Underwater robot

Abstract

The utility model discloses an underwater robot, including mounting seat, imaging subassembly and filter component, be provided with the first containing cavity in the mounting seat, and the outside wall of mounting seat is provided with the opening that communicates with the first containing cavity through, imaging subassembly includes camera and echo sounder, and the camera sets up in the first containing cavity, and the shooting end of camera is towards the opening setting, filter component includes filter piece, connecting pipe, pump body and transparent cover, and the transparent cover sets up in the shooting end of camera, and filter piece is connected with the transparent cover through connecting pipe, and is provided with pump body on connecting pipe. The utility model discloses an underwater robot through the setting of filter component, can utilize pump body and make connecting pipe with filter piece the clean water that filters out to the shooting end of camera, reduces the shooting end of camera and is affected by the silt and pollutant in water, effectively promotes the environmental definition at the shooting end, promotes the definition of lens and the imaging effect, guarantees the working efficiency of underwater robot.

Description

Technical Field

[0001] This utility model relates to the field of underwater photography equipment technology, and in particular to an underwater robot. Background Technology

[0002] The underwater environment has always been a subject of great interest. For example, what is the underwater environment like near waterway transportation routes? Do underwater reefs affect the safety of transport vessels? Underwater geological observations are crucial, as is the extent of siltation in ports. Therefore, underwater robots have become essential tools for underwater exploration. When underwater robots are conducting inspections, their onboard cameras act as their eyes, reconnaissance, photography, and monitoring of the underwater surface. However, in environments with fine sand or silt on the seabed, the movement of underwater robots can create turbid water. To capture clear images, a long wait is required for the sand or silt to settle naturally before taking pictures, impacting the robot's observation and operational capabilities and resulting in low efficiency. Utility Model Content

[0003] The purpose of this invention is to provide an underwater robot with a simple structure, whose filter component can filter out clean water and spray it onto the camera's shooting end, thereby improving the clarity of the captured image and ensuring the underwater robot's working efficiency.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] An underwater robot is provided, including a mounting base, an imaging component, and a filtering component. The mounting base has a first receiving cavity, and an opening communicating with the first receiving cavity is provided through the outer side wall of the mounting base. The imaging component includes a camera and a sonar. The camera is disposed in the first receiving cavity, and the shooting end of the camera is facing the opening. The sonar is provided at least on the top of the mounting base and on the side of the camera located in the first receiving cavity. The filtering component includes a filter element, a connecting pipe, a pump body, and a transparent cover. The transparent cover is disposed at the shooting end of the camera. The filter element is connected to the transparent cover through the connecting pipe, and the pump body is disposed on the connecting pipe.

[0006] As a preferred embodiment of an underwater robot, the transparent cover is detachably connected to the camera's shooting end.

[0007] As a preferred embodiment of the underwater robot, the imaging component further includes a protective shell, the camera is disposed inside the protective shell, and the transparent cover is detachably connected to the protective shell.

[0008] As a preferred embodiment of the underwater robot, the imaging component further includes a connector, which includes a clamping part and a first connecting part arranged at an angle. The first connecting part is detachably connected to the protective shell. The clamping part and the protective shell are spaced apart to form a clamping groove. The outer peripheral wall of the transparent cover extends in all directions with a snap-fit ​​part, and the snap-fit ​​part is adjacent to the side of the transparent cover facing the protective shell. The snap-fit ​​part snaps into the clamping groove.

[0009] As a preferred embodiment of the underwater robot, the imaging component further includes a sealing ring. The protective shell has a limiting groove around its central axis on the side facing the transparent cover. The sealing ring is disposed in the limiting groove and abuts against the transparent cover.

[0010] As a preferred embodiment of an underwater robot, the camera and the transparent cover are arranged along a first direction. The diameter of the transparent cover near the camera is smaller than the diameter away from the camera along the first direction. The transparent cover has a second receiving cavity. The transparent cover has a plurality of water outlets that communicate with the second receiving cavity at intervals on the side away from the camera. The outer peripheral wall of the transparent cover has a first water inlet that communicates with the connecting pipe.

