CN113448354B - Deep sea camera system and control method thereof - Google Patents
Deep sea camera system and control method thereof Download PDFInfo
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- CN113448354B CN113448354B CN202110596529.4A CN202110596529A CN113448354B CN 113448354 B CN113448354 B CN 113448354B CN 202110596529 A CN202110596529 A CN 202110596529A CN 113448354 B CN113448354 B CN 113448354B
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Abstract
The invention discloses a deep sea camera system and a control method thereof, wherein the camera system comprises a pitching attitude adjusting mechanism, a hydraulic pump station, a height-fixing control mechanism and an electronic cabin, the pitching attitude adjusting mechanism comprises an active attitude adjusting mechanism and a passive attitude adjusting mechanism, the passive attitude adjusting mechanism is arranged on a side wing of the active attitude adjusting mechanism, and the hydraulic pump station and the electronic cabin are fixed on a frame through a cabin body fixing frame and a cabin body connecting rod. According to the scheme, the active and passive adjustment of the pitching attitude of the system is realized through the combination of the passive attitude adjusting mechanism and the active attitude adjusting mechanism; through the height control mechanism, the self-adaptive height control of the system off-bottom height is realized, and the operating efficiency, the motion stability and the data acquisition quality of the system are greatly improved. Meanwhile, the control strategy of the deep sea camera system is combined, the self-adaptive adjustment of the system stability can be realized according to the real-time change of the system posture and the height, and the intelligent level of the system is improved.
Description
Technical Field
The invention relates to the technical field of deep sea camera shooting, in particular to a deep sea camera shooting system and a control method thereof.
Background
Oceans account for approximately 70% of the surface area of the earth, containing inexhaustible resources and energy for mankind, especially in deep sea areas where submarine minerals are to be developed, underwater life to be studied, marine environment to be investigated and defense areas to be deployed. In the current deep sea seabed exploration research work, deep sea camera shooting becomes a very important means, and as a novel geological survey means, the deep sea camera shooting can be used for observing seabed landform and landform more visually, and the method has an important role in seabed landform survey and seabed mineral resource general survey.
The current deep sea camera system has no power source completely, and mainly carries out towing operation through a mother ship. With the continuous deepening of deep sea investigation, higher requirements are also put forward on the data quality of the deep sea camera system. Under the influence of ocean currents on the sea floor and the heave motion of the mother ship, the posture of the deep-sea camera system can be changed continuously in the operation process, and the data acquisition quality is seriously influenced. In addition, as the submarine topography is not stable, in order to ensure the system to sail at a fixed height, the winch needs to be manually retracted continuously to prevent the system from being impacted, which also greatly increases the operation difficulty.
Disclosure of Invention
The invention provides a deep sea camera system and a control method aiming at the defects in the prior art, realizes stable attitude adjustment of the deep sea camera system through the design of an active and passive attitude adjustment mechanism, and improves the data acquisition quality.
The invention is realized by adopting the following technical scheme: a deep sea camera system comprises a frame and an electronic cabin, wherein the electronic cabin is fixed on the frame through a cabin body fixing frame and a cabin body connecting rod, a main control board and an attitude sensor are installed in the electronic cabin, an altimeter, a camera, a lighting lamp, a camera and a depth meter are also fixedly installed on the frame, the depth meter is used for monitoring the working depth of the camera system in real time, the altimeter monitors the off-bottom height of the system in real time, the depth meter and the altimeter are connected with the electronic cabin to transmit an acquired signal to the main control board, the camera system further comprises a pitching attitude adjusting mechanism, and the pitching attitude adjusting mechanism is bilaterally symmetrical to two sides of the installation frame and comprises an active attitude adjusting mechanism and a passive attitude adjusting mechanism;
the active posture adjusting mechanism comprises a side wing and a motor, the motor is arranged on the frame, one side of the side wing is connected with an output shaft of the motor through a connecting piece 21 and a transmission shaft, and the side wing is driven by the motor to rotate so as to realize active posture adjustment;
the passive posture adjusting mechanism is arranged in a mounting groove formed in a side wing body of the active posture adjusting mechanism and comprises a downward-pitching wing flap, an upward-pitching wing flap, a slide rail, a slide block, a support rod and a connecting rod, wherein the downward-pitching wing flap and the upward-pitching wing flap are oppositely mounted at two sides of the mounting groove, the downward-pitching wing flap and the upward-pitching wing flap are hinged and connected with the side wing through the support rod, and the downward-pitching wing flap and the upward-pitching wing flap rotate around a hinged point; the slide rail is fixed in the mounting groove through the support rod, and the slide block is sleeved on the slide rail and slides along the slide rail; the slide rail is located between the wing flap of bowing down and the wing flap of facing upward, and the wing flap of bowing down and the wing flap of facing upward through the connecting rod with the slider articulated connection, along with the change of deep sea camera system every single move gesture, the slider slides along the left and right of slide rail under the action of gravity, drives down the wing flap of bowing down through the connecting rod and rotates with the wing flap of facing upward, realizes passive gesture based on the moment of bowing down the wing flap and the wing flap of facing upward production and adjusts.
