CN223291081U - A wall-attached observation module for underwater robots - Google Patents

Abstract

The utility model discloses a wall-mounted observation module for an underwater robot. It comprises a chamber sealed by a transparent acrylic square shell and a square shell mounting plate. The chamber is filled with clear water and contains a camera and a light. The camera is sealed and fixed to the square shell mounting plate by a transparent acrylic spherical shell and a spherical shell mounting seat. The light is fixed to the square shell mounting plate via a lamp holder. Both 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 extend from the bottom through a compression spring, the square shell mounting plate, and the limit sleeves to connect to the robot connecting frame. Advantages of the module include: a series of sealing structures effectively improves the module's stability and reliability; obstacle-crossing action is achieved through the adjustment of the compression spring; and by filling the chamber with clear water, the module effectively displaces muddy water from the metal wall of the ship's hull, thereby providing a clear observation field.

Description

Wall-attached observation module of underwater robot

Technical Field

The utility model relates to the technical field of underwater robots, in particular to an underwater robot coanda observation module for observing the rusting and attachment states of underwater parts of ships.

Background

In modern ship maintenance and marine engineering, detection and monitoring of the underwater portion of the hull is particularly important. The hull is easily corroded and attached to marine organisms after being immersed in seawater for a long time, so that it is important to periodically check the state of the underwater part to ensure the safety and performance of the ship. Conventional underwater detection methods rely on divers to perform manual inspection or use simple underwater camera equipment, and have certain limitations, such as the danger of diver operation, complexity of operation, and poor image quality in turbid water.

To address these problems, more and more researchers and engineers are beginning to focus on the use of underwater robots in ship monitoring. The existing underwater robots mostly adopt complex image processing and sensor fusion technologies, and although a certain monitoring effect can be provided, the complexity and cost of the system are obviously increased. In addition, the imaging quality of the traditional underwater imaging scheme under the severe environment is still difficult to ensure. Therefore, a novel underwater observation module capable of realizing efficient monitoring is urgently needed to improve the efficiency and safety of underwater detection.

Disclosure of Invention

The utility model aims to solve the technical problems of providing the underwater robot wall-attached observation module which has a simple structure, is flexible and adaptive, can realize effective monitoring in a complex underwater environment, and solves the problems of corrosion of underwater parts of ships and inconvenient observation of the state of attachments.

In order to solve the technical problems, the underwater robot wall-attached observation module comprises a containing cavity formed by sealing a transparent acrylic square shell and a square shell mounting plate, wherein clear water is filled in the containing cavity, a camera and an illuminating lamp are arranged in the containing cavity, the camera is sealed and fixed on the square shell mounting plate through a transparent acrylic spherical shell and a spherical shell mounting seat, and the illuminating lamp is fixed on the square shell mounting plate through a mounting lamp holder.

The outside both sides of transparent ya keli square shell are connected with the robot link, fang Ke connect through bolt and stop collar between mounting panel and the robot link, and compression spring, square shell mounting panel, stop collar are passed in proper order from the bottom to the bolt is connected on the robot link.

The transparent acrylic square shell is internally provided with a front supporting seat and universal wheels.

The cameras are double cameras of the cradle head.

The number of the illuminating lamps is more than one.

The wiring harness of camera and light is connected through water tight connector.

The utility model has the advantage that the stability and the reliability of the module are effectively improved through the sealing structure of the transparent acrylic square shell and the square shell mounting plate and the auxiliary support of the front mounting plate. By filling the containing cavity with clear water, the module can effectively drain muddy water on the metal wall surface of the ship body, thereby providing a clear view. In addition, the compression springs in the modules can buffer resistance, so that protection of equipment is realized, and obstacle crossing capacity is enhanced. By combining proper arrangement of the illuminating lamps and protection design of the cameras, the module can realize efficient and stable monitoring in a complex underwater environment. The module has the advantages that the definition of underwater observation is improved, the adaptability of the module is enhanced, and the requirements of different application scenes are met.

Drawings

FIG. 1 is a front cross-sectional view of an underwater robot coanda vision module of the present utility model;

FIG. 2 is a left side cross-sectional view of an underwater robot coanda vision module of the present utility model;

FIG. 3 is a top view of an underwater robot coanda vision module of the present utility model;

fig. 4 is an overall schematic diagram of an underwater robot coanda vision module of the present utility model.

