阅读说明：本技术 一种水面探测搜救机器人 (Water surface detection search and rescue robot ) 是由 李辉 赵志云 宋要斌 于 2021-02-05 设计创作，主要内容包括：本发明属于机器人技术领域,具体涉及一种水面探测搜救机器人；其中自稳云台相机、机械臂、试样储存舱和锂离子储能电池固定在主船体上,且锂离子储能电池下方还固定有单片机和通讯模块；右LED探照灯、电子罗盘、水浊度传感器、左LED探照灯、GPS定位装置和PH传感器固定在船体上；壳体和步进电机架固定在船体上,且转向步进电机与一号臂连接；一号臂通过关节与二号臂连接,二号臂通过关节与三号臂连接,三号臂连接有三号关节,舵机固定在三号关节上,机械爪连接在该舵机上；本发明可在浅水区执行探测及搜救任务,该水面机器人摆脱原来水面搜救机器人功能单一的缺陷,能够在进行水面水质探测的同时对水库落水人员进行救援。(The invention belongs to the technical field of robots, and particularly relates to a water surface detection search and rescue robot; the self-stabilizing cradle head camera, the mechanical arm, the sample storage cabin and the lithium ion energy storage battery are fixed on the main ship body, and the singlechip and the communication module are fixed below the lithium ion energy storage battery; the right LED searchlight, the electronic compass, the water turbidity sensor, the left LED searchlight, the GPS positioning device and the PH sensor are fixed on the ship body; the shell and the stepping motor frame are fixed on the ship body, and the steering stepping motor is connected with the first arm; the first arm is connected with the second arm through a joint, the second arm is connected with the third arm through a joint, the third arm is connected with the third joint, the steering engine is fixed on the third joint, and the mechanical claw is connected to the steering engine; the invention can execute the detection and search and rescue tasks in the shallow water area, the water surface robot gets rid of the defect of single function of the original water surface search and rescue robot, and can rescue the personnel falling into the water in the reservoir while detecting the water quality on the water surface.)

1. A water surface detection search and rescue robot comprises a main ship body (1), and is characterized by further comprising a left ship body (2) and a right ship body (3), wherein the left ship body (2) and the right ship body (3) are respectively fixed on the left side and the right side of the main ship body (1) through connecting pieces, a left propeller (21) is fixed on the connecting piece between the left ship body (2) and the main ship body (1), and a right propeller (31) is fixed on the connecting piece between the right ship body (3) and the main ship body (1);

the self-stabilizing cradle head camera (5), the mechanical arm (4), the sample storage cabin (6) and the lithium ion energy storage battery (7) are sequentially fixed on the main hull (1) from front to back, a single chip microcomputer and a communication module are further fixed on the main hull (1) below the lithium ion energy storage battery (7), and the communication module is connected with the single chip microcomputer through a signal line;

the right LED searchlight (32), the electronic compass (33) and the water turbidity sensor (34) are sequentially fixed on the right ship body (3) from front to back, and a measuring head of the water turbidity sensor (34) is positioned on the side wall of the right ship body (3);

the left LED searchlight (22), the GPS positioning device (23) and the PH sensor (24) are sequentially fixed on the left hull (2) from front to back, and a measuring head of the PH sensor (24) is positioned on the side wall of the left hull (2);

the mechanical arm (4) comprises a base (41), a mechanical claw (42), a steering engine (43), a first arm (44), a first joint (45), a second arm (46), a second joint (47), a third arm (48) and a third joint (49), wherein the base (41) comprises a shell (411), a stepping motor frame (412) and a steering stepping motor (413), the shell (411) is fixed on the main ship body (1), the stepping motor frame (412) is fixed on the main ship body (1) inside the shell (411), the steering stepping motor (413) is fixed on the stepping motor frame (412), and a motor shaft of the steering stepping motor (413) penetrates through the shell (411) and is connected with the bottom end of the first arm (44) through a coupler;