[0011] As a preferred embodiment of the underwater robot, the outer peripheral wall of the transparent cover is provided with a second connecting part along the outer edge of the first water inlet, and the second connecting part is located adjacent to the camera, and the connecting tube is sleeved on the outside of the second connecting part.

[0012] As a preferred embodiment of the underwater robot, the underwater robot further includes a traveling component disposed on the mounting base for driving the mounting base to travel. The traveling component includes a plurality of first propellers and a plurality of second propellers. The plurality of first propellers are disposed on the mounting base and the rotation axis of the first propellers extends in a vertical direction. The plurality of second propellers are disposed within the first receiving cavity and the rotation axis of the second propellers extends in a horizontal direction.

[0013] As a preferred embodiment of an underwater robot, the propulsion assembly includes at least two sets of second thruster groups, and at least one set of second thruster groups includes two second helical thrusters arranged at an acute angle.

[0014] As a preferred embodiment of an underwater robot, the filter element includes a housing, a cover, and filter layers. The housing has a placement slot, and the cover is detachably connected to the housing to seal the opening of the placement slot. The housing has multiple second water inlets spaced apart along one side of a first direction, and the second water inlets communicate with the placement slot. The connecting pipe is connected to the other side of the housing along the first direction. The placement slot has multiple filter layers spaced apart along the first direction.

[0015] The beneficial effects of this invention are as follows: The imaging component combining a camera and sonar provides clearer images and more accurate detection in underwater environments. The camera can directly capture images of targets through a transparent cover, while the sonar effectively detects the position and shape of underwater objects, supplementing visual information. The filter component allows the underwater robot to use a pump to flush filtered water towards the camera's imaging end, even in turbid environments. This causes pollutants or sediment in the turbid water at the imaging end to move with the flow of clean water, reducing the amount of pollutants or sediment in the turbid water in front of the imaging end. This minimizes the impact of sediment and pollutants on the camera's imaging end, effectively improving the environmental clarity at the imaging end, thereby enhancing lens clarity and imaging performance, and ensuring the underwater robot's working efficiency. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the underwater robot according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the filter assembly according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the cooperation between the protective shell and the transparent cover in an embodiment of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the filter element according to an embodiment of the present invention.

[0021] In the picture:

[0022] 1. Mounting base; 11. First receiving cavity; 12. Opening; 2. Imaging assembly; 21. Camera; 22. Sonar; 23. Protective shell; 24. Connector; 25. Sealing ring; 241. Clamping part; 242. First connecting part; 3. Filter assembly; 31. Filter element; 311. Box body; 312. Box cover; 313. Filter layer; 314. Placement slot; 315. Second water inlet; 32. Connecting pipe; 33. Pump body; 34. Transparent cover; 341. Snap-fit ​​part; 342. Second receiving cavity; 343. Water outlet; 344. First water inlet; 345. Second connecting part; 4. Traveling assembly; 41. First spiral propeller; 42. Second spiral propeller. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0024] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0027] like Figures 1 to 4 As shown, the underwater robot of this utility model embodiment includes a mounting base 1, an imaging component 2, and a filtering component 3. The mounting base 1 is provided with a first receiving cavity 11, and the outer side wall of the mounting base 1 is provided with an opening 12 communicating with the first receiving cavity 11. The imaging component 2 includes a camera 21 and a sonar 22. The camera 21 is disposed in the first receiving cavity 11, and the shooting end of the camera 21 is positioned facing the opening 12. At least the top of the mounting base 1 and the side of the camera 21 located in the first receiving cavity 1 are provided with sonar 22. The sonar 22 on the top of the mounting base 1 is a surround-view sonar, and the sonar 22 on the side of the camera 21 is a forward-looking sonar. The filtering component 3 includes a filter element 31, a connecting pipe 32, a pump body 33, and a transparent cover 34. The transparent cover 34 is disposed at the shooting end of the camera 21. The filter element 31 is connected to the transparent cover 34 through the connecting pipe 32, and the pump body 33 is disposed on the connecting pipe 32.

