CN109963117B - Autonomous tracking shooting system of underwater vehicle - Google Patents

Autonomous tracking shooting system of underwater vehicle Download PDF

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Publication number
CN109963117B
CN109963117B CN201711452051.8A CN201711452051A CN109963117B CN 109963117 B CN109963117 B CN 109963117B CN 201711452051 A CN201711452051 A CN 201711452051A CN 109963117 B CN109963117 B CN 109963117B
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China
Prior art keywords
underwater
underwater vehicle
human body
beacon
shooting
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CN201711452051.8A
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CN109963117A (en
Inventor
罗金旺
刘显龙
张希
曹立睿
李晓峰
赵俊杰
何盼盼
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China Shipbuilding Industry Kunming Linghu Technology Development Co ltd
No 750 Test Field of China Shipbuilding Industry Corp
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China Shipbuilding Industry Kunming Linghu Technology Development Co ltd
No 750 Test Field of China Shipbuilding Industry Corp
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Publication of CN109963117A publication Critical patent/CN109963117A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/22—Adaptations for optical transmission
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides an autonomous tracking shooting system of an underwater vehicle, which comprises a human body wearing beacon, a sonar, a vector hydrophone and the underwater vehicle. When the underwater vehicle is in operation, underwater divers wear the human body wearing beacons, the vector hydrophones send the underwater vehicle after solving the angles, the directions and the distances of the sound sources of the human body wearing beacons relative to the underwater vehicle, the underwater vehicle tracks the divers by utilizing the angles, the directions and the distances of the sound sources, the divers can shoot scenes by utilizing the cameras in the tracking process, and the divers can adjust shooting angles and tracking distances in water. The invention can actively track the shooting target and record the whole shooting process; the device can be operated on the water surface to shoot underwater, can also be used for directly performing man-machine interaction underwater, and can autonomously select shooting scenes and the working mode of the aircraft.

Description

Autonomous tracking shooting system of underwater vehicle
Technical Field
The invention relates to the technical field of underwater shooting, in particular to an autonomous tracking shooting system of an underwater vehicle.
Background
The existing underwater vehicle is mainly used for certain special equipment such as underwater salvage, exploration, search and rescue and the like, and although the navigation state of the vehicle can be controlled by using a cable to transmit signals, underwater shooting and some simpler underwater operations are performed, the existing underwater vehicle is expensive, starts with the price of 2 ten thousand yuan/station, has a large body size and is inconvenient to carry.
The current several underwater shooting and entertainment aircrafts need users to operate on the shore, and the direction of the aircrafts is controlled by a cable to perform underwater shooting (the controllable depth of the underwater is only 5 m), so that special persons are required to operate on the water surface when the underwater shooting is performed, and the underwater diver cannot operate the underwater shooting. Because the length of the cable is limited, the shooting range is limited, the long cable is not only inconvenient to carry, but also can increase the load of the aircraft, and the long cable is towed to reduce the cruising ability.
The existing underwater shooting equipment cannot actively select shooting scenes according to the will of underwater divers, and cannot actively track and shoot at the same time.
The existing entertainment manned underwater propeller does not have the capability of underwater shooting, and steering completely depends on manual steering, so that steering assistance is not generated, and the operation is inconvenient.
The existing underwater tracking shooting aircraft adopts a camera to track a target, the target identification and tracking by the camera are greatly influenced by underwater visibility, the tracking distance is small, and only one moving target can be required to appear in the tracking range.
Therefore, in order to meet the entertainment requirements of swimming lovers on water and underwater, the manned and autonomous tracking shooting of the underwater vehicle is realized. The underwater man-machine interaction is realized, the shooting scene is actively selected, the steering power is provided during manned, the underwater tracking is basically not influenced by visibility, and the underwater tracking is a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
The embodiment of the invention provides an autonomous tracking shooting system of an underwater vehicle, which aims to solve the problem that the underwater vehicle in the prior art cannot perform autonomous tracking shooting on underwater and water at the same time.