Furthermore, a hydraulic pump station and a fixed height control mechanism are further installed on the framework, the fixed height control mechanism comprises variable wings of which the wing shapes are controlled by the hydraulic pump station, the variable wings are installed on two sides of the framework and keep the balance and stability of the camera system together with the side wings;
the variable wing comprises an upper oil bag, a wing plate and a lower oil bag, and the upper oil bag and the lower oil bag are fixedly arranged on the wing plate.
Furthermore, the shape of the upper surface of the upper oil bag and the shape of the lower surface of the lower oil bag both adopt NACA0012 airfoil curves, and the shape of the lower surface of the upper oil bag and the shape of the upper surface of the lower oil bag are both planes.
Further, still be connected with connecting piece and shaft coupling between flank and the motor, connecting piece fixed mounting is in the flank below, and the connecting piece links to each other with the transmission shaft, and the transmission shaft passes through the shaft coupling and links to each other with the output shaft of motor.
Furthermore, two ends of the bottom of the sliding rail are provided with limiting bulges used for limiting the sliding range of the sliding block.
Furthermore, in order to prevent the generated moment from influencing the passive attitude adjusting effect of the flap, the middle of the connecting rod is hollowed.
The invention also provides a control method based on the deep sea camera system, which comprises the following steps:
step A, pitch attitude adjustment:
(A1) monitoring the pitch angle of a camera system in real time through an attitude sensor;
(A2) the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, judges whether the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, and if the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, executes the step A3; if the pitch angle does not exceed the preset pitch angle, the pitch angle of the system is continuously adjusted based on the passive attitude adjusting mechanism;
(A3) the active attitude adjusting mechanism is controlled by the main control board to adjust the pitch angle of the system to an expected range;
step B, height setting control and adjustment:
(B1) monitoring the off-bottom height of the camera system in real time through an altimeter, and judging whether the off-bottom height is within an expected range;
(B2) and starting the hydraulic pump station to be electrically started until the bottoming height is monitored to be out of the expected range, and adjusting the volumes of the upper oil bag and the lower oil bag so as to change the profile curve of the variable wing airfoil to generate lift force until the bottoming height is adjusted to return to the expected range.
Further, in step a1, the desired range of the imaging system pitch angle is set to (- θ)0，θ0) Wherein 0 is not more than theta0Less than pi/2, and setting the effective regulation range of the passive attitude regulation mechanism to the system pitch angle to be (-theta)1，-θ0)∪(θ0，θ1) Wherein 0 is not more than theta1< π/2, and θ1＞θ0；
In the actual working process, the attitude sensor monitors the pitch angle of the system in real time, and the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, namely, the pitch moment M generated by the component force F of the upward pitching flap and the downward pitching flap in the vertical direction under the fluid resistance adjusts the pitch angle of the system in real time, so that the situation that the system pitch angle is (-theta) when the system pitch angle is1，θ1) Within range, passive attitude adjusting machineThe structure is able to maintain the system pitch angle within a desired range.
