CN103029818A

CN103029818A - Biomimetic benthon fishing robot

Info

Publication number: CN103029818A
Application number: CN2012105533658A
Authority: CN
Inventors: 汤一平; 俞立; 孙明轩; 倪洪杰; 余世明
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2012-12-18
Filing date: 2012-12-18
Publication date: 2013-04-10
Anticipated expiration: 2032-12-18
Also published as: CN103029818B

Abstract

A biomimetic benthon fishing robot comprises a fishing robot body, four limbs based on artificial muscles and having two functions of seabed walking and benthon fishing, a pressure sensor used for sensing water depth, a digital compass used for detecting the walking direction of the fishing robot, a binocular stereoscopic panoramic visual sensor used for acquiring panoramic stereoscopic vision video images which are 360 degrees around the fishing robot, an intelligent body used for controlling the four limbs to harmonize seabed walking and for performing identification and spatial erientation to a fished object, autonomous navigation, fishing action controlling and information interaction with a mother ship on the water, and a navel cord for communicating with the mother ship on the water and connected with energy equipment supply equipment. The biomimetic benthon fishing robot provided by the invention has the advantages of good natural flexibility, simple mechanism, low control complexity, low manufacturing and maintenance costs, and high efficiency during the fishing process.

Description

A kind of bionical benthic organism hauls robot

Technical field

The invention belongs to full-view stereo vision technique, pneumatic servo control technology and under-water robot technology in the application of epibiota resource aspect exploring and fishing for, be particularly useful for sea cucumber etc. the sea is benthic fishing for.

Background technology

Abyssopelagic organism is fished for, and namely abyssopelagic organism is fished for, and biology is caught water outlet carry out scientific research or other commercial uses from the deep-sea.Usually adopt at present a kind of trawlnet capture technique, it is a kind of towed fishing style that utilizes ship's navigation.Danish seine is a kind of for the small-sized biologicals such as abyssal benthos are carried out capture technique.This Danish seine technology has caused calamitous injury to the ecosystem, and therefore coral, sponge, fish and other animal all will be catched and killed.Numerous halobiontic habitat-seamounts of while etc. the under water ecosystem have also suffered serious destruction.This fishing style has caused irreparable damage to marine ecosystem.Because the trawlnet technology is difficult to biology is caught targetedly, often causes indiscriminate " slaughtering the innocent ", the low and waste resource of success ratio.

Under-water robot applies to human exploration to deep-sea resources more and more in recent years.Wherein, also be a very important ring to the exploration of abyssopelagic organism resource.Deep submergence vehicle the most intuitively advantage is that scientist can long-rangely control and specific aim high, also can not damage abyssal environment.But under-water robot is very expensive at present, and the benthic organism hauls that is applied to commercial use still exists a lot of problems.

Under-water robot claims again unmanned remotely controlled submersible vehicle, its mode of operation is to provide power by the staff on the surface mother ship by the umbilical cord that connects submersible, handle or the control submersible, adopt the specialized equipments such as underwater television, sonar to observe, and carry out under-water operation by manipulator.In abyssopelagic organism caught, under-water robot used manipulator that the biology of catching is put into collecting chamber and is with the water surface.Wherein underwater television system is a kind of facilities for observation that has development potentiality most.Developed the deep diving under-water robot of " drifter that the whole world is the most excellent " by name such as the marine laboratory, Woods Hole (Woods Hole) of the U.S., it is equipped with the high definition pick-up head, can be at the underwater operation that deeply reaches 3000 meters, but scientist's remote servicing leaves the biology of arresting in the water in the collecting chamber of robot.But the image that uses at present the underwater television system in the robot under water to obtain remains plane visual information, the depth information of the object that can't obtain to be hunted down; And visual range is very limited.The manufacturing cost of this under-water robot is extremely expensive.

Fish for for some small-sized abyssopelagic organisms, the researchist has developed a kind of " ocean grab bucket " of picture bivalve shell, and energy quick make when striking the seabed is arrived sample whole " grabbing " in the bucket.In addition, the researchist has also designed box corer, gravity core device and sampling piston device etc., and they are vertically transferred to the seabed, utilizes special device rapidly sample to be got up in good condition, so just can successively be studied sediment.This fishing style operating efficiency is low, and manufacturing cost is high.

The mode that a lot of animals of realm of nature obtain food designs band to us and serves enlightenment, it is bionical benthic organism hauls mechanical hand design, nose such as elephant can be taken the fruit on the tree easily, ground grass can be uprooped, can draw the water in the pond, there is a special cartilage esophagus top, nasal cavity back of elephant, and it is the same to play " valve ".When resembling suction, the contraction of muscle at throat position, " valve " closes, and water can enter esophagus smoothly, and the nose of elephant is flexible as staff.Studies show that large trunk is that nearly 40,000 whippy little muscle form, it is can the utmost point capable of expansion and contraction neatly, makes deftly action.When the design of bionical benthic organism hauls mechanical hand, pipe design on the mechanical hand becomes as the nose of elephant with fishing for, and is the process that object is fished in the nasal cavity suction of elephant with fishing for process simulation.Some epibiota is adopted the suction of mouth to gulp down when catching food and gets captive object, has and the similar function of the nose of elephant.

For the benthic organism hauls process, at first control just as the pipeline of fishing for of large trunk and aim at the epibiota of being fished for, then utilize the depression generator of fishing in the pipeline to produce vacuum pulse and suck the epibiota of being fished for, the epibiota that the quilt that sucks is at last fished for automatically is slipped to the collecting chamber of under-water robot by pipeline, thereby finishes the whole benthic process of fishing for; This benthic to fish for action be to finish in moment, can Effective Raise fish for speed; Because the suction epibiota of having adopted the vacuum pulse formula can effectively reduce the energy consumption in the process of fishing for, and realizes targetedly efficient capture.