In order to solve the technical problems, the embodiment of the invention adopts the following technical scheme:
an autonomous tracking shooting system of an underwater vehicle comprises a human body wearing beacon, a sonar, a vector hydrophone and the underwater vehicle; the human body wearing beacon consists of an underwater transmitting transducer, an optical fiber communication interface, a watertight electronic cabin, a waistband, an underwater liquid crystal screen, an underwater key and a key signal processing cabin; the underwater transmitting transducer is used for transmitting a specific coded underwater sound signal and a control instruction to the underwater vehicle; the waistband is used for wearing beacons for a human body, and a data transmission line is arranged in the waistband and is used for connecting the watertight electronic cabin and the key signal processing cabin; the underwater liquid crystal screen is used for displaying an image to be shot; the underwater key is used for adjusting the angle and the position of the image to be shot;
the sonar is used for avoiding obstacles in the movement process;
the underwater vehicle comprises a manned arched handrail, an underwater control button, an optical fiber cable interface, a propeller, a camera, an underwater liquid crystal screen, a buoyancy block, a tail motor cabin, a motor driver cabin body, a signal processing cabin body and a battery cabin; the manned arched handrail is used for dragging a human body and assisting in controlling the navigation direction of an underwater vehicle when the underwater or water surface carries a person for navigation; the underwater control keys are arranged on the manned arch-shaped handrail and are used for controlling the motion state and shooting mode of the underwater vehicle; the optical fiber cable interfaces comprise two optical fiber cable interfaces which are respectively connected with a human body wearing beacon and water surface control equipment;
the vector hydrophone is used for calculating the angle of the human body wearing beacon relative to the underwater vehicle; and the underwater vehicle determines the position of the human body wearing the beacon according to the resolving angle and the propagation direction of the vector hydrophone, and completes automatic tracking shooting of the human body target.
The optical fiber communication interface of the underwater vehicle can be selectively connected with the optical fiber communication interface on the human body wearing beacon, when the optical fiber cable is not available, the underwater transmitting transducer is utilized to transmit a control instruction to the underwater vehicle, and video data are displayed on an underwater liquid crystal screen on the human body wearing beacon.
Preferably, the vector hydrophone is composed of a sound pressure and X-Y crystal vibration elements which are perpendicular to each other, wherein the X-Y crystal vibration elements are used for solving the angle of a human body wearing beacon relative to an aircraft, and the sound pressure is used for solving the propagation direction of a human body wearing beacon sound source and the distance of the sound source.
Further, the vector hydrophone comprises two vector hydrophones, which are respectively positioned at the upper head part and the lower tail part of the underwater vehicle.
In order to increase the radiation angle of the underwater acoustic signal, the underwater transmitting transducer adopts a hemispherical structural shape.
Preferably, the cameras comprise three cameras, and the cameras can be used for shooting independently, simultaneously or in any combination.
The beneficial effects of the invention are as follows: the embodiment of the invention provides an autonomous tracking shooting system of an underwater vehicle, which comprises a human body wearing beacon, a sonar, a vector hydrophone and the underwater vehicle; the human body wearing beacon consists of an underwater transmitting transducer, an optical fiber communication interface, a watertight electronic cabin, a waistband, an underwater liquid crystal screen, an underwater key and a key signal processing cabin; the underwater vehicle comprises a manned arched handrail, an underwater control button, an optical fiber cable interface, a propeller, a camera, an underwater liquid crystal screen, a buoyancy block, a tail motor cabin, a motor driver cabin body, a signal processing cabin body and a battery cabin. When the underwater vehicle is in operation, underwater divers wear the human body wearing beacons, the vector hydrophones send the underwater vehicle after solving the angles, the directions and the distances of the sound sources of the human body wearing beacons relative to the underwater vehicle, the underwater vehicle tracks the divers by utilizing the angles, the directions and the distances of the sound sources, the divers can shoot scenes by utilizing the cameras in the tracking process, and the divers can adjust shooting angles and tracking distances in water.
