CN109655041A - A kind of underwater multi-angle observation aircraft and its control system - Google Patents
A kind of underwater multi-angle observation aircraft and its control system Download PDFInfo
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- CN109655041A CN109655041A CN201910098031.8A CN201910098031A CN109655041A CN 109655041 A CN109655041 A CN 109655041A CN 201910098031 A CN201910098031 A CN 201910098031A CN 109655041 A CN109655041 A CN 109655041A
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- 235000011034 Rubus glaucus Nutrition 0.000 claims description 13
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 13
- 240000007651 Rubus glaucus Species 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 5
- 239000011521 glass Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000003190 augmentative effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
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- 230000009189 diving Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
The present invention provides a kind of underwater multi-angle observation aircraft and its control system, wherein aircraft, including primary seal cabin, the propeller being set on primary seal cabin, in the primary seal, independent camera shooting sealed compartment is arranged in portion out of my cabin, camera is fixedly installed in camera shooting sealed compartment, camera shooting sealed compartment is connected with two axis servo device, and the two axis servo device can drive the camera shooting sealed compartment to rotate in level angle and pitch angle.The present invention cooperates servomechanism installation to realize the acquisition of underwater picture by external camera shooting cabin, can effectively expand the visual field, promote the environment sensing ability and visual experience of operator, improve operating efficiency.
Description
Technical field
The invention mainly relates to underwater hiding-machine correlative technology field, specifically a kind of underwater multi-angle observation aircraft and its
Control system.
Background technique
In recent years, various as ocean power implementation, submarine navigation device research and the temperature innovated are continuously increased
New configurations and function continue to bring out.Realize that the main means of big visual angle observation have currently used for aircraft:
1. using wide-angle camera inside latent device, but apparent distortion is had, the shape of latent device will also result in distortion (such as
Latent device a part is ball cover, but the position of camera is not in focus)；
2. camera only in latent device internal rotating, will receive and significantly block, field of view is limited；
3. multi-cam switches, but picture is discontinuous；
4. latent device main body moving in rotation, but will affect normal navigation or operation.
Currently, the image transmission function of submarine navigation device is only limitted to two-dimensional observation purposes substantially, there is comparable vision to miss
Difference, and manual manipulation is needed, disturb the judgement of operator.The camera of underwater robot is mostly fixed or low-angle rotation
Turn, image content is limited.Even multi-cam switches, the discontinuous drawback of picture is also had.And picture is two-dimensional picture, is not had
There is sense of depth, there is the biggish collimation error.
Summary of the invention
For the deficiency for solving current technology, the present invention combination prior art provides a kind of underwater more from practical application
Angular observation aircraft and its control system cooperate the acquisition of servomechanism installation realization underwater picture, energy by external camera shooting cabin
Enough effective expansion visuals field, promote the environment sensing ability and visual experience of operator, improve operating efficiency.
To achieve the above object, technical scheme is as follows:
A kind of underwater multi-angle observation aircraft is provided according to an aspect of the present invention,
Including primary seal cabin, the propeller being set on primary seal cabin, in the primary seal, independent take the photograph is arranged in portion out of my cabin
It as sealed compartment, images and is fixedly installed with camera in sealed compartment, camera shooting sealed compartment is connected with two axis servo device, and the twin shaft is watched
Clothes, which are set, can drive the camera shooting sealed compartment to rotate in level angle and pitch angle.
Further, the two axis servo device includes attachment base and support base, wherein the attachment base is fixedly connected with master
Sealed compartment, support base are set to above attachment base, and the horizontal rotation steering engine of setting driving support base rotation, described to take the photograph in attachment base
As the pitching rotate steering wheel that sealed compartment is installed on support base, and support base side setting driving camera shooting sealed compartment rotates.
Further, searchlight is installed outside the camera shooting sealed compartment, searchlight can be done together with camera shooting gas-tight silo
Step movement.
Further, the camera being set in the camera shooting sealed compartment is binocular camera.
Further, the camera shooting sealed compartment is set to right above the front of primary seal cabin.
According to a further aspect of the present invention, a kind of control system of underwater multi-angle observation aircraft, this control system are provided
System includes the first processor being set in bank base and the second processor being set in aircraft, and wherein first processor is used for
The signal of emission control propeller and two axis servo device, second processor are used to receive the signal of first processor and pass through
Corresponding controller control propeller and two axis servo device action, second processor connect camera for providing water simultaneously
Under image data.