The end-effector that a kind of desirable bionical benthic organism hauls mechanical hand design adopts artificial-muscle to realize has compliance, dexterity, and wherein the artificial-muscle technology is simulated the selection design plan that the nose of elephant is a kind of the best.Artificial-muscle except the advantages such as the low cost that has the pneumatic transmission technology and have, cleaning, simple installation, also have superpower/mass ratio, natural compliance, with the advantage such as the similar mechanical characteristic of biological muscles.

As far back as 1900, " father of theory of mechanisms " REULEAUX just mentioned the principle that adopts India rubber tube simulation biological muscles in about the research of biometric mechanisms.1913, WILKINS invented a kind of cheap failure-free tubular film actuator; The applied research of real relevant artificial-muscle is since the eighties in 20th century; Japan Bridgestone company has released the Rubbertuator actuator based on early stage McKibben type pneumatic muscles redesign, and be applied to Arm Flexible arm Soft arm, attracted some researchers' concern, from then on artificial-muscle has entered practical application area, its potential value is familiar with by people gradually, and applied research work also is surging forward.The at present main research of artificial-muscle also only is confined to the aspects such as flexible arm, flexible hand and flexible leg, and the research of the bionical benthic organism hauls mechanical hand with the function of fishing for that is similar to large trunk is very rarely seen.

In general, bionical benthic organism hauls robot relates generally to three technical fields: 1) body construction design; 2) autonomous navigation of under-water robot; The fixation and recognition of 3) fishing for target with fish for.The present invention mainly solves body construction design, fish for the fixation and recognition of target and fish for the design of end-effector.

The gordian technique that realizes bionical benthic organism hauls robot is: the 1) design of benthic organism hauls pipeline, fishing for pipeline can realize along the bending of flexible and any one direction of center shaft Z direction by the pressure that control passes into the pipeline internal cavity, to realize that fishing for pipeline aims at the action of fishing for object; 2) aim at and automatically to produce vacuum pulse when fishing for object and suck and fish for object fishing for pipeline; 3) based on the automatic identification technology of fishing for object of machine vision, automatically find to fish under water object in the robot ambulation process; 4) based on the location technology of fishing for object of 3D full-view stereo vision, robot finds to fish for the locus that calculates the center-point of the benthic organism hauls pipeline of fishing for object and under-water robot behind the object under water, fishes for object spatial positional information is provided for fishing for the pipeline aligning.

Summary of the invention

The deficiency such as poor for the natural compliance that overcomes existing benthic organism hauls device, that mechanism is complicated, the control complexity is high, manufacturing and maintenance cost are expensive, be difficult to realize fishing for targetedly efficiently, the invention provides a kind ofly have that the nature compliance is good, mechanism simple, the control complexity is low, manufacturing and maintenance cost is low, the high efficiency bionical benthic organism hauls robot of the process of fishing for.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of bionical benthic organism hauls robot, comprise the body of fishing for robot, the four limbs of walking and fish for two kinds of functions of epibiota in the seabed that have based on artificial-muscle, the pressure sensor that is used for the perception depth of water, for detection of the digital compass of fishing for the robot ambulation direction, be used for obtaining the binocular solid panoramic vision sensor of the full-view stereo vision video image of fishing for 360 ° on robot periphery and be used for the control four limbs and coordinate the seabed walking, to identification and the space orientation of fishing for object, autonomous navigation, control fishing action and carry out the intelligent body of information interaction with surface mother ship, hereinafter to be referred as Agent, communicate the umbilical cord that equipment connection is provided with energy device with surface mother ship;

The described robot body of fishing for, the described robot body interior separation of fishing for becomes three spaces, and a space is collecting chamber, is positioned at the bottom of body, is used for depositing fishing for object; A space is control convenience instrument and meter cabin, be positioned at the back of body, described intelligent body, other control instrument instrument and backup powers are installed in the control convenience instrument and meter cabin, and described umbilical cord is linked in the control convenience instrument and meter cabin and is connected with backup power with described agent communication interface; Described binocular solid panoramic vision sensor, carry the promising annular LED light source that robot provides illumination of fishing for, be fixed on the described back of fishing for robot body, be used for obtaining the full-view stereo vision video image of bionical benthic organism hauls robot periphery, be linked in the control convenience instrument and meter cabin and be connected with the USB interface of described intelligent body; Described pressure sensor, be fixed on the described back of fishing for robot body, be linked in the control convenience instrument and meter cabin and be connected with the A/D interface of described intelligent body, for detection of the described suffered sea pressure of robot body of fishing for, thereby extrapolate the described residing degree of depth of robot body of fishing for from force value; Described digital compass, be placed in the control convenience instrument and meter cabin, be connected with the I/O interface of described intelligent body, for detection of described direction of travel of fishing for robot, fish for robot ambulation control and obtain the described robot of fishing at the track of seabed walking with direction of travel according to described; A space is buoyancy compartment, between collecting chamber and control convenience instrument and meter cabin, is mainly used in controlling described stability and lifting when fishing for robot ambulation;

Have two mouths on the described buoyancy compartment, mouth is with its open and close of solenoid control, and buoyancy compartment communicates with the external world when the state opened, and buoyancy compartment is hedged off from the outer world when the state that closes; Another mouthful is connected with the water pump input port, during pump working the seawater of buoyancy compartment extracted out, forms certain vacuum in buoyancy compartment, so that fish for the robot come-up; Therefore when the decline of the robot of will controlling fishing, control electromagnetic valve and open and allow seawater enter described buoyancy compartment; When the rising of the robot of will controlling fishing, then the control closed electromagnetic valve makes pump working allow the seawater in the described buoyancy compartment extract out, has buoyancy upwards so that fish for robot;