The invention has the following advantages: (1) Compared with the underwater shooting aircraft in the prior art, the underwater shooting aircraft can actively track a shooting target, record the whole shooting process and shoot from different angles while tracking; (2) Compared with the underwater shooting navigation device in the prior art, the underwater shooting navigation device not only can be operated on the water surface to shoot underwater, but also can directly perform man-machine interaction underwater, and can autonomously select shooting scenes and the working mode of the navigation device; (3) Compared with the underwater manned propeller in the prior art, the underwater manned propeller not only can be used for underwater shooting, and the shooting picture is displayed in real time, so that a user can conveniently select shooting scenes, but also has steering assistance based on a differential principle, and is convenient for the user to steer when in underwater swimming; (4) Compared with the underwater manned propeller in the prior art, the underwater manned propeller has a plurality of underwater control buttons and a downward propeller, so that the underwater navigation depth can be freely controlled, and therefore, a person who cannot swim can walk underwater, and the underwater manned propeller has a search and rescue function; (5) Compared with the underwater amusement equipment in the prior art, the underwater amusement equipment is integrated with manned and shooting, so that long-distance traveling and large-range underwater shooting are facilitated; (6) Compared with the underwater tracking shooting technology in the prior art, the tracking distance is basically not influenced by underwater visibility, the tracking distance is larger, the tracking distance of more than 50 meters can be realized, only the matched underwater sound signals are identified, and the specific target can be stably tracked.
Drawings
Fig. 1 is a right side view of an autonomous tracking shooting system of an underwater vehicle according to an embodiment of the present invention;
fig. 2 is a left side view of an autonomous tracking shooting system of an underwater vehicle according to an embodiment of the present invention;
FIG. 3 is a bottom view of an autonomous tracking camera system of an underwater vehicle provided by an embodiment of the present invention;
fig. 4 is a front view of an autonomous tracking shooting system of an underwater vehicle according to an embodiment of the present invention;
FIG. 5 is a partial view of an underwater operation key according to an embodiment of the present invention;
fig. 6 is a side view of a body worn beacon according to an embodiment of the present invention;
fig. 7 is a front view of a body worn beacon according to an embodiment of the present invention;
fig. 8 is a rear view of a body worn beacon according to an embodiment of the present invention.
In the figure: 11-manned arched armrest, 12-left underwater key, 13-left underwater key, 14-left underwater key, 15-manned arched armrest, 16-right underwater key, 17-right underwater key, 18-right underwater key, 19-,20-, 21-upper fiber cable, 22-fiber cable interface, 23-small fiber cable, 25-small fiber cable interface, 31-underwater propeller, 32-underwater propeller, 33-underwater propeller, 41-rotating deck, 42-left camera mounting hole, 43-front camera mounting hole, 51-upper vector hydrophone, 52-lower vector hydrophone, 53-sonar, 61-right bottom bracket, 62-left bottom bracket, 63-underwater liquid crystal screen, 64-buoyancy block, 65-tail motor compartment, 66-motor driver compartment, 67-battery compartment, 68-signal processing compartment, 71-underwater liquid crystal screen, 72-waistband, 73-electronic compartment, 74-underwater transmitting transducer, 75-watertight electronic compartment, 76-signal processing compartment, water-tight electronic compartment, and 86-signal processing compartment, and 82-underwater key-channel, and 82-water-channel, and 86-signal processing compartment, and the key-the key is fixed and the key is operated in a water-tight manner.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
Referring to fig. 1-4, an embodiment of the present invention provides an autonomous tracking shooting system for an underwater vehicle, including a body worn beacon, a sonar, a vector hydrophone, and an underwater vehicle.
Referring to fig. 6-8, the body-worn beacon consists of an underwater transmitting transducer, an optical fiber communication interface, a watertight electronic cabin, a waistband, an underwater liquid crystal screen, an underwater key and a key signal processing cabin;
when the underwater vehicle is in operation, underwater divers wear the human body wearing beacons, and the vector hydrophones calculate the angles, the directions and the distances of the sound sources of the human body wearing beacons relative to the underwater vehicle and then send the angles, the directions and the distances of the sound sources to the underwater vehicle; the underwater vehicle determines the position of a beacon worn by a human body according to the resolving angle and the propagation direction of the vector hydrophone, and then realizes the tracking of divers by using control algorithms such as PID, fuzzy control and the like; in the tracking process, a camera is used for shooting a scene, and a diver can adjust shooting angles and tracking distances in water.
