CN114771772A - Underwater fishing device integrating vision and force sense mechanical arm - Google Patents
Underwater fishing device integrating vision and force sense mechanical arm Download PDFInfo
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- CN114771772A CN114771772A CN202210314550.5A CN202210314550A CN114771772A CN 114771772 A CN114771772 A CN 114771772A CN 202210314550 A CN202210314550 A CN 202210314550A CN 114771772 A CN114771772 A CN 114771772A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/26—Means for indicating the location of underwater objects, e.g. sunken vessels
Abstract
The invention discloses an underwater fishing device of a mechanical arm integrating vision and force sense, belonging to the technical field of machinery, control, information technology, life science and energy chemical engineering. And the vision and the force sense are simultaneously fused on the mechanical arm, so that the difficult fishing work can be completed on the complex sea surface. The unmanned fishing is more intelligent, the target can be positioned in real time, the force control can be completed on the target in a self-adaptive manner, and the mechanical arm can automatically complete the whole process from discovery to rescue.
Description
Technical Field
The invention relates to the technical fields of machinery, control, information technology, life science, energy and chemical engineering, in particular to an underwater fishing device of a mechanical arm integrating vision and force sense.
Background
In the world, with the vigorous development of marine resources in various countries, various marine devices are inevitably broken down in complex marine environments and are left in the sea, and how to recover the marine devices becomes a new problem limiting the development of numerous marine industries. On the other hand, besides the recovery of marine equipment, the salvage and cleaning of the floating objects on the water surface are also a great demand for the development of the sea under the large background that the country vigorously carries out environmental remediation. Today of the high-speed development of science and technology, marine equipment is retrieved and the salvage of surface of water floater is mainly still salvaged by the manual work and is accomplished or the ship is salvaged, and the manual work is salvaged work efficiency and is hanged down, intensity of labour is big, can't salvage the operation under the stormy wave environment, and the ship salvages mobility poor, and the price is expensive, is unfavorable for the salvage work of small-size marine equipment recovery and surface of water floater.
Disclosure of Invention
The invention aims to provide an underwater fishing device fusing vision and force sense mechanical arms, and aims to solve the problems that manual fishing provided by the background technology is low in working efficiency, high in labor intensity, incapable of fishing in a storm environment, poor in fishing maneuverability and high in price, and not beneficial to small-sized marine equipment recovery and fishing of water surface floaters.
In order to achieve the purpose, the invention provides the following technical scheme: an underwater fishing device of a mechanical arm integrating vision and force sense comprises a left catamaran and a right catamaran, wherein the left sides and the middle parts of the tops of the two catamarans are respectively provided with a spring buffering device and a hydraulic damping device, the mounting ends of the spring buffering device and the hydraulic damping device are connected with the outer wall of an information processing chamber, the right sides of the tops of the two catamarans are respectively provided with a limiting device, the driving end of each limiting device is connected with a limiting frame, the right extending end of the information processing chamber is provided with a mechanical arm and two image acquisition devices, the end of the mechanical arm, which is far away from the information processing chamber, is provided with a mechanical clamping jaw, the image acquisition devices are positioned at the bottom of the extending end of the information processing chamber, the mechanical arm is positioned between the two image acquisition devices, the information processing chamber is connected with the image acquisition devices, the limiting devices and the mechanical arm, and a computer control module is arranged in the information processing chamber, the mechanical clamping jaw is provided with a force detection device, the force detection device comprises a force sensor and a data transmission conversion unit which are arranged on the inner wall of the clamping end of the mechanical clamping jaw, and the data transmission conversion unit is connected with the force sensor and an information processing chamber.
Preferably, the ratio of the distances between the left and right catamarans is 3m to 4.5 m.
Preferably, the image acquisition device is a binocular camera for acquiring the position image of the target object.
Preferably, the limiting device comprises a mounting seat, a first motor arranged on the mounting seat, a supporting plate, a second motor arranged on the supporting plate, an adjusting column, a guide frame arranged on the adjusting column, a hydraulic rod arranged on the adjusting column, a first movable rod and a second movable rod hinged on the guide frame.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention is provided with the visual sensor on the unmanned ship, so that the target object is accurately positioned, the mechanical arm has the function of 'seeing', and the mechanical arm is provided with the force sensor, so that the target object is accurately analyzed, and the mechanical arm can complete the required 'touching' function. And the vision and the force sense are simultaneously integrated on the mechanical arm, so that the difficult salvage work can be completed on the complicated sea surface. The unmanned fishing is more intelligent, the target can be positioned in real time, the force control can be completed on the target in a self-adaptive manner, and the mechanical arm can automatically complete the whole process from discovery to rescue.