the top end of a first arm (44) is connected with one end of a second arm (46) through a first joint (45), the other end of the second arm (46) is connected with one end of a third arm (48) through a second joint (47), the other end of the third arm (48) is connected with a third joint (49), a steering engine (43) is fixed on the third joint (49), a mechanical claw (42) comprises a left claw (421), a left claw gear, a right claw (422) and a right claw gear, wherein the left claw (421) is fixed on the left claw gear, the right claw (422) is fixed on the right claw gear, the left claw (421) is connected on the third joint (49) through a rotating shaft, the right claw gear is sleeved on a steering engine shaft of the steering engine (43) and driven to rotate by the steering engine (43), and the left claw gear is connected on the right claw gear in a matching manner;

the first joint (45) comprises a first motor (451), a first joint left shell (452) and a first joint right shell (453), wherein the first joint left shell (452) is connected and fixed to the top end of the first arm (44) in a matched mode, the first motor (451) is fixed in the first joint left shell (452), the first joint right shell (453) is connected with a rotating shaft of the first motor (451) through a coupler, and the first joint right shell (453) is connected and fixed to one end of the second arm (46) in a matched mode;

the second joint (47) comprises a second motor (471), a second joint left shell (472) and a second joint right shell (473), wherein the second joint left shell (472) is connected and fixed at the other end of the second arm (46) in a matched mode, the second motor (471) is fixed in the second joint left shell (472), the second joint right shell (473) is connected with a rotating shaft of the second motor (471) through a coupler, and the second joint right shell (473) is connected and fixed at one end of the third arm (48) in a matched mode;

the third joint (49) comprises a third motor (491), a third joint left shell (492) and a third joint right shell (493), wherein the third joint left shell (492) is connected in a matched mode and fixed at the other end of a third arm (48), the third motor (491) is fixed in the third joint left shell (492), one end of the third joint right shell (493) is connected with a rotating shaft of the third motor (491) through a coupler, a connecting plate (4931) is arranged at the other end of the third joint right shell (493), a left claw (421) is connected to the connecting plate (4931) of the third joint (49) through the rotating shaft, and a steering engine (43) is fixed on the connecting plate (4931) of the third joint (49);

a data transmission port of the singlechip is respectively connected with a self-stabilizing pan-tilt camera (5), a steering engine (43), a steering stepping motor (413), a first motor (451), a second motor (471), a third motor (491), a left LED searchlight (22), an electronic compass (33), a water turbidity sensor (34), a right LED searchlight (32), a GPS positioning device (23) and a PH sensor (24) through signal lines;

the self-stabilizing tripod head camera (5), the steering engine (43), the steering stepping motor (413), the first motor (451), the second motor (471), the third motor (491), the left LED searchlight (22), the electronic compass (33), the water turbidity sensor (34), the right LED searchlight (32), the GPS positioning device (23), the PH sensor (24), the singlechip and the communication module are all connected with a power supply end of the lithium ion energy storage battery (7) through power lines;

the tail part of the main ship body (1) is fixed with a search and rescue hook (11).

2. The water surface detecting, searching and rescuing robot as claimed in claim 1, wherein the left thruster (21) and the right thruster (31) are identical in structure and are composed of a brushless motor and a propeller, wherein the propeller is connected with a rotating shaft of the brushless motor through a rigid coupling.

3. The water surface detection search and rescue robot as recited in claim 2, further comprising a solar power supply board, wherein the solar power supply board is connected with the charging end of the lithium ion energy storage battery (7) through a power line.

4. The water surface detection search and rescue robot according to claim 3, characterized in that a test tube rack is arranged in the sample storage cabin (6).

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a water surface detection search and rescue robot.

Background

With the development of the times, water sports enthusiasts are more and more. In order to avoid life and property loss caused by water falling accidents to the maximum extent, the water surface search and rescue robot with the water surface search and rescue function is born by the water surface search and rescue robot.

At present, the existing water surface search and rescue robots are few, although the existing water surface search and rescue robots are powerful, most of the existing water surface search and rescue robots are single in function, large in size, complex in structure and difficult to carry and move. The air-conditioning system is inconvenient to move in a narrow water area, low in working efficiency and high in use cost, and in addition, the air pollution and the noise pollution can be caused by using a fuel oil driving mode.

Disclosure of Invention

In order to overcome the problems, the invention provides a water surface detection search and rescue robot, which is a multifunctional water surface robot capable of executing detection and search and rescue tasks in shallow water areas such as reservoirs, fish ponds and the like.