[0028] Understandably, the imaging component 2, which combines camera 21 and sonar 22, can provide clearer images and more accurate detection in underwater environments. Camera 21 can directly capture targets through transparent cover 34, while sonar 22 can effectively detect the position and shape of underwater objects, supplementing visual information and ensuring imaging effects. Through the setting of filter component 3, even in turbid environments, the underwater robot can use pump 33 to flush the clean water filtered by filter 31 towards the shooting end of camera 21 through connecting pipe 32. This causes pollutants or silt in the turbid water at the shooting end to move with the direction of the clean water flow, reducing the content of pollutants or silt in the turbid water in front of the shooting end, reducing the impact of silt and pollutants on the shooting end of camera 21, effectively improving the environmental clarity at the shooting end, thereby improving the clarity of the lens and imaging effect, and ensuring the working efficiency of the underwater robot.

[0029] Optionally, such as Figure 1As shown, the filter assembly 3 is disposed within the first receiving cavity 11, meaning that both the filter element 31 and the pump body 33 are disposed on the cavity wall of the first receiving cavity 11. In this case, the structure of the mounting base 1 can effectively protect the filter element 31, pump body 33, and camera 21 within the first receiving cavity 11, ensuring the service life of the underwater robot. Of course, to ensure the imaging quality of the camera 21, a light can be installed on one side of the camera 21 to improve the brightness of the environment at the imaging end. Furthermore, multiple sonars 22 can be installed, for example, for detection of the perimeter and bottom, ensuring the detection accuracy of the underwater robot.

[0030] Furthermore, such as Figure 2 and Figure 3 As shown, the transparent cover 34 is detachably connected to the camera 21's imaging end. This detachable connection facilitates the assembly and disassembly of the transparent cover 34. Since the transparent cover 34 is separate from the camera 21, only the transparent cover 34 needs to be replaced, without replacing the entire camera 21 module, thus reducing maintenance and replacement costs. Furthermore, after underwater robot operations, the camera 21 and transparent cover 34 are prone to scale, algae, and other deposits. The detachable structure facilitates disassembly and cleaning, making maintenance convenient. In addition, different mission environments may require different types of transparent covers 34; the detachable design allows users to replace the cover with the appropriate one according to actual needs, thereby improving the underwater robot's operational flexibility.

[0031] Preferably, the imaging assembly 2 further includes a protective housing 23, with the camera 21 disposed inside the protective housing 23, and the transparent cover 34 detachably connected to the protective housing 23. The protective housing 23 effectively protects the camera 21, reducing the likelihood of water ingress and damage.

[0032] Specifically, such as Figure 3 As shown, the imaging assembly 2 also includes a connector 24, which includes a clamping portion 241 and a first connecting portion 242 arranged at an angle. The first connecting portion 242 is detachably connected to the protective shell 23. The clamping portion 241 and the protective shell 23 form a clamping groove at a distance. The outer peripheral wall of the transparent cover 34 extends outwards with a snap-fit ​​portion 341, which is adjacent to the side of the transparent cover 34 facing the protective shell 23 and snaps into the clamping groove. By using the clamping portion 241 and the protective shell 23 to clamp the snap-fit ​​portion 341 of the transparent cover 34, the installation stability of the transparent cover 34 can be effectively guaranteed, ensuring that the transparent cover 34 will not loosen due to water flow, vibration or external force during operation. The first connecting part 242 can be connected to the protective shell 23 by threaded engagement or rotational snap-fit. Alternatively, multiple through holes can be evenly distributed around its own central axis on the first connecting part 242, and threaded holes can be provided on the protective shell 23 at the corresponding positions of the through holes. Bolts are passed through the through holes and screwed into the threaded holes to achieve the connection between the connecting part 24 and the protective shell 23. The threaded connection is stable.

[0033] Furthermore, the imaging component 2 also includes a sealing ring 25. A limiting groove is provided around the central axis of the protective shell 23 facing the transparent cover 34. The sealing ring 25 is disposed within the limiting groove and abuts against the transparent cover 34. The limiting groove effectively improves the installation accuracy of the sealing ring 25, and its placement within the groove effectively prevents dust, moisture, or other contaminants from entering the camera 21, ensuring a tight seal between the transparent cover 34 and the protective shell 23, thereby improving the durability and stability of the camera 21.