2) The mechanical arm combining vision and force sense can better simulate human working modes, the flexibility is improved, and the autonomous learning ability is enhanced. The mechanical arm with the two senses combined is a new breakthrough in salvage. An attempt is made for a robot with multiple senses in the future, an idea is provided, and application scenes of the robot and different parts of the robot are greatly widened.
3) The invention provides a new idea and a new method for recovering the floating objects on the water surface, the plasticity is strong, the development space is large, and the existing ocean equipment putting and recovering technology is not very efficient and mature because of depending on a large amount of manpower and long operation time. Therefore, the invention has strong development potential and application prospect. In addition, the device has considerable expansibility and a unique intelligent module mechanism, so that different equipment can be expanded to finish different fishing tasks according to different task requirements, and the device can be expanded and applied to the main aspects of garbage fishing, water quality acquisition and the like.
4) The intelligent unmanned ship sea area search and rescue robot has a wide application range, can finish the intelligent unmanned ship to expand sea area search and rescue by replacing the adaptive mechanical claw module, and installs the water surface detection device at the adaptive position. Intelligent arm, two water jet propulsors can save the people in the surface of water safely fast, save a large amount of manpower resources.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the robotic arm and image capturing device of the present invention;
FIG. 4 is a schematic flow chart of the present invention;
FIG. 5 is a schematic view of a process for detecting and processing visual information according to the present invention;
FIG. 6 is a schematic diagram of a process for detecting and processing force information according to the present invention;
FIG. 7 is a corresponding graph of the motion of the catamaran when the pitch ratio of the left catamaran to the right catamaran is 3 according to the present invention;
FIG. 8 is a corresponding graph of the motion of the catamaran when the distance ratio of the left catamaran to the right catamaran is 3.5;
FIG. 9 is a corresponding graph of the motion of the catamaran when the pitch ratio of the left catamaran to the right catamaran of the present invention is 4;
figure 10 is a corresponding graph of the catamaran motion for a ratio of the left and right catamaran spacings of 4.5 in accordance with the present invention.
In the figure: 1. a catamaran; 2. a spring buffer device; 3. an information processing chamber; 4. an image acquisition device; 5. a mechanical arm; 6. a second motor; 7. a mounting seat; 8. a first motor; 9. a support plate; 10. an adjustment column; 11. a guide frame; 12. a first movable rod; 13. a second movable rod; 14. a swinging member; 15. a hydraulic lever; 16. a movable rod IV; 17. a third movable rod; 18. and a limiting frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-10, the present invention provides a technical solution:
example 1:
the underwater fishing device integrating the visual sense mechanical arm and the force sense mechanical arm comprises a left catamaran 1 and a right catamaran 1, wherein a spring buffer device 2 and a hydraulic damping device are respectively arranged on the left side of the top of each catamaran 1 and in the middle of the top of each catamaran 1, the mounting ends of the spring buffer devices 2 and the hydraulic damping devices are respectively connected with the outer wall of an information processing chamber 3, a limiting device is arranged on the right side of the top of each catamaran 1, the driving end of the limiting device is connected with a limiting frame 18, a mechanical arm 5 and two image acquisition devices 4 are arranged at the right extending end of the information processing chamber 3, a mechanical clamping jaw is arranged at one end, away from the mechanical arm 5, of each information processing chamber 3, the image acquisition devices 4 are located at the bottom of the extending end of the information processing chamber 3, and the mechanical arm 5 is located between the two image acquisition devices 4.
The distance ratio between the left catamaran 1 and the right catamaran 1 is 3 m.
Example 2:
the underwater fishing device integrating the visual sense mechanical arm and the force sense mechanical arm comprises a left catamaran 1 and a right catamaran 1, wherein a spring buffer device 2 and a hydraulic damping device are respectively arranged on the left side of the top of each catamaran 1 and in the middle of the top of each catamaran 1, the mounting ends of the spring buffer devices 2 and the hydraulic damping devices are respectively connected with the outer wall of an information processing chamber 3, a limiting device is arranged on the right side of the top of each catamaran 1, the driving end of the limiting device is connected with a limiting frame 18, a mechanical arm 5 and two image acquisition devices 4 are arranged at the right extending end of the information processing chamber 3, a mechanical clamping jaw is arranged at one end, away from the mechanical arm 5, of each information processing chamber 3, the image acquisition devices 4 are located at the bottom of the extending end of the information processing chamber 3, and the mechanical arm 5 is located between the two image acquisition devices 4.