Further, in the step a3, the wing pitch angle is set to be an included angle between the wing plate of the wing and the horizontal plane, and the adjustable range of the wing pitch angle is θwtng(-π/2＜θwtngLess than pi/2), taking the case that the elevation angle on the system is too large as an example, when the attitude sensor monitors the pitch angle theta of the system1And when theta is not less than or equal to pi/2, namely the pitch angle of the system exceeds the effective adjusting range of the passive attitude adjusting mechanism, the motor is electrified, the pitch angle of the side wing is adjusted through the coupler and the transmission shaft, and the pitch angle of the system is adjusted by utilizing the pitch moment M generated by the component force F of the fluid resistance on the side wing in the vertical direction until the system returns to the expected range.
Further, in the step B, the expected off-bottom height range of the deep-sea camera system is set to (-H)0，H0) The off-bottom height of the camera system is monitored in real time through a height meter, and the volumes of hydraulic oil in the upper oil bag and the lower oil bag are the same within an expected height range;
when the actual height H of the system from the bottom is less than H0When the hydraulic pump station is powered on, hydraulic oil is pumped into the upper oil bag from the lower oil bag, the system is driven to ascend based on the generated lift force L, and the system returns to the expected height range from the bottom;
when the actual height H of the system from the bottom is more than H0And the hydraulic pump station is powered on, hydraulic oil is pumped into the lower oil bag from the upper oil bag, the system is driven to descend based on the generated lift L, and the system returns to the expected height range from the bottom.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the scheme, the passive attitude adjusting mechanism and the active attitude adjusting mechanism are combined, so that the active and passive adjustment of the pitching attitude of the system is realized; through the height-fixing control mechanism, the self-adaptive height-fixing control of the system off-bottom height is realized. Through the two means, the operation efficiency, the motion stability and the data acquisition quality of the system are greatly improved. Meanwhile, the control strategy of the deep sea camera system is combined, the self-adaptive adjustment of the system stability can be realized according to the real-time change of the system posture and the height, and the intelligent level of the system is improved.
Drawings
Fig. 1 is a first overall structural schematic diagram of a deep-sea camera system according to embodiment 1 of the present invention;
fig. 2 is a second overall structural schematic diagram of the deep-sea camera system according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of the pitch attitude adjustment mechanism of FIG. 1;
FIG. 4 is a schematic diagram of a passive attitude adjustment structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of the working principle of the passive attitude adjustment mechanism when the downward angle of depression of the deep-sea camera system is too large according to the embodiment of the present invention;
FIG. 6 is a schematic view of the working principle of the active attitude adjustment mechanism when the upward elevation angle of the deep sea camera system is too large according to the embodiment of the invention;
FIG. 7 is a schematic view of the working principle of a variable wing of the height adjustment mechanism according to the embodiment of the present invention (increasing the height of the system from the bottom);
fig. 8 is a schematic view of a pitch attitude adjustment process in embodiment 2 of the present invention;
fig. 9 is a schematic view of a height setting control flow in embodiment 2 of the present invention.
Detailed Description
In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and thus, the present invention is not limited to the specific embodiments disclosed below.