Detailed Description

The underwater robot coanda observation module according to the present utility model will be described in further detail with reference to the accompanying drawings and the detailed description.

An embodiment I is that a part of an underwater robot coanda vision module close to a ship is a bottom part

As shown in fig. 1, the figure shows the structural layout and main components of an underwater robot attached wall observation module, the underwater robot attached wall observation module comprises a containing cavity 3 formed by a transparent acrylic square shell 1 and a square shell mounting plate 2, the transparent acrylic square shell 1 is connected with the square shell mounting plate 2 in a sealing way, a camera 4 and a lighting lamp 5 are arranged in the containing cavity 3, wiring harnesses of the camera 4 and the lighting lamp 5 are connected through a water-tight plug 14, the camera 4 selects a cradle head double-camera, a transparent acrylic spherical shell 6 is sleeved outside the camera 4 and is connected to the Fang Ke mounting plate 2 through a sealing way, the waterproof performance of the camera 4 is guaranteed through a mounting lamp holder 10, the lighting lamp 5 is connected to the Fang Ke mounting plate 2 through a mounting lamp holder 10, two sides of the outside of the transparent acrylic square shell 1 are connected with a robot connecting frame 11, the square shell mounting plate 2 is connected with the robot connecting frame 11 through bolts 8 and limiting sleeves 12, the bolts 8 sequentially penetrate through a compression spring 9 from the bottom, the square shell mounting plate 2 and the limiting sleeves 12 on the robot connecting frame 11, when the attached wall is met under water or an obstacle, the cradle head double-camera, the transparent acrylic spherical shell 1 can be compressed under the water or the cradle head spherical shell 6 and is further compressed with the metal spherical shell 3 through the mounting plate, the metal spherical shell 3 is fully compressed by the metal spherical shell, the metal spherical shell is fully compressed by the metal spherical shell 3, the metal spherical shell is fully and the metal spherical shell is fully compressed by the metal spherical shell 3, and the transparent acrylic wall is fully compressed and the transparent acrylic wall is fully compressed by the metal spherical shell 3, and the metal spherical shell is fully and the transparent wall is fully and the transparent acrylic frame.

As shown in fig. 2 and 3, the upper part of the underwater robot coanda observation module is provided with a mounting seat 15 which is matched with other functional components for use.

Fig. 4 is a schematic overall view of the underwater robot coanda vision module according to the present utility model from the external view.

Of course, the number and arrangement of the cameras 4 and the illumination lamps 5 can be appropriately adjusted according to actual requirements. For example, although one illumination lamp 5 is preferably configured to meet the illumination requirement of the pan-tilt camera 4, in a specific application environment, increasing or decreasing the number of illumination lamps, or adjusting the arrangement manner thereof, may also be considered to optimize the illumination effect and meet the requirements of different monitoring scenes. The adjustment of the number and arrangement modes of the cameras and the illuminating lamps belongs to the protection scope of the invention.

Claims (6)

1. The utility model provides an attached wall observation module of underwater robot, includes one by transparent acrylic Fang Ke (1) and square shell mounting panel (2) airtight formation hold chamber (3), its characterized in that, hold full clear water in chamber (3) and be equipped with camera (4) and light (5), camera (4) are outer to seal and fix on square shell mounting panel (2) through transparent acrylic spherical shell (6) and spherical shell mount pad (7), light (5) are fixed on square shell mounting panel (2) through installation lamp stand (10).

2. The underwater robot coanda observation module according to claim 1, wherein the two external sides of the transparent acrylic Fang Ke (1) are connected with the robot connecting frame (11), the Fang Ke mounting plate (2) is connected with the robot connecting frame (11) through bolts (8) and limiting sleeves (12), and the bolts (8) sequentially penetrate through the compression springs (9), the Fang Ke mounting plate (2) and the limiting sleeves (12) from the bottom to be connected to the robot connecting frame (11).

3. The underwater robot coanda vision module as set forth in claim 1 or 2, characterized in that a front support seat and a universal wheel are provided in the transparent acrylic Fang Ke (1).

4. The underwater robot coanda vision module as defined in claim 1, wherein the camera (4) is a pan-tilt dual camera.

5. The underwater robot coanda vision module as defined in claim 1, characterized in that the number of said lights (5) is one or more.

6. The underwater robot coanda vision module as in claims 1, 4 or 5, characterized in that the wiring harness of the camera (4) and the lighting lamp (5) is connected by means of a watertight connector (14).