Further, the first processor being set in bank base is connected with remote controler and helmet, wherein helmet
The athletic posture on operator head can be obtained, then by Bluetooth transmission to first processor, second processor receives the
Signal is exported to the first controller after the control signal of one processor, corresponding pwm signal, control are generated by the first controller
Camera shooting gas-tight silo makes act corresponding with head；Remote controler is wirelessly transmitted in such a way that PPM is encoded by 2.4GHz signal
First processor, second processor transmits a signal to second controller after receiving the control signal of first processor, by
Two controllers generate corresponding pwm signal to electron speed regulator, and the motor of propeller is driven to operate.
Further, when second processor carries out image sound data processing, Appliance computer vision technology is former based on parallax
Reason utilizes two images of the binocular camera from different position acquisition testees, by calculating the position between image corresponding points
Deviation obtains object dimensional geological information；Helmet is using lens focus Formula V R glasses combination mobile phone or uses built-in screen
VR all-in-one machine obtain double picture images after, the figure with obviously degree of feeling deeply can be obtained by merging two width pictures of left and right by human eye
Picture.
Further, the first processor is computer, and the second processor is raspberry pie, first controller
For STM32 single-chip microcontroller, the second controller is Pixhawk open source controller, and Pixhawk open source controller is built-in with triplex redundance
Inertial navigation system (IMU), itself posture of available aircraft can be real with autonomous control motor when remote controler is without operation
Now underwater hovering, second processor use the raspberry pie of the raspbian system based on Linux, are flowed by mjpg-streamer
Video data is obtained from the USB camera for being connected to raspberry pie.
Further, it is communicated between the first processor and second processor by power line carrier module.
Beneficial effects of the present invention:
The present invention can be in the premise for not influencing this movement of aircraft by being placed outside the binocular camera in independent sealed cabin
Under expand the visual field as far as possible, and scene is restored by augmented reality as much as possible, and provide various information in real time, to make
User provides the operating experience of immersion, reduces operating error.
Detailed description of the invention
Attached drawing 1 is general structure schematic diagram one of the present invention；
Attached drawing 2 is general structure schematic diagram two of the present invention；
Attached drawing 3 is two axis servo schematic device of the present invention；
Attached drawing 4 is present invention camera shooting sealing structure schematic diagram；
Attached drawing 5 is control principle drawing of the present invention.
Label shown in attached drawing:
1, primary seal cabin；2, sealed compartment is imaged；3, searchlight；4, propeller；5, carrying platform；6, attachment base；7, it supports
Seat；8, steering engine is rotated horizontally；9, pitching rotate steering wheel；10, camera.
Specific embodiment
With reference to the drawings and specific embodiments, the invention will be further described.It should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, this field
Technical staff can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
As shown in Fig. 1~5, present invention generally provides a kind of small underwaters cable aircraft construction and its matched control system
System, and augmented reality is applied to submarine navigation device, the visual experience of operator is promoted, to improve operating efficiency.
It is illustrated below for the specific structure of this aircraft:
Aircraft main body: this aircraft is small-sized observation grade aircraft, the primary seal cabin long 450mm of 1 body, primary seal cabin diameter
160mm, displacement about 10kg, main application is underwater observation, and can carry external equipment and carry out low intensive operation, is disposed with
Four propellers 4, may be implemented the manipulation of three degree of freedom.Using four paddle configurations, to realize the manipulation of three degree of freedom.Four paddles
Though design sacrifices more freedom degrees, higher propulsive efficiency can be obtained while taking into account portability.Bottom design
There is carrying platform 5, clump weight and small-sized external equipment can be carried, and watertight data-interface is provided, it is user-friendly.
Propeller: the present invention respectively arranges a pair of of propeller 4 in X-axis and Z-direction, by linkage and differential, it can be achieved that three
The manipulation of a freedom degree.Using ducted propeller technology, since conduit inside and outside pressure difference generates an additional thrust and can subtract
The contraction of water flow after few propeller, while can be reduced blade itself again in the loss in efficiency of blade tip part, so that it is more suitable latent
Navigate low speed locating for device, heavily loaded operating condition.The pairs of arrangement of propeller 4 and the design of positive and negative paddle can offset anti-twisted and gravity not
Balance keeps latent device navigation more stable.
Image Acquisition: in order to expand the visual field, the invention as much as possible under the premise of not influencing aircraft main motion
Property main camera 10 is placed outside independent camera shooting sealed compartment 2, be respectively provided in Y-axis and Z axis and rotate horizontally steering engine 8 and pitching
Rotate steering wheel 9 is additionally provided with searchlight 3 in Y-axis, it can be made to do together and moved around axis, theoretically may be implemented 360 degree of twin shaft times
Turn.But in view of cable winds, camera visual angle, latent device main body to sight block and the supply of related corollary equipment etc. because
Element, of the invention camera shooting sealed compartment 2 and searchlight 3 independently of aircraft main body realize 270 degree of level with vertical 180 degree around axis
Rotation.