Embodiment 1, this embodiment provides a deep sea camera system, as shown in fig. 1 and fig. 2, including a frame 1, a pitching attitude adjusting mechanism 2, a hydraulic pump station 3, a height setting control mechanism 7, and an electronic cabin 10, where a main control board and an attitude sensor are installed in the electronic cabin 10, and the hydraulic pump station 3 and the electronic cabin 10 are fixed on the frame 1 through a cabin fixing frame 8 and a cabin connecting rod 9; the frame 1 is also fixedly provided with an altimeter 4, a camera 5, an illuminating lamp 11, a camera 12, a balance weight 6 and a depth meter 13, wherein the camera 5 is used for shooting a submarine photo, the camera 12 is used for recording a submarine video, the illuminating lamp 11 is used for illuminating, the depth meter 13 is used for monitoring the working depth of the camera system in real time, the altimeter 4 is used for monitoring the off-bottom height of the system in real time, and the depth meter 13 and the altimeter 4 are connected with the electronic cabin 10 so as to transmit the acquired signals to a main control board;
pitching attitude adjusting mechanism 2 bilateral symmetry installs anterior in camera system, including initiative attitude adjusting mechanism and passive attitude adjusting mechanism:
as shown in fig. 3, the active posture adjusting mechanism includes a side wing 14 and a motor 23, the motor is a waterproof servo motor, the motor 23 is fixedly mounted on the frame 1 through a motor bracket 22, one side of the side wing 14 is connected with the motor 23 through a connecting piece 21, a coupling 24 and a transmission shaft 25, and the pitching posture adjusting mechanism 2 is driven by the motor 23 to rotate through the cooperation of the coupling 24, the transmission shaft 25 and the connecting piece 21, so as to realize active posture adjustment;
the passive attitude adjusting mechanism is installed in an installation groove formed on the body of the flank 14 of the active attitude adjusting mechanism, referring to fig. 3 and 4, the passive attitude adjusting mechanism comprises a downward-bending flap 15, an upward-bending flap 19, a slide rail 16, a slide block 17, a support rod 18 and a connecting rod 20, the downward-bending flap 15 and the upward-bending flap 19 are installed on two sides of the installation groove relatively, the downward-bending flap 15 and the upward-bending flap 19 are hinged with the flank 14 through the support rod 18, the downward-bending flap 15 and the upward-bending flap 19 can rotate around the hinge point, the slide rail 16 is fixed in the installation groove through the support rod 18 (for example, the support rod is fixed through 4 support rods 18, the support rod center line is symmetrically distributed in the flank installation groove center plane), the slide rail 16 is provided with the slide block 17 capable of sliding left and right, the slide rail 16 is located between the downward-bending flap 15 and the upward-bending flap 19, and the downward-bending flap 15 and the upward-bending flap 19 are hinged with the slide block 17 through the connecting rod 20, the slide block 17 slides left and right along the slide rail 16 under the action of gravity, the downward bending flap 15 and the upward bending flap 19 are driven to rotate through the connecting rod 20, and passive attitude adjustment is realized through torque generated by the flaps.
With continued reference to fig. 1, the height control mechanism 7 adopts a variable wing, the variable wing is controlled by a hydraulic pump station 3, the variable wing is symmetrically arranged at the middle lower part of the frame 1 through a threaded rod, as shown in fig. 7, the variable wing comprises an upper oil bag 26, a wing plate 27 and a lower oil bag 28, and the upper oil bag 26 and the lower oil bag 28 are fixedly arranged on the wing plate 27 through pins. The hydraulic pump station 3 is fixedly installed on the upper portion of the frame 1 and comprises a motor, a pump, a valve group, a pipeline, an oil path block, a flow meter and the like (the hydraulic pump station is in the prior art and is not separately shown in the figure), and reciprocating oil pouring in the upper oil bag and the lower oil bag can be achieved through the hydraulic pump station 3.
In this embodiment, two ends of the bottom of the slide rail 16 are provided with limiting protrusions (fig. 4) for limiting the sliding range of the slide block 17; the middle part of the sliding block 17 symmetrically penetrates through the sliding rail 16, the length of the connecting rods 20 at the two sides is the same, and the sizes of the flaps at the two sides are the same, so that the same opening and closing angle is ensured when the downward pitching flap 15 and the upward pitching flap 19 are respectively adjusted in corresponding postures, and the equivalent posture adjusting effect is ensured; in addition, in order to prevent the generated moment from influencing the flap passive attitude adjusting effect, the middle of the connecting rod 20 is hollowed; the opening and closing angle of the flap is limited by limiting the revolute pair angle between the sliding block 17 and the connecting rod 20 and the sliding pair distance between the connecting rod 20 and the flap.
It should be emphasized that the upper oil bag 26 and the lower oil bag 28 are both made of special hydraulic oil bags, wherein the upper surface of the upper oil bag 26 and the lower surface of the lower oil bag 28 both adopt NACA0012 airfoil curves, and the lower surface of the upper oil bag 26 and the upper surface of the lower oil bag 28 both adopt planes. The shape of the special oil bag can be changed by adjusting the volume of the hydraulic oil in the deep sea, so that the lifting force in the vertical direction is generated (by utilizing the working principle of airplane wings), and the autonomous adjustment of the working height of the deep sea camera system is realized.