One end of described four limbs is fixed on described front and back, collecting chamber both sides of fishing for robot body, is very similar to the four limbs of green turtle, is made by artificial-muscle; The profile of described four limbs is pipe three degree of freedom muscle shape, be separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, realize realizing the control of three degree of freedom along the bending of flexible and any one direction of center shaft Z direction by the hydraulic pressure of controlling respectively three cavitys; When fishing for robot ambulation, described four limbs are supporting the described robot body of fishing for, as shown in Figure 4 described; At the described robot of fishing for when fishing for, the front end of described four limbs is aimed at and is fished for object and realize aiming at and fish for object and suck and fish for; In described four limbs, be provided with and fish for pipeline, hereinafter to be referred as the pipeline of fishing for based on artificial-muscle, described fishing for produces the pulsed negative pressure in the pipeline when the front end aligning of described four limbs is fished for object, to fish for object and be drawn into described fishing in the pipeline, then along with the described pipeline of fishing for enters into described fishing in the cabin, as shown in Figure 5; Therefore, described four limbs have two functions, and a function is to realize fishing for robot in the walking in seabed, and another function is to realize fishing for the object suction to fish for; In order to distinguish from function aspects, the present invention will be defined as four limbs based on artificial-muscle for walking function, will be defined as the pipeline of fishing for based on artificial-muscle be used to fishing for function;

Described collecting chamber disposes four mouths at the position that described four limbs are installed, and the switch of four mouths is by four collecting chamber solenoid control, and the described pipeline of fishing for communicates with described collecting chamber during state that the collecting chamber electromagnetic valve is in out; The collecting chamber electromagnetic valve is in closed condition when fishing for robot ambulation or during lifting described, can guarantee like this to fish for object and can not flow back to marinely, has also realized fishing for the pressurize of object simultaneously; Only have when the front end aligning of described four limbs is fished for object, the collecting chamber electromagnetic valve is in opening; Described collecting chamber is fixed on described bottom of fishing for robot body, and described bottom and body of fishing for robot body is separable; When described fishing for floats on the sea after robot is finished fishing operation and when being recovered to lash ship, the operating personnel unloads described bottom of fishing for robot body from body, the collecting chamber of fishing for object has been filled with in collecting chamber replacing with sky, again described bottom of fishing for robot body is connected on the body, then the described robot of fishing for is put into marine proceeding and fished for; Because the electromagnetic valve that has filled with the collecting chamber of fishing for object is in closed condition, so collecting chamber still is in packing state, collecting chamber fish for the pressure of object when keeping seabed existence, be conducive to improve the survival rate that institute catches biology;

Described umbilical cord mainly is made of single mode optical fiber line and battery core line, and adopting the single mode optical fiber line mainly is in order to satisfy the informational needs of about 3000 meters of transmission; Battery core line and single-mode optics cable are single internal coating; The outside mold pressing of these lines or fill soft and durable mold pressing resin or fiber, the outside face of described umbilical cord is carried out and is covered wear-resistant material layer; Tinned wire is used as the battery core line; Polyethylene or the polypropylene internally coated material as the battery core line; Kafra fiber or carbon resin as mold pressing resin, polyethylene or the polypropylene material as wear-resisting external coating; The grand internally coated material as the single mode optical fiber line of special atmosphere; The single mode optical fiber line is for providing the passage of information interaction between surface mother ship and the intelligent body, the battery core line provides power supply for the described robot of fishing for;

Comprising of the three degree of freedom movement device of control four limbs: be used for passing into the pressure generator that described four limbs are fished for the pipeline internal cavity, be used for the pressure ratio control valve controlled passing into the pressure of respectively fishing for the pipeline internal cavity, be used for the pressure sensor that detects passing into the pressure of respectively fishing for the pipeline internal cavity, for the pressure proportional controller that each pressure ratio control valve is coordinated to control, be used for sucking the pulsed negative pressure generation module of fishing for object, be used for control and carry out the catch control module of fishing for action, be used for the walking control module of control walking action;

Described walking control module is subordinated to Agent, finishes the coordination of three degree of freedom in order to control described four limbs based on artificial-muscle, so that the described robot of fishing for is realized forward, backward, left and to the right movement;

Described catch control module is subordinated to Agent, in order to controlling the action of the described three degree of freedom of fishing for pipeline based on artificial-muscle, fishes for object so that fish for mouthful to aim at; Control described pulsed negative pressure generation module action when fishing for object and produce the pulsed negative pressure and will fish for object and be drawn into and fish in the pipeline when fishing for mouthful to aim at;

Described Agent also comprise panoramic stereo image acquiring unit, autonomous navigation module and intelligent video analysis module, with lash ship information interaction module, mission planning behavior module;

Described panoramic stereo image acquiring unit is used for obtaining initialization information and panoramic stereoscopic video image;

Described autonomous navigation module for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, is resolved bionical benthic organism hauls robot territorial environment on every side, finishes path planning and keeps away the barrier task;

Described intelligent video analysis module, for the full-view stereo vision video image that obtains from described binocular solid panoramic vision sensor, from full-view stereo vision video image, parse and fish for object, fish for object size and residing locus, provide the spatial positional information of fishing for mouth for fishing for targetedly;

Described and lash ship information interaction module are used for describedly fishing for the control command that the panoramic stereoscopic video image transmitting around the robot sends from lash ship to lash ship, acceptance; Comprise following interbehavior: the 1) interbehavior of intervention required, when the situations such as the collecting chamber of fishing for robot generation emergency case, fishing for robot is full, the operating personal intervention is fished in request; 2) interbehavior of dispatch command is fished in acceptance, when fishing for after operating personal assigns the task of fishing for, the task of fishing for is pass on to described mission planning behavior module, after described mission planning behavior module is made traverse path planning, traverse path is planned the operating personal that feeds back on the lash ship; 3) interbehavior of consulting according to the situation of described Agent according to self perception, by the reasoning to its knowledge, can provide suitable help and suggestion to the operating personal on the lash ship; 4) provide the interbehavior of fishing for field data, be responsible for response from the information command of uploading of fishing for operating personal, the status information that panoramic video information, the direction of travel of fishing for robot and the depth information that described Agent is perceived and analysis obtain is uploaded to fishes for operating personal;