Control system of the invention is broadly divided into exposed ways and underwater portion, between the two using power line carrier module into
Row communicates between bank base under water, i.e., by zero curve and firewire, signal etc. is carried out independent high-speed transfer by way of carrier wave,
Maximum bandwidth 100Mbps, 500 meters of transmission range, the actual condition when present invention being suitble to use.Present invention base station and latent on the coast
One piece of power line carrier module is respectively set in device, is responsible for modulation, transmission, the demodulation of signal, it is possible to further be conveyed by carrier wire
Electric power extends the cruise duration of latent device.
Present invention employs 1,300,000 pixel, 90 degree of visual angles, 60 frame binocular cameras, and frame synchronization is realized on hardware, ensure that
The stability of image.The use of binocular camera can make human eye fusion two width pictures of left and right and observe the difference between them,
Observer is set to obtain apparent sense of depth.Further, by computer vision technique, i.e., based on principle of parallax and using at
As equipment is from the two images of different position acquisition testees, by calculating the position deviation between image corresponding points, to obtain
Object dimensional geological information is taken, it is more multi-functional that such as ranging, object identification, object tracking can be extended.Furthermore it is possible to navigating by water
The head end of device installs the special camera such as low-light (level), infrared additional as auxiliary observation means, perceives underwater ring more fully hereinafter
Border.
Helmet of the invention can carry out image output using easy lens focus Formula V R glasses combination mobile phone,
The VR all-in-one machine of built-in screen can be used.After double picture outputs, human eye fusion two width pictures of left and right are simultaneously observed between them
Difference can obtain apparent sense of depth.Further, the information such as ranging, object identification result can also be defeated with image
Out to helmet.
Using sensors such as gyroscope, accelerometers on helmet, the athletic posture on operator head is obtained, is passed through
After computer disposal in first processor, that is, bank base, export to second processor, that is, raspberry pie, second processor passes signal
The first controller i.e. STM32 single-chip microcontroller is transported to, output pwm signal drives steering engine to make Xiang Yingyun with head after single-chip microcontroller is handled
It is dynamic.
The first underwater controller uses STM32 single-chip microcontroller, and second controller increases income controller using Pixhawk to control
The main motion of latent device.Pixhawk uses the real-time ARM system of NuttX, is the flight controller for possessing dual processor.One
Processor is good at the 32bit STM32 F427Cortex M4 core 168MHz/256KB RAM/2 MB of powerful operation
Flash processor, another is primarily targeted for the coprocessor 32bit STM32F103 of industrial use, and its feature is exactly to pacify
It is complete to stablize.Even if primary processor crashes, there are one coprocessors to ensure safety.By writing with a brush dipped in Chinese ink different firmwares, Ke Yizhi
The unmanned plane of different frameworks is held, trolley and underwater equipment use.Due to increasing income completely, and there is expansion interface abundant, it can be with
Independent development firmware is to adapt to actual demand.
Remote controller signal is transmitted to the computer of base station on the bank, meter in such a way that PPM is encoded using 2.4GHz frequency wireless
Pixhawk controller is transmitted to by power line carrier module after the processing of calculation machine.The signal that Pixhawk controller can will acquire
It is converted into the pwm signal to electron speed regulator, then four propulsion electric machines are driven by electron speed regulator.Controller is built-in with more than three
It spends inertial navigation system (IMU), itself posture of available latent device.It, can be real with autonomous control motor when remote controler is without operation
Now underwater hovering, remote controller can realize the corresponding actions of aircraft.
Vision signal of the invention is acquired and is handled by raspberry pie, raspberry pie be it is a kind of only credit card-sized it is micro-
Type computer, it is responsible for vision signal and reads and handle.Raspberry pie of the invention uses the raspbian system based on Linux,
Video data is obtained from the USB camera for being connected to raspberry pie by mjpg-streamer stream, is subsequently sent to user browser
In.
Generally, raspberry pie is direct-connected by cable and router, and in present invention application, cable signal is carried by electric power
Wave module is transmitted at a distance.Mobile phone or other terminals connect this router, can access and obtain image in a browser,
Binocular camera Image compounding is finally stereoscopic effect by VR glasses.
Computer melts the head pose signal of the motion control signal of remote controler and helmet as first processor
It closes, the raspberry pie as second processor is transmitted to by power line carrier module, each controller is distributed to by second processor.The
Two processors merge vision signal and the feedback signal of each controller, router are transmitted to by power line carrier module, by road
It is shared by device to first processor and helmet.First processor can display controller feedback data, helmet shows
Underwater picture.That is bank base and submarine navigation device establishes two-way communication.
