CN109413394A - ROV multi-channel video monitor device and method - Google Patents
ROV multi-channel video monitor device and method Download PDFInfo
- Publication number
- CN109413394A CN109413394A CN201811464669.0A CN201811464669A CN109413394A CN 109413394 A CN109413394 A CN 109413394A CN 201811464669 A CN201811464669 A CN 201811464669A CN 109413394 A CN109413394 A CN 109413394A
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- rov
- orientation
- picture
- wicket
- channel video
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/431—Generation of visual interfaces for content selection or interaction; Content or additional data rendering
- H04N21/4312—Generation of visual interfaces for content selection or interaction; Content or additional data rendering involving specific graphical features, e.g. screen layout, special fonts or colors, blinking icons, highlights or animations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/47—End-user applications
- H04N21/485—End-user interface for client configuration
- H04N21/4858—End-user interface for client configuration for modifying screen layout parameters, e.g. fonts, size of the windows
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Closed-Circuit Television Systems (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
Abstract
The present invention relates to a kind of ROV multi-channel video monitor device and methods, it includes image data acquiring unit, for acquiring the synchronizing picture at least two orientation ROV；Monitoring unit, for the synchronizing picture at least two orientation to be passed through the interface UI simultaneous display.The present invention changes traditional ROV and is run in monitoring under water, the mode shown to underwater environment single channel video；It carries out the acquisition of image data at least two azimuth synchros of underwater environment locating for ROV ontology, allows users to synchronously to obtain the environmental aspect in ROV ontology multiple orientation under water.
Description
Technical field
The present invention relates to the underwater monitoring technology field ROV more particularly to a kind of ROV multi-channel video monitor device and methods.
Background technique
The most important function of ROV is: can individually complete the mankind and be difficult to complete or impossible underwater operation.With
The rise of intelligent robot (ROV), ROV producer continue to bring out under dampening.In order to the underwater activity of ROV and its under water
Environment is understood, and control software is respectively configured in each ROV producer, show to the underwater environment of ROV and and then is realized operation
Control.
Currently, it is that ROV body head is made to carry high-definition camera that each producer, which realizes to the ROV main way monitored, pass through
User interface (UI) carries out single channel video and shows, enables users to visually intuitively obtain ambient conditions in front of ROV, so as to
The control to ROV is adjusted according to ambient conditions, sends correctly instruction.
The mode that this single channel video is shown is limited only to ROV for a user, in the visual visual field at same time point
The front of operation；If wanting to obtain the picture in other orientation, need to adjust the posture of ROV ontology, operates comparatively laborious.Also,
Such as when wanting to realize the observation to the shoal of fish, the process of adjustment ROV ontology posture may make the shoal of fish frightened, so as to cause observation work
Work fails.In addition, when ROV is used for underwater sightseeing scene, if desired constantly adjustment ROV ontology orientation obtains different pictures,
It is bad to will cause user experience.
Therefore, against the above deficiency, it is desirable to provide a kind of monitoring device allows user to be capable of the water of comprehensive understanding ROV
Lower environmental aspect, meets the actual demand of user.
Summary of the invention
The technical problem to be solved in the present invention is that for the underwater ring for using single channel video to show ROV in the prior art
Border needs to continuously adjust the defect of ROV ontology posture, provides a kind of ROV multichannel if thinking the underwater picture of acquisition different direction
Video monitoring apparatus and method.
In order to solve the above-mentioned technical problems, the present invention provides a kind of ROV multi-channel video monitor devices, comprising:
Image data acquiring unit, for acquiring the synchronizing picture at least two orientation ROV；
Monitoring unit, for the synchronizing picture at least two orientation to be passed through the interface UI simultaneous display.
In ROV multi-channel video monitor device according to the present invention, described image data acquisition unit is for acquiring
The following at least two azimuth synchros picture of ROV underwater environment:
ROV head orientation, the tail portion ROV orientation, two side coil of ROV, the top orientation ROV and the bottom ROV orientation.
In ROV multi-channel video monitor device according to the present invention, described image data acquisition unit is based on following
The video camera of at least two positions setting obtains synchronizing picture:
The head ROV, tail portion, two sides, top and bottom.
In ROV multi-channel video monitor device according to the present invention, the interface UI includes full screen window and small window
Mouthful.
In ROV multi-channel video monitor device according to the present invention, the picture that the full screen window is shown passes through UI
The full screen window select button being arranged on interface is selected.
In ROV multi-channel video monitor device according to the present invention, the picture that the wicket is shown passes through UI circle
The wicket select button being arranged on face is selected.
