Underwater robot wall-attached observation module

Abstract

The utility model discloses a wall-attached observation module of an underwater robot. The device comprises a containing cavity formed by a transparent acrylic square shell and a square shell mounting plate in a closed mode, the containing cavity is filled with clear water and provided with a camera and a lighting lamp, the camera is sealed through a transparent acrylic spherical shell and a spherical shell mounting base and fixed to the square shell mounting plate, and the lighting lamp is fixed to the square shell mounting plate through a mounting lamp holder. The two sides of the exterior of the transparent acrylic square shell are connected with the robot connecting frame, the square shell mounting plate and the robot connecting frame are connected through bolts and limiting sleeves, and the bolts sequentially penetrate through compression springs, the square shell mounting plate and the limiting sleeves from the bottom to be connected to the robot connecting frame. The module has the advantages that the stability and reliability of the module are effectively improved through a series of sealing structures, the obstacle crossing action is achieved through adjustment of the compression spring, the module can effectively drain muddy water on the metal wall face of a ship body by filling the containing cavity with clear water, and therefore a clear observation view is provided.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to an underwater robot wall-attached observation module for observing the rust and attachment status of underwater parts of ships. Background Art

[0002] In modern ship maintenance and marine engineering, the inspection and monitoring of underwater hulls is particularly important. Prolonged immersion in seawater makes hulls susceptible to corrosion and the growth of marine organisms. Therefore, regular inspections of underwater conditions are crucial to ensuring vessel safety and performance. Traditional underwater inspection methods rely on manual inspections by divers or simple underwater camera equipment. These methods have limitations, such as the dangers of diver operations, operational complexity, and poor image quality in turbid waters.

[0003] To address these issues, a growing number of researchers and engineers are turning their attention to the application of underwater robots (AUVs) in ship monitoring. Existing AUVs often utilize complex image processing and sensor fusion technologies. While these technologies offer some monitoring effectiveness, they significantly increase system complexity and cost. Furthermore, traditional underwater camera solutions struggle to maintain image quality in harsh environments. Therefore, there is an urgent need for a new underwater observation module that can achieve efficient monitoring and improve the efficiency and safety of underwater inspections. Summary of the Invention

[0004] The technical problem to be solved by the utility model is to provide an underwater robot wall-attached observation module with a simple structure, flexible adaptability and the ability to achieve effective monitoring in complex underwater environments, thereby solving the problem of inconvenience in observing the rust and attachment status of the underwater part of a ship.

[0005] In order to solve the above technical problems, the underwater robot wall-attached observation module of the utility model includes a accommodating chamber formed by a transparent acrylic square shell and a square shell mounting plate. The accommodating chamber is filled with clean water and is provided with a camera and a lighting lamp. The outside of the camera is sealed by a transparent acrylic spherical shell and a spherical shell mounting seat and fixed to the square shell mounting plate. The lighting lamp is fixed to the square shell mounting plate through a mounting lamp holder.

[0006] The outer sides of the transparent acrylic square shell are connected to the robot connecting frame. The square shell mounting plate and the robot connecting frame are connected by bolts and limit sleeves. The bolts pass through the compression spring, the square shell mounting plate, and the limit sleeve from the bottom in sequence and are connected to the robot connecting frame.

[0007] A front support seat is provided in the transparent acrylic square shell and is equipped with universal wheels.

[0008] The camera is a pan-tilt dual camera.

[0009] The number of the lighting lamps is one or more.

[0010] The wiring harnesses of the camera and the lighting are connected via a watertight connector.

[0011] Advantages of the present invention: The sealing structure of the transparent acrylic square shell and the square shell mounting plate and the auxiliary support of the front mounting plate effectively improve the stability and reliability of the module. By filling the accommodating cavity with clean water, the module can effectively drain the muddy water on the metal wall of the hull, thereby providing a clear observation field of view. In addition, the compression spring in the module will buffer the resistance, thereby protecting the equipment and enhancing the obstacle crossing capability. Combined with the appropriate arrangement of the lighting and the protective design of the camera, the module can achieve efficient and stable monitoring in complex underwater environments. These advantages enable the module to not only improve the clarity of underwater observations, but also enhance the adaptability of the module to meet the needs of different application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a front cross-sectional view of a wall-attached observation module of an underwater robot of the present utility model;

[0013] Figure 2 This is a left-side cross-sectional view of a wall-attached observation module of an underwater robot according to the present utility model;

[0014] Figure 3 This is a top view of a wall-attached observation module of an underwater robot of the present utility model;