The pitch ratio between the left and right catamarans 1 is 3.5 m.
Example 3:
the underwater fishing device integrating the visual sense mechanical arm and the force sense mechanical arm comprises a left catamaran 1 and a right catamaran 1, wherein a spring buffer device 2 and a hydraulic damping device are respectively arranged on the left side of the top of each catamaran 1 and in the middle of the top of each catamaran 1, the mounting ends of the spring buffer devices 2 and the hydraulic damping devices are respectively connected with the outer wall of an information processing chamber 3, a limiting device is arranged on the right side of the top of each catamaran 1, the driving end of the limiting device is connected with a limiting frame 18, a mechanical arm 5 and two image acquisition devices 4 are arranged at the right extending end of the information processing chamber 3, a mechanical clamping jaw is arranged at one end, away from the mechanical arm 5, of each information processing chamber 3, the image acquisition devices 4 are located at the bottom of the extending end of the information processing chamber 3, and the mechanical arm 5 is located between the two image acquisition devices 4.
The distance ratio between the left catamaran 1 and the right catamaran 1 is 4 m.
Example 4:
the underwater fishing device with the visual and force sense mechanical arms fused comprises a left catamaran and a right catamaran 1, wherein spring buffering devices 2 and hydraulic damping devices are respectively installed on the left sides of the tops of the two catamarans 1 and in the middle of the tops of the two catamarans 1, the installation ends of the spring buffering devices 2 and the hydraulic damping devices are connected with the outer wall of an information processing chamber 3, limiting devices are arranged on the right sides of the tops of the two catamarans 1, the driving ends of the limiting devices are connected with a limiting frame 18, a mechanical arm 5 and two image acquisition devices 4 are arranged at the extending end of the right side of the information processing chamber 3, a mechanical clamping jaw is installed at one end, away from the mechanical arm 5 and the information processing chamber 3, the image acquisition devices 4 are located at the bottom of the extending end of the information processing chamber 3, and the mechanical arm 5 is located between the two image acquisition devices 4.
The pitch ratio between the right and left catamarans 1 is 4.5 m.
The unmanned ship adopted by the invention is the catamaran 1, and meanwhile, the solar panel can be added to supply energy partially. The catamaran 1 has the advantages of wider deck area, larger transverse center-stabilizing radius, smaller wave-making resistance and the like, and can implement the fishing function more stably. Meanwhile, after the upper part of the deck, the bottom of the deck and the vertical surface of the ship body are analyzed, a mechanical arm 5 is installed at the tail of the vertical surface of the ship body. The mechanical claw part has the characteristics of detachability, modularization and the like, improves the stability of salvaged objects, and increases the application range of the device. The vision sensors are respectively arranged at the bow, the inner side of the center and the stern of the catamaran 1, and three groups of binocular vision cameras are arranged in total. Because the calibration coefficients are multiple and the calibration difficulty is high, binocular vision cameras must be symmetrically arranged on two sides as far as possible.
The spring shock-absorbing structure at the front part of the invention is provided with a shock-absorbing base frame of a hard spring on a floating barrel, the base frame is provided with a universal joint, and the base frame is connected with a catamaran 1 platform through two mutually vertical spring supports. The structure utilizes the stability of a triangle and the buffer action of the spring, so that the ship body can be damped in the XYZ directions when encountering waves, the shaking of the platform of the catamaran 1 is reduced, the floating cylinder is connected with the platform through the universal joint and the spring support on the hydraulic damping structure at the rear part, and in addition, the spring hydraulic rod is arranged in the middle of the support and is connected with the platform. When the hull meets waves, the hydraulic rod is pressed to realize the buffering effect similar to that of a spring, and the shaking of the hull is reduced. The anti-wave structure formed by the spring damping structure at the front part and the hydraulic damping structure at the rear part can ensure that the throwing ship keeps the platform stable when throwing, thereby being convenient for fishing work.