A water surface detection search and rescue robot comprises a main hull 1, a left hull 2 and a right hull 3, wherein the left hull 2 and the right hull 3 are respectively fixed at the left side and the right side of the main hull 1 through connecting pieces, a left propeller 21 is fixed on the connecting piece between the left hull 2 and the main hull 1, and a right propeller 31 is fixed on the connecting piece between the right hull 3 and the main hull 1;

the self-stabilizing cradle head camera 5, the mechanical arm 4, the sample storage cabin 6 and the lithium ion energy storage battery 7 are sequentially fixed on the main hull 1 from front to back, a single chip microcomputer and a communication module are further fixed on the main hull 1 below the lithium ion energy storage battery 7, and the communication module is connected with the single chip microcomputer through a signal line;

the right LED searchlight 32, the electronic compass 33 and the water turbidity sensor 34 are sequentially fixed on the right hull 3 from front to back, and a measuring head of the water turbidity sensor 34 is positioned on the side wall of the right hull 3;

the left LED searchlight 22, the GPS positioning device 23 and the PH sensor 24 are sequentially fixed on the left hull 2 from front to back, and a measuring head of the PH sensor 24 is positioned on the side wall of the left hull 2;

the mechanical arm 4 comprises a base 41, a mechanical claw 42, a steering engine 43, a first arm 44, a first joint 45, a second arm 46, a second joint 47, a third arm 48 and a third joint 49, wherein the base 41 comprises a shell 411, a stepping motor frame 412 and a steering stepping motor 413, the shell 411 is fixed on the main hull 1, the stepping motor frame 412 is fixed on the main hull 1 inside the shell 411, the steering stepping motor 413 is fixed on the stepping motor frame 412, and a motor shaft of the steering stepping motor 413 penetrates through the shell 411 and is connected with the bottom end of the first arm 44 through a coupler;

the top end of the first arm 44 is connected with one end of a second arm 46 through a first joint 45, the other end of the second arm 46 is connected with one end of a third arm 48 through a second joint 47, the other end of the third arm 48 is connected with a third joint 49, the steering engine 43 is fixed on the third joint 49, the mechanical claw 42 comprises a left claw 421, a left claw gear, a right claw 422 and a right claw gear, wherein the left claw 421 is fixed on the left claw gear, the right claw 422 is fixed on the right claw gear, the left claw 421 is connected on the third joint 49 through a rotating shaft, the right claw gear is sleeved on a steering engine shaft of the steering engine 43 and is driven to rotate by the steering engine 43, and the left claw gear is connected on the right claw gear in a matching manner;

the first joint 45 comprises a first motor 451, a first joint left shell 452 and a first joint right shell 453, wherein the first joint left shell 452 is connected and fixed at the top end of the first arm 44 in a matching mode, the first motor 451 is fixed in the first joint left shell 452, the first joint right shell 453 is connected with a rotating shaft of the first motor 451 through a coupler, and the first joint right shell 453 is connected and fixed at one end of the second arm 46 in a matching mode;

the second joint 47 comprises a second motor 471, a second joint left shell 472 and a second joint right shell 473, wherein the second joint left shell 472 is connected and fixed at the other end of the second arm 46 in a matching manner, the second motor 471 is fixed in the second joint left shell 472, the second joint right shell 473 is connected with a rotating shaft of the second motor 471 through a coupler, and the second joint right shell 473 is connected and fixed at one end of the third arm 48 in a matching manner;

the third joint 49 comprises a third motor 491, a third joint left shell 492 and a third joint right shell 493, wherein the third joint left shell 492 is connected and fixed at the other end of the third arm 48 in a matching manner, the third motor 491 is fixed in the third joint left shell 492, one end of the third joint right shell 493 is connected with a rotating shaft of the third motor 491 through a coupler, a connecting plate 4931 is arranged at the other end of the third joint right shell 493, the left claw 421 is connected to the connecting plate 4931 of the third joint 49 through the rotating shaft, and the steering engine 43 is fixed on the connecting plate 4931 of the third joint 49;