Further, the described pipeline of fishing for based on artificial-muscle, described profile of fishing for pipeline is pipe three degree of freedom muscle shape, is separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, as shown in Figure 1; Realize realizing the control of three degree of freedom along the bending of flexible and any one direction of center shaft Z direction by the pressure of controlling respectively three cavitys; In the rubber matrix of the described inside and outside tube wall of fishing for pipeline based on artificial-muscle, accompany the aromatic polyamide fortifying fibre, fiber orientation and muscle an angle α axially arranged, consider the described flexibility of fishing for pipeline based on artificial-muscle, angle α is designed to 70 ° ~ 80 °; Because the fiber one direction strengthens the impact of effect, much easier along the machine direction distortion along the deformation ratio perpendicular to machine direction like this;

The described pipeline of fishing for based on artificial-muscle is divided into several parts, comprises duct end, duct end sealing member, pipeline body, sealing for tubing joints body, pipeline coupling flange and fluid-through tube; Its assembling process is: at first, described duct end sealing member is inserted an end of described pipeline body, then described duct end is covered described duct end sealing member and be fixed together with the end of thread-forming screw with described duct end sealing member and described pipeline body; Described sealing for tubing joints body is inserted the other end of described pipeline body, then three holes of described sealing for tubing joints body are aimed in three holes of described pipeline coupling flange and covered, then the other end with described sealing for tubing joints body and described pipeline body is fixed together, and at last three fluid-through tubes is inserted respectively in three holes of described pipeline coupling flange; Described after the assembling is communicated with up and down based on the ducted passage of fishing for of fishing for of artificial-muscle; Fish for passage and fish for the cabin and be communicated with; Described based on ducted three cavitys of fishing for of artificial-muscle only with respectively corresponding connections of three fluid-through tubes, cavity and external world's maintenance sealing state; Be connected with described body of fishing for robot by described pipeline coupling flange; The described entrance of fishing for duct end based on artificial-muscle becomes trumpet type, as shown in Figure 6;

The described passage of fishing for of fishing for pipeline based on artificial-muscle is fished for object size design according to different, and considers that can effectively support the lowest calibre of fishing in the passage is slightly larger than the maximum gauge of fishing for object, lowest calibre φ _RminDesign and calculation method formula (1) expression,

40mm>φ _rmin-φ _omax≥20mm （1）

In the formula, φ _RminBe lowest calibre, the φ that fishes for passage _OmaxFor fishing for the maximum gauge of object;

Described pulsed negative pressure generation module, being used for sending a kind of pulsed vacuum liquid stream realizes the negative pressure absorbing of fishing for object is fished for, then fish for object by the described pipeline suction of fishing for based on artificial-muscle, and will fish for object and collect and fish in the object collecting chamber along fishing for pipeline, its effect is similar to the finger of mechanical hand, cooperates with mechanical hand to finish the whole action of fishing for; Described pulsed negative pressure generation module comprises two position three-way valve, high-pressure water and nozzle, described high-pressure water is connected with described nozzle through described two position three-way valve by pipeline, described nozzle direction is towards fishing for the object collecting chamber, described high-pressure water provides highly pressurised liquid for described nozzle when described two position three-way valve energising, according to injection principle, at this moment in fishing for pipeline, form negative pressure of vacuum; By controlling the Push And Release of described two-position three way hydraulic valve, in fishing for pipeline, produce a kind of pulsed vacuum liquid stream;

Described catch control module need to be aimed at the mouth of fishing for of the locus of fishing for object behind described binocular solid panoramic vision sensor and intelligent video analysis Module recognition and the location and described catch control module controls to fish between the object space position and sets up mapping relations; Here with the viewpoint of the following panoramic vision sensor in the described binocular solid panoramic vision sensor initial point as visual coordinate system, and set up X _v, Y _vAnd Z _vThe three-dimensional panorama visual coordinate system that consists of; X as the origin of coordinates of fishing manipulator, and is set up in the described center of fishing for pipeline and the crawler body bearing that fishes for robot based on artificial-muscle _a, Y _aAnd Z _aThe three-dimensional mechanical hand moving axis system that consists of; Because the binocular solid panoramic vision sensor and based on artificial-muscle fish for pipeline all be fixed on the crawler body of fishing for robot above, therefore, set up the geometric relationship of three-dimensional panorama visual coordinate system and three-dimensional fishing manipulator moving axis system with formula (2);

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

In the formula, X _a, Y _aAnd Z _aRepresent respectively three-dimensional fishing manipulator moving axis system, X _v, Y _vAnd Z _vRepresent respectively three-dimensional panorama visual coordinate system, x, y and z represent respectively the projector distance on three-dimensional coordinate between two coordinate origins.