The working principle of the camera system is further explained as follows:
setting an expected pitch angle range of the deep sea camera system, monitoring the pitch angle of the system in real time by the attitude sensor, as shown in fig. 5, in an effective adjusting range of the passive attitude adjusting mechanism, the fluid resistance borne by a flap of the passive attitude adjusting mechanism can be decomposed into a component force in the vertical direction and a component force parallel to a flap plate of the flap, and the pitch moment generated by the component force in the vertical direction adjusts the pitch angle of the system in real time, so that the stable work of the deep sea camera system is ensured; when the attitude sensor detects that the pitch angle of the system exceeds the effective adjusting range of the passive attitude adjusting mechanism, as shown in fig. 6, taking the upward pitch angle of the camera system as an example, the active attitude adjusting mechanism starts to work, the attack angle of the side wing is adjusted by the motor, the fluid resistance borne by the side wing can be decomposed into component force in the vertical direction and component force parallel to wing plates of the side wing, and the pitch angle of the system returns to an expected range by virtue of the pitch moment generated by the component force in the vertical direction; the height gauge monitors the system off-bottom height in real time, as shown in fig. 7, when the control system judges that the system off-bottom height needs to be adjusted, the volumes of the special upper oil bag and the special lower oil bag are adjusted through the hydraulic pump station, and the lifting force in the vertical direction is generated by utilizing the working principle of the airplane wings, so that the autonomous adjustment of the working height of the deep sea camera system is realized.
step A, pitch attitude adjustment:
(A1) monitoring the pitch angle of a camera system in real time through an attitude sensor;
(A2) the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, judges whether the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, and if the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, executes the step A3; if the pitch angle does not exceed the preset pitch angle, the pitch angle of the system is continuously adjusted based on the passive attitude adjusting mechanism;
(A3) and controlling the active attitude adjusting mechanism to adjust the pitch angle of the system to be within an expected range through the main control board.
Specifically, the present embodiment sets the desired range of the pitch angle of the imaging system to (- θ)0，θ0) Wherein 0 is not more than theta0Less than pi/2, and the effective adjusting range of the passive attitude adjusting mechanism to the system pitch angle is supposed to be (-theta)1，-θ0)∪(θ0，θ1) Wherein 0 is not more than theta1< π/2, and θ1＞θ0(ii) a In the actual working process, the attitude sensor monitors the pitch angle of the system in real time, and the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, namely the flap is subjected toThe pitching moment M generated by the component force F of the fluid resistance in the vertical direction adjusts the pitch angle of the system in real time, and the pitch angle of the system is ensured to be (-theta)1，θ1) When in range, the passive attitude adjustment mechanism can maintain the system pitch angle within a desired range.
In addition, the wing pitch angle is set as the included angle between the wing plate of the wing and the horizontal plane, and the adjustable range of the wing pitch angle is thetawtng(-π/2＜θwtngLess than pi/2), taking the case that the elevation angle on the system is too large as an example, when the attitude sensor monitors the pitch angle theta of the system1And when theta is larger than or equal to theta and smaller than or equal to pi/2, namely the pitch angle of the system exceeds the effective adjusting range of the passive attitude adjusting mechanism, the motor is electrified, the pitch angle of the side wing is adjusted through the coupler and the transmission shaft, and the pitch angle of the system is adjusted by using the pitch moment M generated by the component force F of the fluid resistance on the side wing in the vertical direction until the system returns to the expected range.
Step B, height setting control and adjustment:
(B1) the altimeter monitors the off-bottom height of the camera system in real time; judging whether the off-bottom height is within an expected range;
(B2) and starting the hydraulic pump station to be electrified until the bottoming height is not monitored to be within the expected range, adjusting the volumes of the upper oil bag and the lower oil bag to generate lift force, and adjusting the bottoming height to return to be within the expected range.
