chassis; 6. Power supply; 7. Dynamic vision sensor; 8. Development board; 9. Inertial navigation attitude sensor; 10. Integrated sealed chamber; 11. Waterproof signal transmission cable; 12. Propeller; 13. Binocular dynamic camera; 14. Obstacle avoidance sensor. Detailed Implementation
[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0042] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.
[0043] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.
[0044] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.
[0045] Reference Figure 1-5 Embodiments of the present invention provide an intelligent coastal security patrol and underwater search robot, comprising:
[0046] 3D Structured Light Photography Gimbal System (Base): Utilizing 3D structured light imaging technology, this system achieves precise identification and positioning of target objects and acquires three-dimensional image information of the environment. Equipped with high-precision rotation and pitch mechanisms, the gimbal system enables omnidirectional scanning of coastlines and underwater areas, providing detailed on-site data support for security patrols and search and rescue missions. The system incorporates high-sensitivity sensors and advanced image processing algorithms, enabling it to output clear and accurate image information even in low-light or complex lighting environments, significantly improving the robot's operational efficiency and accuracy.
[0047] Sealed Cabin Design: This cabin integrates a dedicated underwater dynamic camera 13, an underwater ultrasonic obstacle avoidance sensor 14, and 6 backup emergency power supply modules. The front of the cabin is a transparent glass dome structure for the camera 13 to capture images. The entire structure is designed to ensure the stable operation of each component under extreme environmental conditions and to provide the necessary buoyancy support to meet the needs of underwater operations. The sealed cabin is constructed of high-strength, corrosion-resistant materials, which can effectively resist the erosion of seawater and external impacts, thereby ensuring the long-term operational reliability of the underwater robot.
[0048] The plate frame serves as the robot's main support structure, connecting and securing all the aforementioned key components to ensure the structural integrity and operational stability of the entire system. Manufactured using lightweight, high-strength materials, it reduces the robot's overall weight while maintaining sufficient rigidity and durability. The plate frame's design fully considers the differences between underwater and terrestrial environments. Through optimized structural layout and enhanced waterproof sealing measures, it effectively prevents water intrusion and corrosion of mechanical components, extending the robot's service life. Furthermore, the connection interfaces on the plate frame facilitate quick assembly and disassembly for maintenance, improving the robot's maintainability and flexibility.
[0049] In addition to the above, to ensure the robot has efficient mobility during underwater operations, this invention also provides a mobility mechanism for mounting on the aforementioned robot, thereby providing good hardware support for the robot's underwater movement. This mechanism includes:
[0050] Underwater propulsion system: Composed of multiple high-torque propeller thrusters 31, it provides strong propulsion power for underwater operations, ensuring that the robot can move flexibly in waters of different depths and quickly locate the predetermined position;
[0051] Land-based mobile transmission system: This system uses a high-precision waterproof servo motor 1 as its core power source, driven by a chain composed of a series of anti-detachment chain links 2, and equipped with high-strength disc sprockets as the main transmission element. Simultaneously, the system integrates anti-slip steering wheels 3 that can quickly adjust their angle, ensuring a smooth transition and efficient operation of the robot during land-water transitions. This transmission system possesses excellent driving force, capable of overcoming the resistance of various complex terrains, and achieves precise motion control through an intelligent control system, thereby enabling the robot to exhibit greater flexibility and stability when performing coastal patrol tasks. Furthermore, the system is equipped with an automatic adjustment mechanism that can adjust the track tension and travel speed in real time according to different road conditions, further enhancing the robot's adaptability to terrain and operational efficiency.
[0052] Based on the above, the underwater propulsion system provides powerful power support, ensuring the robot's flexible movement underwater; the 3D structured light photography gimbal system utilizes advanced camera technology to achieve accurate identification and positioning of target objects; the land-based mobility transmission system ensures a smooth transition and efficient operation of the robot during water-to-land transitions; the sealed cabin design ensures the stable operation of each component in extreme environments; and the plate frame, as the main support structure, connects and fixes all key components, ensuring the structural integrity and operational stability of the entire system. The collaborative work of these components enables this invention to demonstrate outstanding performance in coastal security patrols and underwater search and rescue missions.