Described catch control module adopts and controls respectively described pressure (p based on ducted three cavitys of fishing for of artificial-muscle ₁, p ₂, p ₃) realize along the bending of flexible and any one direction of center shaft Z direction; For each group control presssure value (p ₁, p ₂, p ₃) fish for fishing for end corresponding locus coordinate figure (x all can being arranged of pipeline described based on artificial-muscle _a, y _a, z _a); Therefore, method is set up described force value (p based on ducted three cavitys of fishing for of artificial-muscle by experiment ₁, p ₂, p ₃) and the described locus coordinate figure (x that fishes for end that fishes for pipeline based on artificial-muscle _a, y _a, z _a) corresponding relation, we are called calibration process with this process; After setting up such mapping relations by demarcation, for the described locus coordinate figure (x that fishes for end that fishes for pipeline based on artificial-muscle of some hope _a, y _a, z _a) just can calculate easily the control presssure value (p of needed one group of described three cavity of fishing for pipeline based on artificial-muscle ₁, p ₂, p ₃); Because the mapping relations of setting up with experimental technique disperse, and locus coordinate figure (x _a, y _a, z _a) and the control presssure value (p of cavity ₁, p ₂, p ₃) be continuous variable, therefore calculating needed one group of control presssure value (p ₁, p ₂, p ₃) time need to adopt the mode of interpolation, here the described locus of fishing for end of fishing for pipeline based on artificial-muscle is divided into several space lattices, if the locus coordinate figure of the described front end of fishing for pipeline based on artificial-muscle of some not hope is in certain space networks center of a lattice, so just need to carry out interpolation arithmetic to the residing space lattice of this locus coordinate figure and three adjacent space lattices, obtain the accurate control presssure value of three cavitys; Perhaps adopt nerual network technique to come implementation space position coordinate value (x _a, y _a, z _a) and the control presssure value (p of cavity ₁, p ₂, p ₃) mapping relations.

The described pipeline of fishing for based on artificial-muscle adopts the hydraulic proportional Pressure Control Technology to realize along the flexible bending control that reaches any one direction of center shaft Z direction; High-pressure water is connected with described three cavitys of fishing for pipeline based on artificial-muscle respectively by three proportional pressure valves, detect described based on the fluid pressure in three cavitys of fishing for pipeline of artificial-muscle with the Three pressures sensor, pressure sensor links to each other with control convenience with calculating by A/D converter, calculates to link to each other with proportional pressure valve with power amplifier by D/A with control convenience; Behind the control presssure that calculates a certain cavity, calculating and control convenience are by the openings of sizes of a voltage control ratio pressure valve of D/A output, to regulate the fluid pressure in the cavity, simultaneously pressure sensor detects the fluid pressure in this cavity, if the fluid pressure in the cavity constant in the desired control range of pressure time control proportional pressure valve close to keep fluid pressure in the cavity in expectation value; Therefore, the described control of fishing for pipeline based on artificial-muscle will be decomposed into the proportional control of fluid pressure in three cavitys.

Described catch control module, when the described end of fishing for of fishing for pipeline based on artificial-muscle is aimed at when fishing for object, described Agent triggers described pulsed negative pressure generation module by the I/O interface, send a kind of pulsed negative pressure and realize the negative pressure absorbing of fishing for object is fished for, fish for object along described fishing for pipeline and will fish for object and collect described fishing in the object collecting chamber based on artificial-muscle.

Beneficial effect of the present invention is mainly manifested in: 1, adopt the artificial-muscle technology to realize fishing for mechanical hand, thereby simple in structure, compliance, dexterity are good, fish for and do not damage the ecology environment of fishing for object and not destroying the seabed in the process; 2, adopt the pulsed negative pressure to realize the negative pressure absorbing of fishing for object is fished for, thereby can fish for and have simultaneously preferably energy-saving effect guaranteeing to fish in the process specific aim; 3, settle simultaneously four to fish for pipeline (fishing for mechanical hand) on the robot fishing for, can realize comprehensive parallel fishing operation, thereby can effectively improve catching rate; 4, all adopted the Bionic Design technology at the method for designing of fishing for robot and mechanical hand, so that design adapts to the marine environment nature fully and its degree again can be near perfection; 5, fish for the object collecting chamber and remaining the environmental conditions identical with seabed pressure, improved the survival rate of fishing for object; 6, fish for robot and lash ship and carry out real-time information interaction, the staff on the lash ship can see the three-dimensional panoramic video image in seabed in real time, for the epibiota investigation provides a kind of new method.

Description of drawings

Fig. 1 is a kind of scheme drawing that adopts the artificial-muscle technology to realize fishing for mechanical hand;

Fig. 2 is that a kind of artificial-muscle is made the assembly technique scheme drawing, and wherein, 1 is duct end, and 2 is the duct end sealing member, and 3 is pipeline body, and 4 are the sealing for tubing joints body, and 5 is pipeline coupling flange, and 6 are logical highly pressurised liquid pipe;

Fig. 3 is the scheme drawing that the artificial-muscle technology realizes the bending of any one direction;

Fig. 4 is the walking states instruction diagram of bionical benthic organism hauls robot, and wherein, 21 is body, and 22 is four limbs, and 23 is collecting chamber, and 24 is buoyancy compartment, and 25 is control convenience instrument and meter cabin, and 26 is the binocular solid panoramic vision sensor;

Fig. 5 be bionical benthic organism hauls robot fish for state description figure, wherein, 21 is body, 23 is collecting chamber, and 24 is buoyancy compartment, and 25 is control convenience instrument and meter cabin, 26 is the binocular solid panoramic vision sensor, and 27 for fishing for pipeline, and 28 is the epibiotas such as sea cucumber;

Fig. 6 is the section-drawing that pipeline is fished for port of fishing for based on artificial-muscle;

Fig. 7 is a kind of quadruped locomotion control and the block diagram of fishing for action control of bionical benthic organism hauls robot;

Fig. 8 (a) is that design drawing, Fig. 8 (b) of binocular solid panoramic vision sensor is the model of the binocular solid panoramic vision sensor body structure formula, the fixed single viewpoint for the sphere computation model of binocular solid panoramic vision sensor, Fig. 8 (c);

Fig. 9 is the ODVS imaging schematic diagram without the dead angle, and wherein, 29 is camera, and 30 is a catadioptric minute surface, and 31 is protective case, and 32 is SVP, and 33 is the first imaging point, and 34 is secondary catadioptric minute surface, and 35 is wide-angle lens;

Figure 10 is the range finding of full-view stereo vision sensor and fishes for object space positioning principle figure;

Figure 11 is that point of observation is to the empirical curve of spatial positioning accuracy between fishing for a little;

Figure 12 is functional module and each function graph of a relation each other of the intelligent body in a kind of bionical benthic organism hauls robot.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing.