As shown in FIG. 1, the underwater vehicle provided by the embodiment of the invention comprises manned arched armrests 11 and 15, left underwater operation buttons 12, 13 and 14, an upper optical fiber cable 21, three underwater propellers 31, 32 and 33, a right camera mounting hole 41, an upper vector hydrophone 51, a right bottom bracket 61, an underwater liquid crystal screen 63, a buoyancy block 64, a tail motor cabin 65, a motor driver cabin 66, a battery cabin 67 and a signal processing cabin 68.
The manned arched handrails 11, 15 are used for dragging a human body and assisting in controlling the navigation direction of the aircraft when the manned underwater or on the water surface is in navigation, and can also be used for moving the aircraft. Three underwater operation keys 12, 13, 14 and 16, 17 and 18 are respectively arranged on the left and right arched handrails 11 and 15, and the underwater operation keys 12, 13 and 14 on the left arched handrail 11 are shown in fig. 5. The buttons 12, 16 are used for controlling the starting, stopping, accelerating and decelerating of the aircraft, and the buttons 13, 14, 17, 18 are used for setting the operation modes, shooting, video recording and the like of the aircraft.
When the underwater vehicle shoots, cameras in the front end camera mounting holes 43 or the left and right camera mounting holes 42 and 41 can be selected to shoot simultaneously or in any combination mode, and LED auxiliary illumination light sources are arranged in the three camera mounting holes and sealed by transparent organic glass. The image picture can be displayed on the underwater liquid crystal screen 63 during shooting, and the working mode and state information of the aircraft can be displayed in an auxiliary mode, so that the setting of a user is facilitated.
The optical fiber cable 21 is connected with water surface operation equipment, the water surface operation equipment is an optical-electrical signal conversion module, and three data transmission interfaces of WIFI, USB and Ethernet are provided for mobile phones, portable computers, remote controllers and the like. The optical fiber cable 21 and the optical fiber cable interface 22 can be selectively connected, so that the optical fiber cable 21 can be utilized to shoot, survey and search and rescue underwater on the water surface.
The underwater propulsion devices 31 and 32 are used for controlling the navigation speed and navigation direction of the aircraft, and the underwater propulsion device 33 is used for controlling the navigation depth of the aircraft, and the aircraft is in a positive buoyancy state when the aircraft is unpowered. The navigation direction of the aircraft is controlled by the rotation speed difference of the underwater propellers 31 and 32 when the aircraft is in active navigation or manned navigation, so that the unmanned aerial vehicle can be manually or automatically turned during manned navigation, a shooting scene is actively selected, and a near panoramic shooting effect of 300 degrees is obtained by using three 100-degree wide-angle cameras.
The beacon for wearing the human body provided in this embodiment is shown in fig. 6, and includes an underwater transmitting transducer 74, an optical fiber communication interface 26, an underwater liquid crystal screen 71, a waistband 72, a watertight electronic cabin 73, two watertight electronic cabin fixing slots 75 and 76, and a key signal processing cabin 81;
the waistband 72 is internally provided with a data transmission line which connects the key signal processing cabin 81 with a communication circuit in the watertight electronic cabin 73 to realize data transmission;
as shown in fig. 7, the underwater operation buttons 82, 83, 84, 85, 86 are included, the waistband tightness knob 77 is provided, and the waistband tightness knob 77 can adjust the contraction degree according to different body types of users;
as shown in fig. 8, the underwater transmitting transducer 74 is of a hemispherical structure to increase the radiation angle of the underwater sound signal, as seen from the rear of the body wearing the beacon.