[0034] In some embodiments, such as Figure 1 and Figure 2 As shown, the camera 21 and the transparent cover 34 are arranged along a first direction (the first direction is the X direction in the diagram). The diameter of the end of the transparent cover 34 adjacent to the camera 21 along the first direction is smaller than the diameter of the end away from the camera 21. The transparent cover 34 has a second receiving cavity 342. Multiple water outlets 343 communicating with the second receiving cavity 342 are spaced apart on the side of the transparent cover 34 away from the camera 21. A first water inlet 344 communicating with the connecting pipe 32 is opened on the outer peripheral wall of the transparent cover 34. The smaller diameter of the end of the transparent cover 34 adjacent to the camera 21 along the first direction, i.e., the smaller diameter of the end away from the camera 21, makes the transparent cover 34 funnel-shaped, providing the camera 21 with a wide shooting environment. This also slows down and reduces the impact of the water input into the transparent cover 34 from the connecting pipe 32, expanding the water flow range and avoiding a suction effect. This creates a clear water area in front of the shooting end, resulting in a clear shooting environment and ensuring the shooting effect of the camera 21. The multiple water outlets 343 can refine the flushing water flow and ensure the flushing effect.

[0035] Furthermore, such as Figure 2 and Figure 3 As shown, a second connecting portion 345 is provided on the outer peripheral wall of the transparent cover 34 along the outer edge of the first water inlet 344, and the second connecting portion 345 is located adjacent to the camera 21. The connecting pipe 32 is sleeved on the outside of the second connecting portion 345. Positioning the first water inlet 344 on the outer peripheral wall of the transparent cover 34 and adjacent to the camera 21 effectively ensures that the clean water output from the connecting pipe 32 is effectively buffered within the transparent cover 34. That is, the water flow entering the transparent cover 34 through the first water inlet 344 is directed towards the cavity wall of the transparent cover 34, rather than directly towards the water outlet 343, ensuring the uniformity of the water flow from each water outlet 343. Of course, the second connecting portion 345 allows for quick connection of the connecting pipe 32 through a simple sleeve connection, improving the ease of connection between the connecting pipe 32 and the transparent cover 34.

[0036] Furthermore, such as Figure 1As shown, the underwater robot also includes a traveling component 4, which is mounted on the mounting base 1 to drive the mounting base 1 forward. The traveling component 4 includes multiple first helical thrusters 41 and multiple second helical thrusters 42. The multiple first helical thrusters 41 are mounted on the mounting base 1, and the rotation axis of the first helical thrusters 41 extends vertically. The multiple second helical thrusters 42 are located within the first receiving cavity 11, and the rotation axis of the second helical thrusters 42 extends horizontally. By combining the multiple first helical thrusters 41 and second helical thrusters 42, the underwater robot can be driven in all directions according to different underwater environments. That is, the first helical thrusters 41 can precisely adjust the lifting and lowering of the underwater robot in the vertical direction, while the second helical thrusters 42, which are arranged in the horizontal direction, help to provide power for forward, backward, and left and right turning. In this solution, a total of 4 first helical thrusters are provided on the mounting base 1, which are distributed in a quadrilateral shape. Of course, in other embodiments, 5, 6 or more can be provided. The horizontal direction includes the first direction.

[0037] Furthermore, the propulsion component 4 includes at least two sets of second thruster groups, and at least one set of second thruster groups includes two second helical thrusters 42 arranged at an acute angle. By arranging the two second helical thrusters 42 at an acute angle, the underwater robot can provide more flexible thrust control underwater, making it easier to turn and adjust its direction of movement, thereby improving the underwater robot's maneuverability and enabling it to respond to environmental changes more quickly and flexibly.