[0053] Regarding the above, during coastal security patrols and underwater search and rescue missions, the robot is controlled by personnel on land using signals, while the intelligent robot operates underwater according to instructions. For communication between the robot and the ground, this invention employs a highly efficient and stable wired signal transmission method. When the robot is operating underwater, it connects to the ground control station via a waterproof signal transmission cable 11 integrated into a sealed cabin. This cable not only transmits control commands and status information but also provides the robot with necessary power support. In this way, ground personnel can monitor the robot's working status in real time and remotely control it as needed. The signal transmission process utilizes advanced encoding and decoding technologies to ensure stable transmission and low-latency response in complex underwater environments.
[0054] In this invention, when the intelligent robot is used on land, it can rely on two methods. One method uses the power supply 6 inside the control box 5 as its driving energy, and acquires image data of the target object through the 3D structured light camera 4. This data is then input into a pre-trained deep learning model. This model can automatically extract and classify features from the images and compare them with information on known target objects stored in the database. Based on the comparison results, the robot can quickly identify the target object (or issue commands to move forward, backward, left, right, or turn), and then the robot can move on its own. It can be recharged when the power supply is depleted.
[0055] The second method is to rely on wired access to control the robot through a controller. (For complex, rugged, and narrow environments, the first method may not be sufficient when the robot needs to pass through, requiring human intervention for remote control.)
[0056] During operation, the intelligent robot first uses its onboard 3D structured light camera 4 to comprehensively scan the inspection area to obtain detailed three-dimensional image data. Through high-precision sensors and advanced image processing algorithms, the system can quickly identify potential threats or target objects and transmit precise positioning information to the control unit 5. Subsequently, the robot smoothly transitions to the land environment via its land-based mobility transmission system, utilizing anti-slip steering wheels 3 and precise transmission control technology to overcome complex terrain and successfully complete the inspection task. Upon reaching the designated location, the robot uses the 3D structured light camera 4 for more refined target identification and positioning.
[0057] Specifically, in this process, pre-trained model data is transmitted and imported into the robot's development board (8 units). The robot then acquires image data through a 3D structured light camera (4 units), and uses deep learning algorithms to extract and classify features from the images. This data is compared with information in a pre-established model database, and the robot automatically issues corresponding commands based on the analysis results, such as tracking, recording, or issuing alarms. This technology significantly improves the robot's intelligence and response speed, making coastal security patrols and underwater search operations more efficient and accurate.
[0058] During the underwater search and capture phase, the robot activates the high-torque propeller thruster 31 according to preset commands, using the underwater propulsion system to quickly move towards the predetermined target location. Subsequently, the robot performs target image acquisition through the combined application of a dynamic binocular camera 13 and a 3D structured light camera 4. During underwater movement, the robot uses data provided by the inertial navigation attitude sensor 9 and the dynamic vision sensor 7 to adjust its attitude and speed in real time to ensure stable and efficient approach to the target. In order to have good lighting conditions underwater for shooting needs, supplementary lights are also provided on the top of the sealed cabin to supplement light in dark areas.
[0059] In addition, the underwater-specific dynamic camera 13 and ultrasonic obstacle avoidance sensor 14 inside the sealed chamber begin to operate, further collecting environmental information to ensure operational safety. According to mission requirements, the robot will flexibly adjust its direction and speed based on the identification results during the search and capture mission to capture or mark target objects. Throughout the operation, the robot monitors the status of each component in real time through the integrated control system to ensure stable operation of each system in extreme environments. Simultaneously, the backup emergency power supply module 6 inside the integrated sealed chamber 10 is on standby to deal with possible power failures, ensuring mission continuity and safety. Through the integration and application of this series of advanced technologies, this invention achieves efficient and intelligent operation of coastal security patrols and underwater search and capture missions, significantly improving operational efficiency and safety.
[0060] During this process, the robot uses a combination of a dynamic binocular camera 13 and 3D structured light scanning technology to acquire target images. The acquired image information is then compared and analyzed with a database. Furthermore, the 3D structured light camera 4 itself has 3D scanning and imaging capabilities, enabling it to convert the scanned object information into a 3D model. When a problem is detected, the robot's inertial navigation system and SLAM system work together to locate and construct a precise coordinate point in real time, mapping it onto the pre-built 3D model.
[0061] Regarding the robot's underwater operation, the robot designed in this invention possesses the ability to hover and propel itself. Through an integrated high-torque propeller thruster 31, the robot can achieve flexible movement and precise positioning in water. During propulsion, the robot utilizes data provided by the inertial navigation attitude sensor 9 and the dynamic vision sensor 7 to adjust its attitude and speed in real time, ensuring a stable and efficient approach to the target. This process not only improves the robot's operational efficiency but also reduces the potential risk of damage caused by contact with the riverbed.