the data transmission port of the single chip microcomputer is respectively connected with the self-stabilizing pan-tilt camera 5, the steering engine 43, the steering stepping motor 413, the first motor 451, the second motor 471, the third motor 491, the left LED searchlight 22, the electronic compass 33, the water turbidity sensor 34, the right LED searchlight 32, the GPS positioning device 23 and the PH sensor 24 through signal lines;

the self-stabilizing pan-tilt camera 5, the steering engine 43, the steering stepping motor 413, the first motor 451, the second motor 471, the third motor 491, the left LED searchlight 22, the electronic compass 33, the water turbidity sensor 34, the right LED searchlight 32, the GPS positioning device 23, the PH sensor 24, the singlechip and the communication module are all connected with the power supply end of the lithium ion energy storage battery 7 through power lines;

the tail part of the main ship body 1 is fixed with a search and rescue hook 11.

The left thruster 21 and the right thruster 31 have the same structure and are both composed of a brushless motor and a propeller, wherein the propeller is connected with a rotating shaft of the brushless motor through a rigid coupler.

The solar energy power supply device further comprises a solar energy power supply board, and the solar energy power supply board is connected with the charging end of the lithium ion energy storage battery 7 through a power line.

And a test tube rack is arranged in the sample storage cabin 6.

The invention has the beneficial effects that:

the invention has simple structure, convenient carrying and movement, flexible movement in narrow water areas, high working efficiency and low cost, reduces air pollution and noise pollution by using an electric driving mode, and can execute detection and search and rescue tasks in shallow water areas such as reservoirs, fish ponds and other water areas.

Drawings

Fig. 1 is a schematic top view of the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is a schematic view of the structure of the robot arm of the present invention.

FIG. 4 is a schematic side view of the present invention.

Fig. 5 is a structural schematic diagram of a first joint of the present invention.

Fig. 6 is a structural schematic view of the second joint of the present invention.

Fig. 7 is a schematic structural view of a third joint of the present invention.

Fig. 8 is a schematic structural view of a gripper according to the present invention.

FIG. 9 is a schematic view of the internal structure of the robot arm base of the present invention.

Wherein: the device comprises a main ship body 1, a search and rescue hook 11, a left ship body 2, a left propeller 21, a left LED searchlight 22, a GPS positioning device 23, a 24PH sensor, a right ship body 3, a right propeller 31, a right LED searchlight 32, an electronic compass 33, a turbidity sensor 34, a mechanical arm 4, a base 41, a shell 411, a stepping motor frame 412, a steering stepping motor 413, a mechanical claw 42, a left claw 421, a right claw 422, a steering engine 43, an arm 44, a joint 45, a motor 451, a joint left shell 452, a joint right shell 453, a joint right shell 46, a joint 47 second, a motor 471 second, a joint left shell 472 second, a joint right shell 473 third arm 48, a joint third 49, a motor 491, a joint left shell 492, a joint right shell 493 third joint shell, a connecting plate 4931, a tripod head 5 self-stabilized camera, a sample storage cabin 6 and a lithium ion energy storage battery 7.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1, a water surface detection search and rescue robot comprises a main hull 1, a left hull 2 and a right hull 3, wherein the left hull 2 and the right hull 3 are respectively fixed at the left side and the right side of the main hull 1 through connecting pieces, a left propeller 21 is fixed on the connecting piece between the left hull 2 and the main hull 1, and a right propeller 31 is fixed on the connecting piece between the right hull 3 and the main hull 1;

the self-stabilizing cradle head camera 5, the mechanical arm 4, the sample storage cabin 6 and the lithium ion energy storage battery 7 are sequentially fixed on the main hull 1 from front to back, a single chip microcomputer and a communication module are further fixed on the main hull 1 below the lithium ion energy storage battery 7, and the communication module is connected with the single chip microcomputer through a signal line; realizing the transmission of signals;

the left LED searchlight 22, the electronic compass 33 and the water turbidity sensor 34 are sequentially fixed on the right hull 3 from front to back; and the measuring head of the water turbidity sensor 34 is positioned on the side wall of the right hull 3;

the right LED searchlight 32, the GPS positioning device 23 and the PH sensor 24 are sequentially fixed on the left hull 2 from front to back; and the measuring head of the PH sensor 24 is located on the side wall of the left hull 2;

the mechanical arm 4 comprises a base 41, a mechanical claw 42, a steering engine 43, a mechanical arm joint 231, a first arm 44, a first joint 45, a second arm 46, a second joint 47, a third arm 48 and a third joint 49, wherein the base 41 comprises a shell 411, a stepping motor frame 412 and a steering stepping motor 413, the shell 411 is fixed on the main hull 1, the stepping motor frame 412 is fixed on the main hull 1 inside the shell 411, the steering stepping motor 413 is fixed on the stepping motor frame 412, and a motor shaft of the steering stepping motor 413 penetrates through the shell 411 and is connected with the bottom end of the first arm 44 through a rigid coupling; driving the first arm 44 up and down.