In ROV multi-channel video monitor device according to the present invention, the wicket is configured to multiple.
In ROV multi-channel video monitor device according to the present invention, the multiple wicket can be overlapped and put.
In ROV multi-channel video monitor device according to the present invention, each wicket can be selected by driving style
Position on the interface UI；
Preferably, the wicket is configured as being converted to full screen window by double-clicking, and converts current full screen window
For wicket.
The present invention also provides a kind of ROV multi-channel video monitor methods, comprising:
The step of acquiring the synchronizing picture at least two orientation ROV by image data acquiring unit；And by described in extremely
The step of synchronizing picture in few two orientation passes through the interface UI simultaneous display.
Implement ROV multi-channel video monitor device and method of the invention, has the advantages that the present invention changes biography
System ROV is run under water in monitoring, the mode shown to underwater environment single channel video；It to underwater environment locating for ROV ontology extremely
Few two azimuth synchros carry out the acquisition of image data, allow users to synchronously to obtain ROV ontology multiple orientation under water
Environmental aspect, facilitate user better implement the operation to ROV control, greatly improve ROV manipulation flexibility.
The present invention can be realized the 360 degrees omnidirection monitoring to the underwater running environment of ROV, be conducive to quickly and efficiently complete
Underwater operation promotes the technological competitiveness of ROV product；It is applied especially in certain special operations, such as shoal of fish observation or underwater sight
Light time family can be used to obtain more complete wider array of visual angle, obtain user experience without additionally moving the posture for changing ROV
Significant increase.
Detailed description of the invention
Fig. 1 is the exemplary block diagram of ROV multi-channel video monitor device according to the present invention；
Fig. 2 is that multiple wickets of ROV multi-channel video monitor device according to the present invention are overlapped the exemplary block diagram put；
Fig. 3 is the exemplary process diagram of ROV multi-channel video monitor method according to the present invention；
Fig. 4 is the flow chart of a specific embodiment of ROV multi-channel video monitor method according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Specific embodiment one, the first aspect of the present invention provide a kind of ROV multi-channel video monitor device, in conjunction with Fig. 1
It is shown, comprising:
Image data acquiring unit 110, for acquiring the synchronizing picture at least two orientation ROV；
Monitoring unit 120, for the synchronizing picture at least two orientation to be passed through the interface UI simultaneous display.
Present embodiments provide for the thinkings of the multi-faceted monitoring of ROV underwater environment, can acquire according to actual needs
Video image data of each position of ROV ontology with respect to underwater environment orientation.For example, observation ROV ontology front and bottom ought only be needed
When portion's environmental aspect, the video data in the two orientation can be only acquired, and the video data is same by the interface UI
Step is shown.Alternatively, the video data of its two sides can be only acquired when needing to observe ROV ontology two sides environmental aspect,
And the video data is come out by the interface UI simultaneous display.
When needing to observe more orientation environmental aspects, as long as the image data in each orientation of synchronization gain.When adopting
The image data of collection be capable of forming to the integral loop of ROV ontology ambient enviroment around when, it is aobvious that picture is carried out by monitoring unit 120
Show the comprehensive monitoring, it can be achieved that underwater environment.
For ROV ontology, when being arranged image capture device simultaneously to its head, tail portion, two sides, top and bottom
When, the comprehensive real time status of its surrounding enviroment can be obtained substantially.
As an example, described image data acquisition unit 110 is used to acquire following at least two orientation of ROV underwater environment
Synchronizing picture:
ROV head orientation, the tail portion ROV orientation, two side coil of ROV, the top orientation ROV and the bottom ROV orientation.
In an implementation, the different direction that can choose ROV ontology carries out Image Acquisition to the present invention, can at least synchronize and adopt
Collect the picture in two orientation of ROV ontology, realizes the multi-angle monitoring to underwater environment.It, may such as when for avoiding barrier
Only needing to obtain its front picture and bottom field can effectively be avoided；But if for underwater sightseeing, to make user
Picture impression on the spot in person is obtained, then needs to obtain the omnidirectional images data of ROV ontology.Other situations, according to using need
It wants, carries out the image data acquiring of corresponding orientation.
For ROV, the high-definition camera that underwater environment situation generallys use its own carrying carries out shooting acquisition.
As an example, described image data acquisition unit 110 is obtained based on the video camera that following at least two position is arranged
Synchronizing picture:
The head ROV, tail portion, two sides, top and bottom.