[0015] Figure 4 This is an overall schematic diagram of an underwater robot wall-attached observation module of the present utility model. DETAILED DESCRIPTION

[0016] The underwater robot wall-attached observation module of the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Example 1: (The part of the underwater robot's wall-attached observation module close to the ship is the bottom)

[0018] like Figure 1As shown, the figure shows the structural layout and main components of the underwater robot wall-attached observation module, including a accommodating cavity 3 formed by a transparent acrylic square shell 1 and a square shell mounting plate 2. The transparent acrylic square shell 1 and the square shell mounting plate 2 are sealed and connected. A camera 4 and a lighting lamp 5 are arranged in the accommodating cavity 3. The wiring harness of the camera 4 and the lighting lamp 5 are connected through a watertight connector 14. The camera 4 selects a pan-tilt dual camera. The camera 4 is covered with a transparent acrylic spherical shell 6 and is connected to the square shell mounting plate 2 with a spherical shell mounting seat 7. The waterproofness of the camera 4 is ensured by the sealed installation. The lighting lamp 5 is connected to the square shell mounting plate 2 through the mounting lamp holder 10. The outer sides of the transparent acrylic square shell 1 are connected to the robot connecting frame 11, and the square shell mounting plate 2 is connected to the machine The robot connecting frame 11 is connected by a bolt 8 and a limit sleeve 12. The bolt 8 passes through the compression spring 9, the square shell mounting plate 2, and the limit sleeve 12 from the bottom in sequence and is connected to the robot connecting frame 11; when encountering underwater attachments or obstacles, the transparent acrylic square shell 1 can further compress the compression spring 9 under the action of the support reaction force of the attachment, and the height of the limit sleeve 12 can be adjusted to limit the distance between the bottom of the transparent acrylic square shell 3 and the metal wall of the hull, thereby increasing the distance between the transparent acrylic square shell 3 and the metal wall of the hull, thereby realizing the obstacle crossing function of the wall-attached observation module and protecting the entire wall-attached observation module; the accommodating chamber 3 is filled with clear water, and the transparent acrylic square shell 1 is used to drain the muddy water on the metal wall of the hull, realizing local clear water observation.

[0019] like Figure 2 Figure 3 As shown, a mounting seat 15 is provided on the upper portion of the underwater robot wall-attached observation module for use in conjunction with other functional components.

[0020] like Figure 4 The figure shows the overall schematic diagram of the wall-attached observation module of the underwater robot of the present invention as viewed from the outside.

[0021] Of course, the number and arrangement of the cameras 4 and lights 5 can be adjusted appropriately based on actual needs. For example, while the present invention preferably configures a single light 5 to meet the lighting requirements of the pan-tilt camera 4, in specific application environments, it is also possible to increase or decrease the number of lights, or adjust their arrangement, to optimize the lighting effect and meet the requirements of different monitoring scenarios. Such adjustments to the number and arrangement of cameras and lights fall within the scope of protection of the present invention.

Claims

1. An underwater robot wall-attached observation module, comprising a housing cavity (3) formed by a transparent acrylic square shell (1) and a square shell mounting plate (2), characterized in that: The accommodating cavity (3) is filled with clear water and is provided with a camera (4) and a lighting lamp (5). The camera (4) is sealed from the outside by a transparent acrylic spherical shell (6) and a spherical shell mounting seat (7) and is fixed to the square shell mounting plate (2). The lighting lamp (5) is fixed to the square shell mounting plate (2) by a mounting lamp seat (10).

2. The underwater robot wall-attached observation module according to claim 1, characterized in that: The outer sides of the transparent acrylic square shell (1) are connected to the robot connecting frame (11), and the square shell mounting plate (2) and the robot connecting frame (11) are connected via bolts (8) and a limiting sleeve (12), wherein the bolts (8) pass through the compression spring (9), the square shell mounting plate (2), and the limiting sleeve (12) from the bottom in sequence and are connected to the robot connecting frame (11).

3. The underwater robot wall-attached observation module according to claim 1 or 2, characterized in that: The transparent acrylic square shell (1) is provided with a front support seat and is equipped with universal wheels.

4. The underwater robot wall-attached observation module according to claim 1, characterized in that: The camera (4) is a pan-tilt dual camera.

5. The underwater robot wall-attached observation module according to claim 1, characterized in that: The number of the lighting lamps (5) is one or more.

6. The underwater robot wall-attached observation module according to claim 1, 4 or 5, characterized in that: The wiring harnesses of the camera (4) and the lighting lamp (5) are connected via a watertight connector (14).

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