Referring to fig. 7 to 10, in examples 1 to 4, under four pitch ratios of 3.0, 3.5, 4.0 and 4.5, respectively, considering that the environmental load angle is 90 °, the load frequency in the 1.5Hz region is the resonance region of the roll response of the catamaran 1, and the wave period is about 0.67 s. The design is important, and the resonance interval tends to be gradually enlarged as the distance ratio is increased, so that the distance ratio selected in the design is not excessively large, and according to the roll response characteristic curve, the roll motion response of the ship body is increased and then reduced as the wave circle frequency is increased, and each distance ratio reaches a peak value when the wave frequency is 1.5Hz, the K/D is lower than the motion amplitude operator of other distance ratios when the K/D is 4.5, the K/D is 3.5 times, and the K/D is maximum when the K/D is 3. According to the pitch response characteristic curve, the pitch response of the ship body reaches a peak value at 0.75Hz, the overall trend is that the pitch response rises to a certain peak value along with the increase of frequency, then the pitch response rapidly decreases, and the pitch response continuously decreases after the next slightly smaller extreme value comes, and finally the pitch response is stabilized at a lower level. According to the heave characteristic response curve, when the wave frequency is lower, the catamaran motion response is kept at a higher level, and is reduced along with the increase of the wave frequency. And the pitch ratio is different, the frequency corresponding to the heave response peak value is slightly different, but is basically maintained at 2-2.5Hz, and when the frequency is more than 3.5Hz, the heave motion response is finally kept within a lower threshold value.
In summary, the pitch ratio of the device is selected to be 3.5, so as to obtain lower navigation resistance and better wave resistance.
The information processing chamber 3 is internally provided with a computer control module, the image acquisition equipment 4 is a binocular camera used for acquiring position images of a target object, as shown in fig. 5, the image acquisition equipment 4 acquires images of the marine floater, a vision system processes the images, central point coordinates of the marine floater are acquired by means of graying, Kalman filtering, Gaussian mixture model algorithm, contour extraction, minimum external matrix and the like, the central point coordinates are converted to a mechanical arm 5 base coordinate through a calibration matrix to realize target positioning, the mechanical clamping jaw is provided with force detection equipment, the force detection equipment comprises a force sensor and a data transmission conversion unit which are installed on the inner wall of the clamping end of the mechanical clamping jaw, and the data transmission conversion unit is connected with the force sensor and the information processing chamber 3.
Meanwhile, a wrist force sensor and a pressure sensor are finally selected and used in combination with the movement structure characteristics of the mechanical arm 5. The wrist force sensor is arranged at the wrist part of the mechanical arm 5, and the sensor adopts a six-dimensional force sensor, so that more accurate force sense information can be obtained. Meanwhile, in order to improve the accuracy of grabbing the target object, two one-dimensional pressure sensors are arranged on two sides in the tail end of the mechanical clamping jaw. The transmitter is selected for use by the transmission conversion unit, the transmitter amplifies the analog signal output by the force sensor and converts the analog signal into an electric signal, two-wire system RS485 and Modbus RTU communication protocol are used for carrying out communication transmission with the industrial personal computer, and the industrial personal computer is more convenient to acquire and process information in the signal mode of the electric signal.
The force sense part completes the mechanics and force control of the target object. The mechanical arm can feel the contact state between the mechanical arm and the object to make relevant actions, and the optimal contact state between the mechanical arm and the object is ensured. The mechanical arm force sense part can promote the experience of contacting with the outside through a large amount of force characteristics contained in the accumulated force information, and finally, force processing is completed according to the experience of mechanics learning, the complex environment of the sea surface is fused, and the fishing process is well completed.
And (3) integrating visual guidance and force feedback to control the motion of the mechanical arm and apply system experimental analysis. The force sense part and the visual part can be well fused together through a central control device. And establishing a motion model of the mechanical arm, and realizing real-time positioning and grabbing of the article through visual guidance and force feedback. Meanwhile, the installation experiment platform is subjected to visual guidance and force feedback lower mechanical arm sea surface salvage algorithm verification application experiment.
The information processing chamber 3 is internally provided with a computer control module, namely an upper computer, other equipment is controlled by a software system, the image acquisition equipment 4 is a binocular camera used for acquiring a position image of a target object, the mechanical clamping jaw is provided with force detection equipment which mainly acquires contact force information and comprises a force sensor and a data transmission and conversion unit which are arranged on the inner wall of the clamping end of the mechanical clamping jaw, the data transmission and conversion unit is connected with the force sensor and the information processing chamber 3, and the modules realize data intercommunication in principle, so that a working system is formed, as shown in figure 6, the force sensor on the clamping end of the mechanical clamping jaw on the mechanical arm 5 is subjected to force detection through serial port information, the force information generated in the contact process of the mechanical arm 5 and different marine floaters is analyzed and acquired, and an LSTM network is used for training a force information sample through a machine learning method to obtain a force characteristic detection model, and the model result is analyzed and tested, whether the force control device can be applied in the actual situation is judged, and finally, the mechanical clamping jaw can more accurately and intelligently control the force of the target object by processing the current force information.