Video camera provides raw image data as the basis for obtaining image data, for image data acquiring unit 110.This
In embodiment, at least in two positions of ROV ontology, i.e., at the head ROV, tail portion, two sides, top and bottom optional two,
Or more than two at video camera is set, it can be achieved that multi-channel video is taken pictures and recording function, carried out in actual use according to work purpose
Selection.
Further, in order to meet the visual visual effect of user, referring to figs. 1 and 2, the interface UI of the invention
It inside may include full screen window 123 and wicket 124.
To the video pictures of video camera acquisition, an orientation picture can be taken as main view frequency, shown in full screen window 123
Show；It, can be in the picture of the display another way video data of wicket 124 in order to assist obtaining the underwater picture in other orientation.
For monitoring unit 120, the input interface of multi-path video data, image data acquiring unit can be set
110 export the image data of different direction by different interfaces, to guarantee the synchronization of each bearing data.
The full screen window 123 and wicket 124 can be the fixed partition on the interface UI, for example, can on the interface UI
Multiple subregions are concurrently set, wherein relatively large region is as full screen window 123, in addition relatively small region is as wicket
124；It the number of this form wicket 124 and can be fixed with the district location of full screen window 123；It can also be by pre-
Program is set according to each use needs, pre-sets the size and distribution form of window.
Alternatively, it is also possible to which using the entirety at the interface UI as full screen window 123, wicket 124 is suspended in 123 boundary of full screen window
On face, as depicted in figs. 1 and 2；124 position of wicket, which can choose, does not cause the area blocked to 123 main body picture of full screen window
Domain, at the frame of general optional full screen window 123.
As an example, as shown in connection with fig. 1, the picture that the full screen window 123 is shown is full frame by being arranged on the interface UI
Window selection button 121 is selected.
In general, user can select after the video data that image data acquiring unit 110 obtains the more a orientation ROV
The picture in one orientation is as main observation angle, to complete the monitoring to underwater environment.Full screen window select button 121 makes
It, can be with form are as follows: occur sub-menus after click, different direction option is set on sub-menus, clicks some orientation, make complete
Corresponding video image is shown on screen window.Alternatively, it is also possible to select the display of full screen window by way of shortcut key is arranged
Picture keeps every click primary, the video pictures in an orientation occurs in full screen window；Repeatedly click, the picture in multiple orientation according to
Secondary circulation；After there is predetermined picture, the selection of full screen window bearing images is completed.
Equally, as an example, as shown in connection with fig. 1, the picture that the wicket 124 is shown is small by being arranged on the interface UI
Window selection button 122 is selected.It can be with full screen window select button 121 to the setting form of wicket select button 122
It is similar, it does not repeat.Same as above, the display picture of wicket 124 can also be selected by way of shortcut key is arranged.
In addition, the selection to 124 video pictures of full screen window 123 and wicket, can also pass through systematic parameter configuration
Mode is realized, such as in the general setting of system, is arranged by video setting and video sum, is realized to video sum and end
The selection of mouth.
As an example, referring to figs. 1 and 2, the wicket 124 is configurable to multiple.
In present embodiment, a full screen window 123 and a wicket 124 are included at least in the interface UI；But when two
When the picture monitoring in orientation is not able to satisfy observation requirements, the image data of more multi-faceted upper acquisition can be carried out by the interface UI
In the case where not influencing the display of 123 picture of full screen window different direction can be presented by multiple wickets 124 in display
Video pictures.
The wicket 124 can on the interface UI phase laid out in parallel, allow user in the key frame to full screen window 123
On the basis of observation, underwater environment is appreciated more fully by the auxiliary image in multiple orientation.
As an example, as shown in connection with fig. 2, the multiple wicket 124, which can also be overlapped, to be put.Such as when will be to the head ROV
Orientation, the tail portion ROV orientation, two side coil of ROV, all videos data in orientation and the bottom ROV orientation are shown at the top of ROV
When, after selecting 123 picture of full screen window, other five road video data can be as shown in Figure 2, wherein two-way picture overlapping pendulum
It puts, in addition three road pictures overlapping is put, and five road video datas can be divided into two classes by such case, and every one kind is stacked as one
Area, it can be ensured that in synchronization, at least show the picture in three orientation；And for each stacks area, pass through a little
Hitting can make the current lower layer pictures for stacking area be converted to upper layer picture, and corresponding upper layer changing picture is lower layer pictures.
As an example, referring to figs. 1 and 2, each wicket 124 can be selected on the interface UI by driving style
Position；It is arranged by program, the wicket 124 to suspend can be enable arbitrarily to drag in full screen window 123, selection is not blocked complete
It places the position for shielding key frame on window 123.