After the optical fiber cable 23, the optical fiber cable interface 25 and the optical fiber cable interface 26 are connected together, the video signal can be transmitted to the optical-electrical signal conversion module in the watertight electronic cabin 73, and the video signal is displayed on the underwater liquid crystal screen 71 after being subjected to image compression processing. The user can select a photographing angle, a photographing distance through the underwater manipulation keys 82, 83, 84, 85, 86, and operation information of the user and status information of the vehicle can be displayed on the underwater liquid crystal screen 71.
In the embodiment of the invention, the optical fiber cable 23 can be selectively connected, if the optical fiber cable 23 is not used, the control instruction is transmitted after being encoded by the underwater transmitting transducer 74, and the underwater liquid crystal screen 71 cannot display the image information shot by the aircraft. The underwater vehicle's vector hydrophones 51, 52 only recognize the underwater acoustic signals emitted by the pre-paired body worn beacons, and the underwater transmitting transducer 74 will transmit the encoded acoustic signals once every 0.5 s.
The vector hydrophones 51 and 52 consist of a sound pressure and X-Y crystal vibration elements which are perpendicular to each other, wherein the X-Y crystal vibration elements are used for solving the angle of a human body wearing beacon relative to an aircraft, and the sound pressure is used for solving the propagation direction of the beacon sound source and the distance from the sound source;
the two vector hydrophones 51 and 52 are respectively positioned at the head and tail of the upper side and the lower side of the aircraft, so that the relative position of the beacon worn by the human body can be calculated when the aircraft is positioned above or below the human body.
Five underwater buttons 82, 83, 84, 85, 86 on the beacon are worn by the human body and are used for adjusting shooting angles and shooting distances of the underwater vehicle, the underwater vehicle records the data at the moment according to the resolving angles and the propagation directions of the vector hydrophones 51 and 52, and then control algorithms such as PID, fuzzy control and the like are utilized to track the moving target. In the tracking process, the angle information between the beacon and the aircraft is utilized to realize the shooting effect of synchronously moving and relatively stationary a plurality of angles such as front, back, left, right and the like of a tracking target. And finally, recording the image file on the SD card.
During the movement, the obstacle is avoided by utilizing the anti-collision sonar 53.
And in the surrounding water area of 20m, under the condition that no other diver exists, dynamically identifying the target by utilizing the image data acquired by the camera, and accurately tracking and shooting the target. The camera is used for identifying and tracking the moving target, the image subtraction is used for extracting the moving target, and the template matching method is used for distinguishing the authenticity of the target. And determining angles and distances by utilizing the deviation of the positions of the target center point and the image center point and the pixel area of the target image, and tracking by utilizing the angles and the distances.
The embodiment of the invention provides an autonomous tracking shooting system of an underwater vehicle, which comprises a human body wearing beacon, a sonar, a vector hydrophone and the underwater vehicle; the human body wearing beacon consists of an underwater transmitting transducer, an optical fiber communication interface, a watertight electronic cabin, a waistband, an underwater liquid crystal screen, an underwater key and a key signal processing cabin; the underwater vehicle comprises a manned arched handrail, an underwater control button, an optical fiber cable interface, a propeller, a camera, an underwater liquid crystal screen, a buoyancy block, a tail motor cabin, a motor driver cabin body, a signal processing cabin body and a battery cabin. When the underwater vehicle is in operation, underwater divers wear the human body wearing beacons, the vector hydrophones send the underwater vehicle after solving the angles, the directions and the distances of the sound sources of the human body wearing beacons relative to the underwater vehicle, the underwater vehicle tracks the divers by utilizing the angles, the directions and the distances of the sound sources, the divers can shoot scenes by utilizing the cameras in the tracking process, and the divers can adjust shooting angles and tracking distances in water.