Specifically, the present embodiment sets the expected off-bottom height range of the deep sea imaging system to (-H)0，H0) The height gauge monitors the height of the system from the bottom in real time, and the volume of hydraulic oil in the upper oil bag is the same as that of hydraulic oil in the lower oil bag within an expected height range; when the actual height H of the system from the bottom is less than H0When the aircraft is in a lifting state, the hydraulic pump station is electrified, hydraulic oil is pumped into the special upper oil bag from the special lower oil bag, the system is driven to ascend by the aid of lift force L generated based on the aircraft wing working principle, and the lift force L returns to the range of expected off-bottom height; similarly, when the actual height of the system from the bottom H > H0When the aircraft is in a lifting state, the hydraulic pump station is electrified to pump hydraulic oil into the lower oil bag from the upper oil bag, and the lift L generated based on the aircraft wing working principle drives the system to descend and return to the expected height range from the bottom.
According to the scheme, the passive attitude adjusting mechanism and the active attitude adjusting mechanism are combined, so that the active and passive adjustment of the pitching attitude of the system is realized; through the height-fixing control mechanism, the self-adaptive height-fixing control of the system off-bottom height is realized. Through the two means, the operation efficiency, the motion stability and the data acquisition quality of the system are greatly improved, the self-adaptive adjustment of the system stability is realized, and the intelligent level of the system is improved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (9)
1. A deep sea camera system comprises a frame (1) and an electronic cabin (10), wherein the electronic cabin (10) is fixed on the frame (1) through a cabin body fixing frame (8) and a cabin body connecting rod (9), a main control board and an attitude sensor are installed in the electronic cabin (10), a height meter (4), a camera (5), an illuminating lamp (11), a camera (12) and a depth meter (13) are further fixedly installed on the frame (1), and the deep sea camera system is characterized by further comprising a pitching attitude adjusting mechanism (2), wherein the pitching attitude adjusting mechanism (2) is bilaterally symmetrical to two sides of the frame and comprises an active attitude adjusting mechanism and a passive attitude adjusting mechanism;
the active posture adjusting mechanism comprises a side wing (14) and a motor (23), the motor (23) is installed on the frame (1), one side of the side wing (14) is connected with an output shaft of the motor (23) through a connecting piece (21) and a transmission shaft (25), and the side wing (14) is driven to rotate by the motor (23) to realize active posture adjustment;
the passive attitude adjusting mechanism is arranged in a mounting groove formed in a side wing (14) body of the active attitude adjusting mechanism and comprises a downward-bending flap (15), an upward-bending flap (19), a slide rail (16), a slide block (17), a support rod (18) and a connecting rod (20), the downward-bending flap (15) and the upward-bending flap (19) are relatively mounted at two sides of the mounting groove, the downward-bending flap (15) and the upward-bending flap (19) are hinged and connected with the side wing (14) through the support rod (18), the downward-bending flap (15) and the upward-bending flap (19) rotate around a hinged point, the slide rail (16) is fixed in the mounting groove through the support rod (18), the slide block (17) is sleeved on the slide rail (16) and slides along the slide rail, the slide rail (16) is positioned between the downward-bending flap (15) and the upward-bending flap (19), the downward-bending flap (15) and the upward-bending flap (19) are hinged and connected with the slide block (17) through the connecting rod (20), along with the change of the pitching attitude of the deep sea camera system, the sliding block (17) slides left and right along the sliding rail (16) under the action of gravity, the downward-bending flap (15) and the upward-bending flap (19) are driven to rotate through the connecting rod (20), and the passive attitude adjustment is realized through the moments generated by the downward-bending flap (15) and the upward-bending flap (19).
2. The deep-sea camera system according to claim 1, wherein: the frame (1) is also provided with a hydraulic pump station (3) and a fixed-height control mechanism (7), the fixed-height control mechanism (7) comprises variable wings of which the wing shapes are controlled by the hydraulic pump station (3), and the variable wings are arranged on two sides of the frame (1) and keep the balance and stability of the camera system together with the side wings (14);
the variable wing comprises an upper oil bag (26), a wing plate (27) and a lower oil bag (28), and the upper oil bag (26) and the lower oil bag (28) are fixedly arranged on the wing plate (27).