With reference to Fig. 1～Figure 12, a kind of bionical benthic organism hauls robot, comprise that outer shape is similar to the body of fishing for robot of green turtle, the four limbs of walking and fish for two kinds of functions of epibiota in the seabed that have based on artificial-muscle, the pressure sensor that is used for the perception depth of water, for detection of the digital compass of fishing for the robot ambulation direction, be used for obtaining the binocular solid panoramic vision sensor of the full-view stereo vision video image of fishing for 360 ° on robot periphery and be used for the control four limbs and coordinate the seabed walking, to identification and the space orientation of fishing for object, autonomous navigation, control fishing action and carry out the intelligent body of information interaction with surface mother ship, hereinafter to be referred as Agent, communicate the umbilical cord that equipment connection is provided with energy device with surface mother ship;

The described robot body of fishing for, profile is very similar to green turtle, bottom flat, swell at the back, overlooks to present ellipse, as shown in Figure 1; The described robot body interior separation of fishing for becomes three spaces, and a space is collecting chamber, is positioned at the bottom of body, is used for depositing fishing for object; A space is control convenience instrument and meter cabin, be positioned at the back of body, described intelligent body, other control instrument instrument and backup powers are installed in the control convenience instrument and meter cabin, and described umbilical cord is linked in the control convenience instrument and meter cabin and is connected with backup power with described agent communication interface; Described binocular solid panoramic vision sensor, carry the promising annular LED light source that robot provides illumination of fishing for, be fixed on the described back of fishing for robot body, be used for obtaining the full-view stereo vision video image of bionical benthic organism hauls robot periphery, be linked in the control convenience instrument and meter cabin and be connected with the USB interface of described intelligent body; Described pressure sensor, be fixed on the described back of fishing for robot body, be linked in the control convenience instrument and meter cabin and be connected with the A/D interface of described intelligent body, for detection of the described suffered sea pressure of robot body of fishing for, thereby extrapolate the described residing degree of depth of robot body of fishing for from force value; Described digital compass, be placed in the control convenience instrument and meter cabin, be connected with the I/O interface of described intelligent body, for detection of described direction of travel of fishing for robot, fish for robot ambulation control and obtain the described robot of fishing at the track of seabed walking with direction of travel according to described; A space is buoyancy compartment, between collecting chamber and control convenience instrument and meter cabin, is mainly used in controlling described stability and lifting when fishing for robot ambulation;

40mm>φ _rmin-φ _omax≥20mm （1）

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

About being used for fishing for the identification of object and binocular solid panoramic vision sensor and the intelligent video analysis module of location, be used for binocular solid panoramic vision sensor and the autonomous navigation module finish path planning and to keep away the barrier task, the man-machine coordination operation between each bionical benthic organism hauls robot and the lash ship etc. technical scheme will in other patent documents from now on, disclose.

Claims

1. bionical benthic organism hauls robot, it is characterized in that: comprise the body of fishing for robot, the four limbs of walking and fish for two kinds of functions of epibiota in the seabed that have based on artificial-muscle, the pressure sensor that is used for the perception depth of water, for detection of the digital compass of fishing for the robot ambulation direction, be used for obtaining the binocular solid panoramic vision sensor of the full-view stereo vision video image of fishing for 360 ° on robot periphery and be used for the control four limbs and coordinate the seabed walking, to identification and the space orientation of fishing for object, autonomous navigation, control fishing action and carry out the intelligent body of information interaction with surface mother ship communicates the umbilical cord that equipment connection is provided with energy device with surface mother ship;

Described body interior of fishing for robot is separated into three spaces, and a space is collecting chamber, is positioned at the bottom of body, is used for depositing fishing for object; A space is control convenience instrument and meter cabin, be positioned at the back of body, described intelligent body, other control instrument instrument and backup powers are installed in the control convenience instrument and meter cabin, and described umbilical cord is linked in the control convenience instrument and meter cabin and is connected with backup power with described agent communication interface; A space is buoyancy compartment, between collecting chamber and control convenience instrument and meter cabin, is mainly used in controlling described stability and lifting when fishing for robot ambulation;

Described binocular solid panoramic vision sensor, carry the promising annular LED light source that robot provides illumination of fishing for, be fixed on the described back of fishing for robot body, be used for obtaining the full-view stereo vision video image of bionical benthic organism hauls robot periphery, be linked in the control convenience instrument and meter cabin and be connected with the USB interface of described intelligent body;

Described pressure sensor is fixed on the described back of fishing for robot body, be linked in the control convenience instrument and meter cabin and be connected with the A/D interface of described intelligent body, for detection of the described suffered sea pressure of robot body of fishing for, thereby extrapolate the described residing degree of depth of robot body of fishing for from force value;

Described digital compass is placed in the control convenience instrument and meter cabin, be connected with the I/O interface of described intelligent body, for detection of described direction of travel of fishing for robot, fish for robot ambulation control and obtain the described robot of fishing at the track of seabed walking with direction of travel according to described;

Described intelligent body comprise the panoramic stereo image acquiring unit, with lash ship information interaction module, elevating control module, autonomous navigation module, walking control module, intelligent video analysis module and catch control module; Wherein,

Described and lash ship information interaction module are used for describedly fishing for the control command that the panoramic stereoscopic video image transmitting around the robot sends from lash ship to lash ship, acceptance;

Described elevating control module is used for controlling described amount of vacuum of fishing for the buoyancy compartment of robot, to realize described lifting of fishing for robot;

Described walking control module is used for controlling described coordination of fishing for the four limbs of robot, to realize that the described robot of fishing for is in the walking in seabed;

Described catch control module in order to controlling the action of the described three degree of freedom of fishing for pipeline based on artificial-muscle, is fished for object so that fish for mouthful to aim at; Aim at when fishing for object the action of control pulsed negative pressure generation module and produce the pulsed negative pressure and will fish for object and be drawn into and fish in the pipeline when fishing for mouthful.