In addition, in the choosing for currently completing respective picture by full screen window select button 121 and wicket select button 122
After selecting, it on the one hand can pass through the picture of select button exchange screen presentation；It on the other hand can also be in the following manner
Convert the picture presented in full screen window 123:
For example, being intended to for the picture in some current wicket 124 being displayed in full screen, some described wicket 124 is double-clicked,
The picture in wicket 124 is converted to full screen window 123 to show, meanwhile, the picture in former full screen window 123 is transformed into institute
State current some wicket 124 display.
In addition, a kind of electronic equipment can also be provided in embodiment of the disclosure, which is configured to include institute as above
State ROV multi-channel video monitor device.The electronic equipment can be computer.The ROV multi-channel video monitor device is combinable
QML and C++ software development language is programmed, while managing multi-channel video.
Specific embodiment two, another aspect of the present invention additionally provide a kind of ROV multi-channel video monitor method, in conjunction with figure
Shown in 3, the process flow 300 of the method includes:
Start from step 310；
Then the step 320 that the synchronizing picture at least two orientation ROV is acquired by image data acquiring unit is executed；
And execute the step 330 that the synchronizing picture at least two orientation is passed through to the interface UI simultaneous display；
The process flow ends at step 340.
Present embodiments provide for the thinkings of the multi-faceted monitoring of ROV underwater environment, can acquire according to actual needs
Video image data of each position of ROV ontology with respect to underwater environment orientation.For example, observation ROV ontology front and bottom ought only be needed
When portion's environmental aspect, the video data in the two orientation can be only acquired, and the video data is same by the interface UI
Step is shown.Alternatively, the video data of its two sides can be only acquired when needing to observe ROV ontology two sides environmental aspect,
And the video data is come out by the interface UI simultaneous display.
For ROV ontology, when being arranged image capture device simultaneously to its head, tail portion, two sides, top and bottom
When, the comprehensive real time status of its surrounding enviroment can be obtained substantially.
As an example, in step 320, image data acquiring unit described in Fig. 1 110 is for acquiring ROV underwater environment
Following at least two azimuth synchros picture:
ROV head orientation, the tail portion ROV orientation, two side coil of ROV, the top orientation ROV and the bottom ROV orientation.
For ROV, the high-definition camera that underwater environment situation generallys use its own carrying carries out shooting acquisition.
As an example, described image data acquisition unit 110 is obtained based on the video camera that following at least two position is arranged
Synchronizing picture:
The head ROV, tail portion, two sides, top and bottom.
Further, in order to meet the visual visual effect of user, referring to figs. 1 and 2, the interface UI of the invention
It inside may include full screen window 123 and wicket 124.
The full screen window 123 and wicket 124 can be the fixed partition on the interface UI, for example, can on the interface UI
Multiple subregions are concurrently set, wherein relatively large region is as full screen window 123, in addition relatively small region is as wicket
124；It the number of this form wicket 124 and can be fixed with the district location of full screen window 123；It can also be by pre-
Program is set according to each use needs, pre-sets the size and distribution form of window.
Alternatively, it is also possible to which using the entirety at the interface UI as full screen window 123, wicket 124 is suspended in 123 boundary of full screen window
On face, as depicted in figs. 1 and 2；124 position of wicket, which can choose, does not cause the area blocked to 123 main body picture of full screen window
Domain, at the frame of general optional full screen window 123.
As an example, as shown in connection with fig. 1, the picture that the full screen window 123 is shown is full frame by being arranged on the interface UI
Window selection button 121 is selected.
Equally, as an example, as shown in connection with fig. 1, the picture that the wicket 124 is shown is small by being arranged on the interface UI
Window selection button 122 is selected.
In addition, the selection to 124 video pictures of full screen window 123 and wicket, can also pass through systematic parameter configuration
Mode is realized, such as in the general setting of system, is arranged by video setting and video sum, is realized to video sum and end
The selection of mouth.
As an example, referring to figs. 1 and 2, the wicket 124 is configurable to multiple.
As an example, as shown in connection with fig. 2, the multiple wicket 124, which can also be overlapped, to be put.
As an example, referring to figs. 1 and 2, each wicket 124 can be selected on the interface UI by driving style
Position；It is arranged by program, the wicket 124 to suspend can be enable arbitrarily to drag in full screen window 123, selection is not blocked complete
It places the position for shielding key frame on window 123.