The top end of the first arm 44 is connected with one end of a second arm 46 through a first joint 45, the other end of the second arm 46 is connected with one end of a third arm 48 through a second joint 47, the other end of the third arm 48 is connected with a third joint 49, the steering engine 43 is fixed on the third joint 49, the mechanical claw 42 comprises a left claw 421, a left claw gear, a right claw 422 and a right claw gear, wherein the left claw 421 is fixed on the left claw gear, the right claw 422 is fixed on the right claw gear, the left claw 421 is connected on the third joint 49 through a rotating shaft, the right claw gear is sleeved on a steering engine shaft of the steering engine 43 and is driven to rotate by the steering engine 43, and the left claw gear is connected on the right claw gear in a matching manner;

when the steering engine shaft of the steering engine 43 rotates, the right claw gear is driven to move, so that the right claw rotates, the left claw rotates through the meshing of the left claw gear and the right claw gear, and the grabbing action of the mechanical claw 42 is realized.

The first joint 45 comprises a first motor 451, a first joint left shell 452 and a first joint right shell 453, wherein the first joint left shell 452 is connected and fixed at the top end of the first arm 44 in a matching mode, the first motor 451 is fixed in the first joint left shell 452, the first joint right shell 453 is connected with a rotating shaft of the first motor 451 through a coupling and driven to rotate by the first motor 451, and the first joint right shell 453 is connected and fixed at one end of the second arm 46 in a matching mode;

no. one motor 451 is located in No. one joint left shell 452, and No. one joint left shell 452 passes through "mortise and tenon" structure and connects the top at No. one arm 44. The first joint right shell 453 is connected with a coupler, the coupler is connected with a motor shaft of the first motor 451, the first joint right shell 453 is connected to one end of the second arm 46 through a mortise and tenon structure, and then the first joint left shell 452 and the first joint right shell 453 are combined into a whole through a mortise and tenon structure to jointly form a joint. The lower two joints are also of this construction.

The second joint 47 comprises a second motor 471, a second joint left shell 472 and a second joint right shell 473, wherein the second joint left shell 472 is connected and fixed at the other end of the second arm 46 in a matching manner, the second motor 471 is fixed in the second joint left shell 472, the second joint right shell 473 is connected with a rotating shaft of the second motor 471 through a coupler and driven to rotate by the second motor 2331, and the second joint right shell 473 is connected and fixed at one end of the third arm 48 in a matching manner;

the third joint 49 comprises a third motor 491, a third joint left shell 492 and a third joint right shell 493, wherein the third joint left shell 492 is connected and fixed at the other end of the third arm 48 in a matching manner, the third motor 491 is fixed in the third joint left shell 492, one end of the third joint right shell 493 is connected with a rotating shaft of the third motor 491 through a coupler and driven to rotate by the third motor 491, a connecting plate 4931 is arranged at the other end of the third joint right shell 493, a left claw 421 is connected to the connecting plate 4931 of the third joint 49 through the rotating shaft, and a steering engine 43 is fixed on the connecting plate 4931 of the third joint 49;

the data transmission port of the singlechip is respectively connected with the binocular camera 51, the self-stabilizing pan-tilt camera 5, the steering engine 43, the steering stepping motor 413, the first motor 451, the second motor 471, the third motor 491, the left LED searchlight 22, the electronic compass 33, the water turbidity sensor 34, the right LED searchlight 32, the GPS positioning device 23 and the PH sensor 24 through signal lines; so as to realize the control of the core control board, namely the singlechip, on the components; the type of the singlechip is MEGA 2560;

the binocular camera 51, the self-stabilization pan-tilt camera 5, the steering engine 43, the steering stepping motor 413, the first motor 451, the second motor 471, the third motor 491, the left LED searchlight 22, the electronic compass 33, the water turbidity sensor 34, the right LED searchlight 32, the GPS positioning device 23, the PH sensor 24, the single chip microcomputer and the communication module are all connected through VCC, and two power lines of GND are connected with the power supply end of the lithium ion energy storage battery 7; namely the so-called positive electrode.