2. bionical benthic organism hauls robot as claimed in claim 1 is characterized in that: an end of described four limbs is fixed on before and after the described collecting chamber both sides of fishing for robot body, is similar to the four limbs of green turtle, is made by artificial-muscle; The profile of described four limbs is pipe three degree of freedom muscle shape, be separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe, realize realizing the control of three degree of freedom along the bending of flexible and any one direction of center shaft Z direction by the hydraulic pressure of controlling respectively three cavitys; When fishing for robot ambulation, described four limbs are supporting the described robot body of fishing for described; At the described robot of fishing for when fishing for, the front end of described four limbs is aimed at and is fished for object and realize aiming at and fish for object and suck and fish for; In described four limbs, be provided with and fish for pipeline, hereinafter to be referred as the pipeline of fishing for based on artificial-muscle, described fishing for produces the pulsed negative pressure in the pipeline when the front end aligning of described four limbs is fished for object, to fish for object and be drawn into described fishing in the pipeline, then along with the described pipeline of fishing for enters into described fishing in the cabin.

3. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: described collecting chamber disposes four mouths at the position that described four limbs are installed, the valve Push And Release of four mouths is by four collecting chamber solenoid control, and the described pipeline of fishing for communicates with described collecting chamber during state that the collecting chamber electromagnetic valve is in out; The collecting chamber electromagnetic valve is in closed condition when fishing for robot ambulation or during lifting described, can guarantee like this to fish for object and can not flow back to marinely, has also realized fishing for the pressurize of object simultaneously; Only have when the front end aligning of described four limbs is fished for object, the collecting chamber electromagnetic valve is in opening; Described collecting chamber is fixed on described bottom of fishing for robot body, and described bottom and body of fishing for robot body is separable; When described fishing for floats on the sea after robot is finished fishing operation and when being recovered to lash ship, the operating personnel unloads described bottom of fishing for robot body from body, the collecting chamber of fishing for object has been filled with in collecting chamber replacing with interior sky, again described bottom of fishing for robot body is connected on the body, then the described robot of fishing for is put into marine proceeding and fished for.

4. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: have two mouths on the described buoyancy compartment, mouth its open and close of buoyancy compartment solenoid control, buoyancy compartment communicates with the external world when state that the buoyancy compartment electromagnetic valve is in out, and described buoyancy compartment is hedged off from the outer world when the buoyancy compartment electromagnetic valve is in the state that closes; Another mouthful is connected with the water pump input port, during pump working the seawater of described buoyancy compartment extracted out, forms certain vacuum in buoyancy compartment, so that fish for the robot come-up; Therefore when the decline of the robot of will controlling fishing, control the buoyancy compartment electromagnetic valve and open and allow seawater enter described buoyancy compartment; When the rising of the robot of will controlling fishing, then control buoyancy compartment closed electromagnetic valve makes pump working allow the seawater in the described buoyancy compartment extract out, has buoyancy upwards so that fish for robot.

5. bionical benthic organism hauls robot as claimed in claim 1 or 2 is characterized in that: the described profile of fishing for pipeline based on artificial-muscle is pipe three degree of freedom muscle shape, is separated into three fan-shaped column cavitys that are mutually 120 ° in the pipe; Realize realizing the control of three degree of freedom along the bending of flexible and any one direction of center shaft Z direction by the pressure of controlling respectively three cavitys; In the rubber matrix of the described inside and outside tube wall of fishing for pipeline based on artificial-muscle, accompany the aromatic polyamide fortifying fibre, fiber orientation and muscle an angle α axially arranged, consider the described flexibility of fishing for pipeline based on artificial-muscle, angle α is designed to 70 ° ~ 80 °;

The described pipeline of fishing for based on artificial-muscle is divided into duct end, duct end sealing member, pipeline body, sealing for tubing joints body, pipeline coupling flange and fluid-through tube; Its assembling process is: at first, described duct end sealing member is inserted an end of described pipeline body, then described duct end is covered described duct end sealing member and be fixed together with the end of thread-forming screw with described duct end sealing member and described pipeline body; Described sealing for tubing joints body is inserted the other end of described pipeline body, then three holes of described sealing for tubing joints body are aimed in three holes of described pipeline coupling flange and covered, then the other end with described sealing for tubing joints body and described pipeline body is fixed together, and at last three fluid-through tubes is inserted respectively in three holes of described pipeline coupling flange; Described after the assembling is communicated with up and down based on the ducted passage of fishing for of fishing for of artificial-muscle; Fish for passage and fish for the cabin and be communicated with; Described based on ducted three cavitys of fishing for of artificial-muscle only with respectively corresponding connections of three fluid-through tubes, cavity and external world's maintenance sealing state; Be connected with described body of fishing for robot by described pipeline coupling flange; The described entrance of fishing for duct end based on artificial-muscle becomes trumpet type;

40mm>φ _rmin-φ _omax≥20mm （1）

In the formula, φ _RminBe lowest calibre, the φ that fishes for passage _OmaxFor fishing for the maximum gauge of object.

6. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: described four limbs and the described pipeline of fishing for based on artificial-muscle, adopt the hydraulic proportional Pressure Control Technology to realize along the flexible bending control that reaches any one direction of center shaft Z direction; High-pressure water is connected with described three cavitys of fishing for pipeline based on artificial-muscle respectively by three proportional pressure valves, detect described based on the fluid pressure in three cavitys of fishing for pipeline of artificial-muscle with the Three pressures sensor, pressure sensor links to each other with control convenience with calculating by A/D converter, calculates to link to each other with proportional pressure valve with power amplifier by D/A with control convenience; Behind the control presssure that calculates a certain cavity, calculating and control convenience are by the openings of sizes of a voltage control ratio pressure valve of D/A output, to regulate the fluid pressure in the cavity, simultaneously pressure sensor detects the fluid pressure in this cavity, if the fluid pressure in the cavity constant in the desired control range of pressure time control proportional pressure valve close to keep fluid pressure in the cavity in expectation value; Therefore, the described control of fishing for pipeline based on artificial-muscle will be decomposed into the proportional control of fluid pressure in three cavitys.

7. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: described pulsed negative pressure generation module, being used for sending a kind of pulsed vacuum liquid stream realizes the negative pressure absorbing of fishing for object is fished for, then fish for object by the described pipeline suction of fishing for based on artificial-muscle, and will fish for object and collect and fish in the object collecting chamber along fishing for pipeline, its effect is similar to the finger of mechanical hand, cooperates with mechanical hand to finish the whole action of fishing for; Described pulsed negative pressure generation module comprises two position three-way valve, high-pressure water and nozzle, described high-pressure water is connected with described nozzle through described two position three-way valve by pipeline, described nozzle direction is towards fishing for the object collecting chamber, described high-pressure water provides highly pressurised liquid for described nozzle when described two position three-way valve energising, according to injection principle, at this moment in fishing for pipeline, form negative pressure of vacuum; By controlling the Push And Release of described two-position three way hydraulic valve, in fishing for pipeline, produce a kind of pulsed negative pressure of vacuum.

8. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: described catch control module, the mouth of fishing for of the locus of fishing for object behind described binocular solid panoramic vision sensor and intelligent video analysis Module recognition and the location and described catch control module controls need to be aimed to fish between the object space position and set up mapping relations; Here with the viewpoint of the following panoramic vision sensor in the described binocular solid panoramic vision sensor initial point as visual coordinate system, and set up X _v, Y _vAnd Z _vThe three-dimensional panorama visual coordinate system that consists of; X as the origin of coordinates of fishing manipulator, and is set up in the described center of fishing for pipeline and the crawler body bearing that fishes for robot based on artificial-muscle _a, Y _aAnd Z _aThe three-dimensional mechanical hand moving axis system that consists of; Because the binocular solid panoramic vision sensor and based on artificial-muscle fish for pipeline all be fixed on the crawler body of fishing for robot above, therefore, set up the geometric relationship of three-dimensional panorama visual coordinate system and three-dimensional fishing manipulator moving axis system with formula (2);

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

9. bionical benthic organism hauls robot as claimed in claim 1 or 2 is characterized in that: described catch control module, adopt and control respectively described pressure (p based on ducted three cavitys of fishing for of artificial-muscle ₁, p ₂, p ₃) realize along the bending of flexible and any one direction of center shaft Z direction; For each group control presssure value (p ₁, p ₂, p ₃) fish for fishing for end corresponding locus coordinate figure (x all can being arranged of pipeline described based on artificial-muscle _a, y _a, z _a); Therefore, method is set up described force value (p based on ducted three cavitys of fishing for of artificial-muscle by experiment ₁, p ₂, p ₃) and the described locus coordinate figure (x that fishes for end that fishes for pipeline based on artificial-muscle _a, y _a, z _a) corresponding relation, this process is called calibration process; After setting up such mapping relations by demarcation, for the described locus coordinate figure (x that fishes for end that fishes for pipeline based on artificial-muscle of some hope _a, y _a, z _a) just can calculate easily the control presssure value (p of needed one group of described three cavity of fishing for pipeline based on artificial-muscle ₁, p ₂, p ₃); Because the mapping relations of setting up with experimental technique disperse, and locus coordinate figure (x _a, y _a, z _a) and the control presssure value (p of cavity ₁, p ₂, p ₃) be continuous variable, therefore calculating needed one group of control presssure value (p ₁, p ₂, p ₃) time need to adopt the mode of interpolation, here the described locus of fishing for end of fishing for pipeline based on artificial-muscle is divided into several space lattices, if the locus coordinate figure of the described front end of fishing for pipeline based on artificial-muscle of some not hope is in certain space networks center of a lattice, so just need to carry out interpolation arithmetic to the residing space lattice of this locus coordinate figure and three adjacent space lattices, obtain the accurate control presssure value of three cavitys; Perhaps adopt nerual network technique to come implementation space position coordinate value (x _a, y _a, z _a) and the control presssure value (p of cavity ₁, p ₂, p ₃) mapping relations.

10. bionical benthic organism hauls robot as claimed in claim 1 or 2, it is characterized in that: described umbilical cord mainly is made of single mode optical fiber line and battery core line, one end of the described umbilical cord lash ship of ining succession, the other end described bionical benthic organism hauls robot of ining succession; Battery core line and single-mode optics cable are single internal coating; The outside mold pressing of these lines or fill soft and durable mold pressing resin or fiber, the outside face of described umbilical cord is carried out and is covered wear-resistant material layer; Tinned wire is used as the battery core line; Polyethylene or the polypropylene internally coated material as the battery core line; Kafra fiber or carbon resin as mold pressing resin, polyethylene or the polypropylene material as wear-resisting external coating; The grand internally coated material as the single mode optical fiber line of special atmosphere; The single mode optical fiber line is for providing the passage of information interaction between surface mother ship and the intelligent body, the battery core line provides power supply for the described robot of fishing for.