[0038] In other embodiments, such as Figure 2 and Figure 4 As shown, the filter element 31 includes a housing 311, a cover 312, and filter layers 313. The housing 311 has a placement slot 314 inside. The cover 312 is detachably connected to the housing 311 to seal the opening of the placement slot 314. Multiple second water inlets 315 are spaced apart on one side of the housing 311 along a first direction, and these second water inlets 315 communicate with the placement slot 314. A connecting pipe 32 connects to the other side of the housing 311 along the first direction. Multiple filter layers 313 are spaced apart within the placement slot 314 along the first direction. The detachable connection between the cover 312 and the housing 311 allows users to easily remove the cover 312 to clean the filter element 31 or replace the filter layers 313, ensuring convenient maintenance of the filter element 31 after long-term use. Of course, multiple second water inlets 315 are evenly distributed on one side of the housing 311 to ensure that the water flows evenly into the placement tank 314, which helps to improve the filtration efficiency and avoids uneven filtration effect caused by the water flow being too fast or too slow in some areas.

[0039] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An underwater robot, characterized in that, include: The mounting base has a first receiving cavity inside, and the outer side wall of the mounting base has an opening communicating with the first receiving cavity. An imaging assembly, comprising a camera and a sonar, wherein the camera is disposed within the first receiving cavity and the camera's imaging end is oriented toward the opening, and the sonar is disposed at least on the top of the mounting base and on one side of the camera located within the first receiving cavity; A filter assembly, comprising a filter element, a connecting pipe, a pump body, and a transparent cover, wherein the transparent cover is disposed at the shooting end of the camera, the filter element is connected to the transparent cover via the connecting pipe, and the pump body is disposed on the connecting pipe.

2. The underwater robot according to claim 1, characterized in that, The transparent cover is detachably connected to the camera's shooting end.

3. The underwater robot according to claim 2, characterized in that, The imaging assembly also includes a protective housing, the camera is disposed inside the protective housing, and the transparent cover is detachably connected to the protective housing.

4. The underwater robot according to claim 3, characterized in that, The imaging assembly further includes a connector, which includes a clamping part and a first connecting part arranged at an angle. The first connecting part is detachably connected to the protective shell. The clamping part and the protective shell are spaced apart to form a clamping groove. The outer peripheral wall of the transparent cover extends in all directions with a snap-fit ​​part, and the snap-fit ​​part is adjacent to the side of the transparent cover facing the protective shell. The snap-fit ​​part snaps into the clamping groove.

5. The underwater robot according to claim 3, characterized in that, The imaging component also includes a sealing ring. The protective shell has a limiting groove around its central axis on the side facing the transparent cover. The sealing ring is disposed in the limiting groove and abuts against the transparent cover.

6. The underwater robot according to any one of claims 1-5, characterized in that, The camera and the transparent cover are arranged along a first direction. The diameter of the transparent cover near the camera is smaller than the diameter away from the camera along the first direction. The transparent cover has a first receiving cavity. Multiple water outlets communicating with the first receiving cavity are arranged at intervals on the side of the transparent cover away from the camera. A first water inlet communicating with the connecting pipe is opened on the outer peripheral wall of the transparent cover.

7. The underwater robot according to claim 6, characterized in that, The outer peripheral wall of the transparent cover is provided with a second connecting part along the outer edge of the first water inlet, and the second connecting part is located adjacent to the camera. The connecting tube is sleeved on the outside of the second connecting part.

8. The underwater robot according to any one of claims 1-5, characterized in that, The underwater robot also includes a traveling assembly, which is disposed on the mounting base to drive the mounting base to travel. The traveling assembly includes a plurality of first spiral thrusters and a plurality of second spiral thrusters. The plurality of first spiral thrusters are disposed on the mounting base and the rotation axis of the first spiral thrusters extends in a vertical direction. The plurality of second spiral thrusters are disposed in the first receiving cavity and the rotation axis of the second spiral thrusters extends in a horizontal direction.

9. The underwater robot according to claim 8, characterized in that, The traveling assembly includes at least two sets of second thruster groups, and at least one set of second thruster groups includes two second spiral thrusters arranged at an acute angle.

10. The underwater robot according to any one of claims 1-5, characterized in that, The filter element includes a housing, a cover, and filter layers. The housing has a placement slot, and the cover is detachably connected to the housing to seal the opening of the placement slot. The housing has multiple second water inlets spaced apart along one side of a first direction, and the second water inlets communicate with the placement slot. The connecting pipe is connected to the other side of the housing along the first direction. The placement slot has multiple filter layers spaced apart along the first direction.

Images