The tail part of the main ship body 1 is fixed with a search and rescue hook 11, and when the ship body moves to a searched and rescued person, the searched and rescued person can grab the search and rescue hook 11 to move back to the shore along with the ship body.

The left propeller 21 and the right propeller 31 are identical in structure and are composed of 2845 type brushless motors, namely diamond non-inductive brushless motors and propellers, wherein the propellers are connected with rotating shafts of the brushless motors through rigid couplers and rotate under the driving of the brushless motors, and then the motion of the ship body in water is realized.

Brushless motors of the left propeller 21 and the right propeller 31 are respectively connected to a connecting piece between the left hull 2 and the main hull 1 and a connecting piece between the right hull 3 and the main hull 1 through aluminum profile right-angle connecting pieces;

the lithium ion energy storage battery charging system further comprises a solar power supply board, wherein the solar power supply board is connected with the charging end of the lithium ion energy storage battery 7 through two power lines of VCC and GND.

And a test tube rack is arranged in the sample storage cabin 6.

The self-stabilizing pan-tilt camera 5 comprises a table with the model number of H314 and a binocular camera 51, the binocular camera 51 is a 14-time optical zooming 4K high-definition unmanned aerial vehicle professional pan-tilt camera,

the self-stabilizing pan-tilt camera 5 can ensure that the images acquired by the robot when the robot travels on the water surface are stable, and the observation of a user is facilitated. The left LED searchlight 22 and the right LED searchlight 32 are lamps which can be replaced at a long distance and a short distance and are respectively arranged at the front ends of the left ship body 2 and the right ship body 3, so that night rescue and detection can be facilitated.

The mechanical arm 4 is positioned at the front end of the main hull 1 and has the function of facilitating the operation and rescue tasks of the robot on the water surface. The solar power supply board and the lithium ion energy storage battery 7 are located in the center of the rear end of the main ship body 1, the solar power supply board absorbs solar energy in daytime to convert and store electric energy and provide the electric energy for the lithium ion energy storage battery 7, and the lithium ion energy storage battery 7 can be detached to be charged to meet the power consumption required during operation.

Set up sample storage tank 6 in 4 backs of arm of main hull 1, set up the test-tube rack in sample storage tank 6 for deposit the water sample that needs specific test, the water sample of extraction is used for going to the bank back staff's later stage and detects.

Install the fine water turbidity sensor 34 of a plurality of waterproof nature on 3 rear end bottoms of right hull for detect the dirty degree of water quality, the user of being convenient for in time knows the water quality in a certain waters, also helps the user in time to make corresponding adjustment measure simultaneously, with avoid arousing unnecessary economic loss.

A plurality of PH sensors 24 are installed on the rear bottom of the left hull 2 to assist the left hull 2 in performing water quality detection and realize comprehensive monitoring of the water area. Between the main hull 1 and the right hull 3, and between the main hull 1 and the left hull 2, a right propeller 31 and a left propeller 15 are respectively installed, and power is supplied by the lithium ion energy storage battery 7 to drive various motions of the hulls. The rear end of the main ship body 1 is provided with a search and rescue hook 11 for hanging a life buoy and an empty skin raft to rescue people carelessly falling into water. And a GPS positioning device 23 is arranged in the middle of the left hull 2 and used for feeding back the relative position of the robot, and the navigation positioning of the robot is used, so that the real-time measurement of each area is facilitated. An electronic compass 33 is installed in the center of the right hull 3 and is used for matching with the GPS positioning device 23 to perform real-time positioning and planning an optimal path.

The GPS positioning device 23 is a G28U8FDTTL big dipper dual-mode GPS module, and the electronic compass 33 is a flight control GPS electronic compass geomagnetism 5883L.