The invention has the following advantages: (1) Compared with the underwater shooting aircraft in the prior art, the underwater shooting aircraft can actively track a shooting target, record the whole shooting process and shoot from different angles while tracking; (2) Compared with the underwater shooting navigation device in the prior art, the underwater shooting navigation device not only can be operated on the water surface to shoot underwater, but also can directly perform man-machine interaction underwater, and can autonomously select shooting scenes and the working mode of the navigation device; (3) Compared with the underwater manned propeller in the prior art, the underwater manned propeller not only can be used for underwater shooting, and the shooting picture is displayed in real time, so that a user can conveniently select shooting scenes, but also has steering assistance based on a differential principle, and is convenient for the user to steer when in underwater swimming; (4) Compared with the underwater manned propeller in the prior art, the underwater manned propeller has a plurality of underwater control buttons and a downward propeller, so that the underwater navigation depth can be freely controlled, and therefore, a person who cannot swim can walk underwater, and the underwater manned propeller has a search and rescue function; (5) Compared with the underwater amusement equipment in the prior art, the underwater amusement equipment is integrated with manned and shooting, so that long-distance traveling and large-range underwater shooting are facilitated; (6) Compared with the underwater tracking shooting technology in the prior art, the tracking distance is basically not influenced by underwater visibility, the tracking distance is larger, the tracking distance of more than 50 meters can be realized, only the matched underwater sound signals are identified, and the specific target can be stably tracked.
In the description of the present specification, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (4)

1. An autonomous tracking shooting system of an underwater vehicle is characterized by comprising a human body wearing beacon, a sonar, a vector hydrophone and the underwater vehicle; the human body wearing beacon consists of an underwater transmitting transducer, an optical fiber communication interface, a watertight electronic cabin, a waistband, an underwater liquid crystal screen, an underwater key and a key signal processing cabin; the underwater transmitting transducer is used for transmitting a specific coded underwater sound signal and a control instruction to the underwater vehicle; the waistband is used for wearing beacons for a human body, and a data transmission line is arranged in the waistband and is used for connecting the watertight electronic cabin and the key signal processing cabin; the underwater liquid crystal screen is used for displaying an image to be shot; the underwater key is used for adjusting the angle and the position of the image to be shot;
the sonar is used for avoiding obstacles in the movement process;
the underwater vehicle comprises a manned arched handrail, an underwater control button, an optical fiber cable interface, a propeller, a camera, an underwater liquid crystal screen, a buoyancy block, a tail motor cabin, a motor driver cabin body, a signal processing cabin body and a battery cabin; the manned arched handrail is used for dragging a human body and assisting in controlling the navigation direction of an underwater vehicle when the underwater or water surface carries a person for navigation; the underwater control keys are arranged on the manned arch-shaped handrail and are used for controlling the motion state and shooting mode of the underwater vehicle; the optical fiber cable interfaces comprise two optical fiber cable interfaces which are respectively connected with a human body wearing beacon and water surface control equipment;
the vector hydrophone is used for calculating the angle of the human body wearing beacon relative to the underwater vehicle; the underwater vehicle determines the position of the human body wearing the beacon according to the resolving angle and the propagation direction of the vector hydrophone, and completes automatic tracking shooting of a human body target; the vector hydrophone comprises two vector hydrophones which are respectively positioned at the upper head part and the lower tail part of the underwater vehicle; the underwater transmitting transducer adopts a hemispherical structure.
2. The autonomous tracking shooting system of an underwater vehicle of claim 1 wherein the fiber optic communication interface of the underwater vehicle is selectively connectable to a fiber optic communication interface on a body worn beacon, and when there is no fiber optic cable, control commands are transmitted to the underwater vehicle using an underwater transmitting transducer and video data is displayed on an underwater liquid crystal screen on the body worn beacon.
3. The autonomous tracking shooting system of an underwater vehicle according to claim 2, wherein said vector hydrophone is composed of a sound pressure and X-Y two mutually perpendicular crystal vibrating elements for resolving the angle of the body wearing beacon with respect to the vehicle, said sound pressure being used for resolving the propagation direction of the body wearing beacon sound source and the distance of the sound source.
4. The autonomous tracking shooting system of an underwater vehicle according to claim 1, wherein said cameras comprise three, shooting individually, simultaneously or in any combination.
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