[0062] During coastline patrols, the robot smoothly transitions to terrestrial environments using its land-based mobility transmission system, and overcomes complex terrain with its anti-slip steering wheels and precise transmission control technology. Simultaneously, its 3D structured light photography gimbal system continuously scans and identifies the surrounding environment, providing detailed on-site data support for security patrol missions. The robot can flexibly adjust its patrol route and speed based on the identification results to ensure comprehensive coverage of the target area and timely detection of potential threats.
[0063] The intelligent coastal security patrol and underwater search robot involved in this invention, through its highly integrated perception, decision-making, and execution modules, achieves comprehensive and efficient monitoring and search of the coastline and underwater environment. This robot exhibits significant technical advantages in the following aspects:
[0064] First, its underwater propulsion system boasts superior performance, ensuring the robot can move flexibly and position itself precisely in waters of varying depths, significantly improving the efficiency and accuracy of underwater operations. Furthermore, the system's highly efficient and energy-saving design allows the robot to maintain excellent power performance and endurance even during extended continuous operation, thus ensuring the successful completion of tasks.
[0065] Secondly, the application of the 3D structured light photography gimbal system enables the robot to accurately identify and locate target objects and acquire three-dimensional image information of the environment. This function not only improves the robot's operational efficiency and accuracy but also provides detailed on-site data support for security patrol and search missions.
[0066] Furthermore, the land-based mobility system is designed with full consideration of the smooth transition and efficient operation requirements during the land-water transition. By integrating key components such as high-precision waterproof servo motors, anti-detachment chain links, and anti-slip steering wheels, the robot can overcome various complex terrain resistances, exhibiting greater flexibility and stability.
[0067] Furthermore, the sealed cabin design ensures the stable operation of all components in extreme environments and provides the necessary buoyancy support to meet the needs of underwater operations. Meanwhile, the plate frame, as the robot's main support structure, connects and secures all critical components, ensuring the structural integrity and operational stability of the entire system.
[0068] In summary, the intelligent coastal security patrol and underwater search robot proposed in this patent achieves comprehensive and efficient monitoring and search of the coastline and underwater environment through highly integrated advanced technologies and components. This robot not only significantly improves operational efficiency and safety but also provides a completely innovative solution for coastal security patrol and underwater search missions.
[0069] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.
[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. An intelligent coastal security patrol and underwater search robot, characterized in that: Includes a base, which is movable in water or on land, and also includes components mounted on the base: The base unit determines its movement path in water via a navigation module. The visual acquisition module works in conjunction with the navigation module to construct three-dimensional image information of the surrounding area and acquire underwater targets.
2. The intelligent coastal security patrol and underwater search robot according to claim 1, characterized in that: The navigation module includes a SLAM system integrated on the base, as well as an inertial navigation attitude sensor and a dynamic vision sensor. The inertial navigation attitude sensor is disposed inside the base, and the dynamic vision sensor is symmetrically disposed on the base.
3. The intelligent coastal security patrol and underwater search robot according to claim 1, characterized in that: The base integrates model data, and the visual acquisition module includes a 3D structured light camera and a binocular dynamic camera, which performs target image acquisition and matches and analyzes the model data through deep learning algorithms.
4. The intelligent coastal security patrol and underwater search robot according to claim 3, characterized in that: The navigation module also includes an ultrasonic obstacle avoidance sensor, which is integrated with the binocular dynamic camera.
5. The intelligent coastal security patrol and underwater search robot according to claim 1, characterized in that: The inertial navigation system works in conjunction with the SLAM system to construct coordinate position points, and the target image is located using these coordinate position points.
6. A mobile mechanism mounted on the intelligent coastal security patrol and underwater search robot according to any one of claims 1-5, characterized in that: Including the support section, and: A land surface moving assembly connected to the support portion maintains movement on the land surface; The thrust assembly connected to the support generates thrust in the water.
7. The moving mechanism according to claim 6, characterized in that: The land-based moving component includes a drive sprocket mounted on a support.
8. The moving mechanism according to claim 7, characterized in that: The land-based moving component also includes a steering wheel disposed on the support, and the drive sprocket and the steering wheel are distributed sequentially along the forward direction of the base.
9. The moving mechanism according to claim 6, characterized in that: The thrust reverser assembly includes an electric propeller mounted on a support.
10. The moving mechanism according to claim 9, characterized in that: The electric propellers are distributed at least in the horizontal and longitudinal directions of the support.