The driving part is driven by a motor mechanism and has the advantages of simple control, compact size and convenient design. The single chip microcomputer controls motors on all joints of the mechanical arm 4 to achieve that the mechanical arm 4 can complete target actions. When a water sample is wanted to be taken, a signal is received through a communication module arranged on a ship and transmitted to a single chip microcomputer, and after the single chip microcomputer recognizes the signal, the mechanical arm 4 is controlled to take water through a programmed action which is programmed in advance. The communication module is an SPP-CA Bluetooth serial port wireless communication data transmission module, is arranged below the lithium ion energy storage battery 7 of the main ship body 1 and is arranged together with the single chip microcomputer, and the communication module is connected with the single chip microcomputer through a signal line to realize signal transmission.

The process of sampling water quality is as follows:

the initial state of the mechanical arm 4 is as shown in fig. 1 and fig. 2, when a signal of a water getting command is sent, a communication module arranged on the main hull 1 receives the signal and transmits the signal to a single chip microcomputer, after the single chip microcomputer identifies and processes, the steering stepping motor 413 arranged in the base 41 is firstly controlled to horizontally rotate 180 degrees, the mechanical claw end of the mechanical arm 4 is right opposite to the sample storage cabin 6, then the first motor 451 is controlled to rotate 10 degrees downwards, the second arm 46 is driven to move downwards, then the second motor 471 is controlled to rotate 13 degrees, the third arm 48 is driven to move downwards, then the third motor 491 is continuously controlled to rotate 42 degrees, the mechanical claw 42 is driven to move downwards, at this time, the mechanical claw 42 moves to the position where a test tube on a test tube rack on the sample storage cabin 6 is located, and finally a command is sent to the steering engine 43, the steering engine 43 is controlled to rotate so as to drive the right claw gear to rotate, and then the left claw gear rotates, at the moment, the right claw 422 and the left claw 421 both move inwards to cooperatively complete the grabbing action of the test tube on the test tube rack in the sample storage cabin 6;

then, the mechanical arm 4 returns to the initial position shown in fig. 1 after the command of taking the test tubes is sequentially and reversely executed, a signal is sent to a communication module on the main ship body 1 at the moment, the communication module transmits the signal to a single chip microcomputer, after the single chip microcomputer identifies and processes the signal, the first motor 451 is controlled to rotate for 80 degrees, the second arm 46, the third arm 48 and the mechanical claw 42 move downwards under the driving of the single chip microcomputer, the mechanical claw 42 enters a water area where the ship body is located, the test tubes grabbed by the right claw 422 and the left claw 421 also enter the underwater of the ship for sampling, after 2 seconds, the test tubes are injected with water, the first motor 451 is controlled again to rotate for 80 degrees reversely and then returns to the original;

the test tube taking action is executed again, namely the steering stepping motor 413 arranged in the base 41 is controlled to rotate horizontally for 180 degrees, then the first motor 451 is controlled to rotate downwards for 10 degrees, the second motor 471 rotates downwards for 13 degrees, the third motor 491 rotates downwards for 42 degrees, the test tubes grabbed by the right claw 422 and the left claw 421 can be placed on the test tube rack in the sample storage cabin 6, finally, commands are sent to the steering engine 43, the steering engine 43 is controlled to rotate reversely, then the right claw gear is driven to rotate, further the left claw gear rotates, at the moment, the right claw 422 and the left claw 421 are both outwards, and the test tubes are released.

After the mechanical arm 4 extracts a water sample, the mechanical arm 4 and the base 41 are controlled to rotate to place the extracted water sample on the test tube rack in the test tube storage box 116, so that a user can conveniently perform detailed water quality detection on a certain area. The mechanical arm 4 has the characteristics of compact structure and flexible rotation. And simultaneously, the requirements of light weight, strong rigidity and small deformation are met.

And the test tube is returned to the original position and then the directional action is executed again, the mechanical arm 4 returns to the initial state, and the action of taking water once is completed.

The singlechip controls the brushless motors of the two propellers to rotate, and the forward motion is realized. The mechanical arm 4 completes the water taking action. The finished commands are transmitted to a communication module on the main hull 1 through signals through a control program written in advance, and then the singlechip controls each part to finish corresponding actions, wherein the source codes are compiled through the keil 4.