In addition, in the choosing for currently completing respective picture by full screen window select button 121 and wicket select button 122
After selecting, it on the one hand can pass through the picture of select button exchange screen presentation；It on the other hand can also be in the following manner
Convert the picture presented in full screen window 123:
For example, being intended to for the picture in some current wicket 124 being displayed in full screen, some described wicket 124 is double-clicked,
The picture in wicket 124 is converted to full screen window 123 to show, meanwhile, the picture in former full screen window 123 is transformed into institute
State current some wicket 124 display.
The specific implementation of the method for the present invention is illustrated below with reference to Fig. 4:
Firstly, starting ROV；
Check whether the video camera being arranged on ROV ontology works normally, if:
Then further select the video data number and orientation to be obtained；Corresponding multi-path video data is respectively set defeated simultaneously
Enter to multiple ports at the interface UI；
Then, the display window of multi-path video data is selected, and shown；Until terminating；
Otherwise, if video camera can not work normally, directly terminate process.
In addition, embodiment of the disclosure also provides a kind of computer readable storage medium, it is stored with program code, the journey
Documented each step in above method embodiment is realized when sequence code is executed by processor.
In conclusion carrying out pose tune to ROV without additional during the present invention provides the multi-faceted visual field for user
Whole operation, it can be achieved that simultaneous display to ROV different direction video data, and video pictures can different windows it
Between flexibly switched, have good scalability.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of ROV multi-channel video monitor device, characterized by comprising:
Image data acquiring unit, for acquiring the synchronizing picture at least two orientation ROV；
Monitoring unit, for the synchronizing picture at least two orientation to be passed through the interface UI simultaneous display.
2. ROV multi-channel video monitor device according to claim 1, it is characterised in that:
Described image data acquisition unit is used to acquire the following at least two azimuth synchros picture of ROV underwater environment:
ROV head orientation, the tail portion ROV orientation, two side coil of ROV, the top orientation ROV and the bottom ROV orientation.
3. ROV multi-channel video monitor device according to claim 1 or 2, it is characterised in that: the acquisition of described image data is single
Member obtains synchronizing picture based on the video camera that following at least two position is arranged:
The head ROV, tail portion, two sides, top and bottom.
4. ROV multi-channel video monitor device according to any one of claim 1 to 3, it is characterised in that:
The interface UI includes full screen window and wicket.
5. ROV multi-channel video monitor device according to any one of claim 1 to 4, it is characterised in that: the full frame window
The picture of mouth display is selected by the full screen window select button being arranged on the interface UI.
6. ROV multi-channel video monitor device according to any one of claim 1 to 5, it is characterised in that: the wicket
The picture of display is selected by the wicket select button being arranged on the interface UI.
7. ROV multi-channel video monitor device according to any one of claim 1 to 6, it is characterised in that: the wicket
It is configured to multiple.
8. ROV multi-channel video monitor device according to claim 7, it is characterised in that: the multiple wicket can be overlapped
It puts.
9. ROV multi-channel video monitor device according to any one of claim 1 to 8, it is characterised in that: each wicket
The position on the interface UI can be selected by driving style；
Preferably, the wicket is configured as being converted to full screen window by double-clicking, and it is small to be converted to current full screen window
Window.
10. a kind of ROV multi-channel video monitor method, characterized by comprising:
The step of acquiring the synchronizing picture at least two orientation ROV by image data acquiring unit；And at least two by described in
The synchronizing picture in a orientation passes through the step of interface UI simultaneous display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464669.0A CN109413394A (en) | 2018-12-03 | 2018-12-03 | ROV multi-channel video monitor device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464669.0A CN109413394A (en) | 2018-12-03 | 2018-12-03 | ROV multi-channel video monitor device and method |
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| CN109413394A true CN109413394A (en) | 2019-03-01 |
Family
ID=65456805
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| CN104875217A (en) * | 2015-04-30 | 2015-09-02 | 芜湖林一电子科技有限公司 | Robot vision underwater tracking machine |
| CN106989730A (en) * | 2017-04-27 | 2017-07-28 | 上海大学 | A kind of system and method that diving under water device control is carried out based on binocular flake panoramic vision |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8015507B2 (en) * | 2001-11-05 | 2011-09-06 | H2Eye (International) Limited | Graphical user interface for a remote operated vehicle |
| CN101420599A (en) * | 2008-11-20 | 2009-04-29 | 符巨章 | Overall view monitoring system for automobile |
| CN104875217A (en) * | 2015-04-30 | 2015-09-02 | 芜湖林一电子科技有限公司 | Robot vision underwater tracking machine |
| CN106989730A (en) * | 2017-04-27 | 2017-07-28 | 上海大学 | A kind of system and method that diving under water device control is carried out based on binocular flake panoramic vision |
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