3. The deep-sea camera system according to claim 2, wherein: the upper surface of the upper oil bag (26) and the lower surface of the lower oil bag (28) are all in the shape of NACA0012 wing curves, and the lower surface of the upper oil bag (26) and the upper surface of the lower oil bag (28) are both in the shape of planes.
4. The deep-sea camera system according to claim 1, wherein: and limiting bulges used for limiting the sliding range of the sliding block (17) are arranged at two ends of the bottom of the sliding rail (16).
5. The deep-sea camera system according to claim 1, wherein: the middle of the connecting rod (20) is hollow.
6. The deep sea camera system control method according to claim 2, comprising the steps of:
step A, pitch attitude adjustment:
(A1) monitoring the pitch angle of a camera system in real time through an attitude sensor;
(A2) the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, judges whether the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, and if the pitch angle of the camera system exceeds the effective adjusting range of the passive attitude adjusting mechanism, executes the step A3; if the pitch angle does not exceed the preset pitch angle, the pitch angle of the system is continuously adjusted based on the passive attitude adjusting mechanism;
(A3) the active attitude adjusting mechanism is controlled by the main control board to adjust the pitch angle of the system to an expected range;
step B, height setting control and adjustment:
(B1) monitoring the off-bottom height of the camera system in real time through an altimeter, and judging whether the off-bottom height is within an expected range;
(B2) and when the off-bottom height is not monitored to be within the expected range, the hydraulic pump station is electrified and started, the volumes of the upper oil bag and the lower oil bag are adjusted, and the lift force is generated by changing the wing profile curve of the variable wing until the off-bottom height is adjusted to return to be within the expected range.
7. The deep sea camera system-based control method according to claim 6, wherein: in step a1, the desired range of the imaging system pitch angle is set to (- θ)0，θ0) Wherein 0 is not more than theta0Less than pi/2, and setting the effective regulation range of the passive attitude regulation mechanism to the system pitch angle to be (-theta)1，-θ0)∪(θ0，θ1) Wherein 0 is not more than theta1< π/2, and θ1＞θ0；
In the actual working process, the attitude sensor monitors the pitch angle of the system in real time, and the passive attitude adjusting mechanism adjusts the pitch angle of the system in real time, namely, the pitch angle of the system is adjusted in real time through the pitch moment M generated by the component force F of the upward pitching flap and the downward pitching flap which are subjected to the fluid resistance in the vertical direction.
8. The deep-sea camera system-based control method according to claim 7, wherein: in the step A3, the pitching angle of the side wing is set to be the included angle between the wing plate of the side wing and the horizontal plane, and the adjustable range of the pitching angle of the side wing is thetawing(-π/2＜θwingLess than pi/2), when the upward pitching angle of the camera system is too large, namely when the attitude sensor monitors the pitch angle theta of the system1When theta is not less than or equal to pi/2, namely the pitch angle of the system exceeds the effective adjusting range of the passive attitude adjusting mechanism, the motor is electrified, and the pitch angle of the side wing is adjusted through the coupler and the transmission shaft.
9. The deep sea camera system-based control method according to claim 6, wherein: in the step B, the expected off-bottom height range of the deep sea camera system is set to (-H)0，H0) The off-bottom height of the camera system is monitored in real time through a height meter, and the volumes of hydraulic oil in the upper oil bag and the lower oil bag are the same within an expected height range;
when the actual height H of the system from the bottom is less than H0When the hydraulic pump station is powered on, hydraulic oil is pumped into the upper oil bag from the lower oil bag, the system is driven to ascend based on the generated lift force L, and the system returns to the expected height range from the bottom;
when the actual height H of the system from the bottom is more than H0And the hydraulic pump station is powered on, hydraulic oil is pumped into the lower oil bag from the upper oil bag, the system is driven to descend based on the generated lift L, and the system returns to the expected height range from the bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110596529.4A CN113448354B (en) | 2021-05-31 | 2021-05-31 | Deep sea camera system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110596529.4A CN113448354B (en) | 2021-05-31 | 2021-05-31 | Deep sea camera system and control method thereof |
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| Publication Number | Publication Date |
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| CN113448354A CN113448354A (en) | 2021-09-28 |
| CN113448354B true CN113448354B (en) | 2022-06-14 |
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