The present invention has good man-machine interaction experience, enables a user to perceive well with augmented reality underwater
Environment, device of diving is in stable condition, easy to control, and has reserved other equipment mounting space and interface, is suitble to complete to underwater environment
Perceive more demanding observation and low-intensity job task, can be provided for tourist immersion underwater observation experience, industry and
Civilian aspect all has broad application prospects.
Claims (10)
1. a kind of underwater multi-angle observation aircraft, including primary seal cabin, the propeller being set on primary seal cabin, feature exists
In: in the primary seal, independent camera shooting sealed compartment is arranged in portion out of my cabin, images and is fixedly installed with camera in sealed compartment, images close
Batten down is connected with two axis servo device, and the two axis servo device can drive the camera shooting sealed compartment in level angle and pitching
Angular turn.
2. a kind of underwater multi-angle observation aircraft as described in claim 1, it is characterised in that: the two axis servo device packet
Attachment base and support base are included, wherein the attachment base is fixedly connected with primary seal cabin, support base is set to above attachment base, attachment base
The horizontal rotation steering engine of interior setting driving support base rotation, the camera shooting sealed compartment are installed on support base, and support base side is set
Set the pitching rotate steering wheel of driving camera shooting sealed compartment rotation.
3. a kind of underwater multi-angle observation aircraft as described in claim 1, it is characterised in that: outside the camera shooting sealed compartment
Portion is equipped with searchlight, and searchlight can be moved synchronously with camera shooting gas-tight silo.
4. a kind of underwater multi-angle observation aircraft as described in claim 1, it is characterised in that: be set to the camera shooting sealing
Camera in cabin is binocular camera.
5. a kind of underwater multi-angle observation aircraft as described in claim 1, it is characterised in that: the camera shooting sealed compartment setting
Right above the front of primary seal cabin.
6. a kind of control system of underwater multi-angle observation aircraft, it is characterised in that: this control system includes being set to bank base
On first processor and the second processor that is set in aircraft, wherein first processor for emission control propeller with
And the signal of two axis servo device, second processor are used to receive the signal of first processor and are controlled by corresponding controller
Propeller and two axis servo device action, second processor connect camera for providing underwater image data simultaneously.
7. a kind of control system of underwater multi-angle observation aircraft as claimed in claim 6, it is characterised in that: be set to bank
First processor on base is connected with remote controler and helmet, and wherein helmet can obtain the movement appearance on operator head
State, then by Bluetooth transmission to first processor, second processor is received signal after the control signal of first processor
Output generates corresponding pwm signal by the first controller, control camera shooting gas-tight silo is made corresponding with head to the first controller
Movement；Remote controler is wirelessly transmitted to first processor by 2.4GHz signal in such a way that PPM is encoded, and second processor receives
Second controller is transmitted a signal to after the control signal of first processor, corresponding pwm signal is generated to electricity by second controller
Sub- governor drives the motor of propeller to operate.
8. a kind of control system of underwater multi-angle observation aircraft as claimed in claim 7, it is characterised in that: second processing
When device carries out image data processing, using binocular computer technology, utilize binocular camera from different positions based on principle of parallax
The two images for obtaining testee are set, by calculating the position deviation between image corresponding points, obtain object dimensional geological information；
After helmet obtains double picture images using lens focus Formula V R glasses combination mobile phone or using the VR all-in-one machine of built-in screen,
The image with obviously degree of feeling deeply can be obtained by merging two width pictures of left and right by human eye.
9. a kind of control system of underwater multi-angle observation aircraft as claimed in claim 8, it is characterised in that: described first
Processor is computer, and the second processor is raspberry pie, and first controller is STM32 single-chip microcontroller, second control
Device processed is Pixhawk open source controller, and Pixhawk open source controller is built-in with triplex redundance inertial navigation system (IMU), can obtain
Itself posture of aircraft is taken, when remote controler is without operation, underwater hovering can be realized with autonomous control motor, second processor uses
The raspberry pie of raspbian system based on Linux is flowed by mjpg-streamer from the USB camera for being connected to raspberry pie
Obtain video data.
10. such as a kind of described in any item control systems of underwater multi-angle observation aircraft of claim 6~9, feature exists
In: it is communicated between the first processor and second processor by power line carrier module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910098031.8A CN109655041A (en) | 2019-01-31 | 2019-01-31 | A kind of underwater multi-angle observation aircraft and its control system |
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| CN201910098031.8A CN109655041A (en) | 2019-01-31 | 2019-01-31 | A kind of underwater multi-angle observation aircraft and its control system |
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| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
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