The mounting base 7 is provided with a support frame, one end of the adjusting column 10 is connected with the support frame through a bearing, the other end of the adjusting column 10 is connected with an output shaft of the second motor 6, the hydraulic rod 15 is positioned in the guide frame 11, the telescopic end of the hydraulic rod 15 transversely penetrates through the guide frame 11 to extend outwards and is hinged with the swinging piece 14, the other end of the second movable rod 13 is hinged with the top of the swinging piece 14, the other end of the first movable rod 12 is hinged with the L-shaped movable block, the end of the L-shaped movable block deviating from the first movable rod 12 is hinged with the third movable rod 17, a movable groove capable of accommodating the third movable rod 17 is formed in the swinging piece 14, the other end of the third movable rod 17 penetrates through the movable groove and is hinged with the middle part of the outer wall of the limiting frame 18, the bottom of the swinging piece 14 is hinged with the fourth movable rod 16, and the other end of the fourth movable rod 16 is hinged with the upper part of the outer wall of the limiting frame 18, the bottom of the mounting seat 7 is connected with the fixed end of the rotating shaft, the rotating end of the rotating shaft is connected with the rotating column, the other end of the rotating column is fixedly arranged at the top of the catamaran 1, a secondary fluted disc is arranged on the outer wall of the rotating column, the output shaft of the motor I8 longitudinally penetrates through the mounting seat 7 to extend downwards, the extending end of the output shaft of the motor I8 is connected with the driving fluted disc, and the driving fluted disc is meshed with the secondary fluted disc. The first motor 8 and the second motor 6 are step motors, the hydraulic rod 15 stretches out and draws back to drive the swing piece 14 to rotate by taking the other end of the second movable rod 13 as an axis, meanwhile, the swing piece 14 can drive the fourth movable rod 16 when rotating, the third movable rod 17 can move, so that the position of the limiting frame 18 can be adjusted, the limiting frame 18 extends out of the two catamarans 1, the object is limited, the adjusting column 10 can be driven to rotate through the second motor 6, and the guide frame 11 and the hydraulic rod 15 are changed to be in a vertical standby state through a horizontal working state.
The telescopic limiting device is adopted, the telescopic claw-shaped limiting device is arranged and designed at the stern end of the double-body, when salvaged objects are close to the stern part of the ship body, the limiting device is started from the two sides of the ship body, the claw-shaped limiting device extends out to the ship centerline position under the driving of the progressive motor, the movable space of the salvaged objects is compressed, meanwhile, the salvaged objects are closed and fixed through claws, and then the salvage work is completed through the force sense vision mechanical arm. The claw-shaped limiting device is provided with the annular gear at the tail shaft end, the limiting device can be driven by an electric motor to change from a horizontal working state to a vertical standby state, the influence of the limiting device on the navigation of the catamaran 1 can be reduced to the maximum extent, and the optimal solution of the navigation and the efficient salvage is achieved.
The working principle is as follows: the method comprises the steps that an image of the marine floater is obtained through image obtaining equipment 4 arranged on a ship body, a visual system processes the image, coordinates of a central point of the marine floater are obtained through graying, Kalman filtering, Gaussian mixture model algorithm, contour extraction, minimum external matrix and other methods, and the coordinates of the central point are converted to the position of a mechanical arm 5 base coordinate through a calibration matrix to achieve target positioning. On the basis that the coordinates of the floating object on the sea are obtained, the catamaran 1 and the mechanical arm 5 are driven to approach the target object at a set speed by the control system of the information processing chamber 3. Then, force detection is carried out on a force sensor on a clamping end of a mechanical clamping jaw on the mechanical arm 5 through serial port information, force information generated in the process that the mechanical arm 5 is in contact with different marine floaters is analyzed and collected, an LSTM network is used for training a force information sample through a machine learning method to obtain a force characteristic detection model, and a model result is analyzed and tested to judge whether the force characteristic detection model can be applied in actual situations or not. And finally, grabbing and recovering the floating objects on the sea by using the built catamaran 1 platform and the realized software system. Firstly, the image acquisition device 4 acquires a position image of the target, and transmits the image to the information processing room 3 for processing to acquire the position of the target on the experiment platform. Then the information processing chamber 3 drives the mechanical arm 5 to move to the position for operation, in the operation process, the limiting device is used for driving the limiting frame 18 to limit the space displacement of the target object, the information processing chamber 3 obtains force information generated by the contact of the clamping tail end of the mechanical clamping jaw and the target in real time through the force detection device, and the motion state of the mechanical arm 5 is determined according to the force feedback result, for example, when the current motion is stopped and the grabbing is started in the fishing operation. Meanwhile, after the fishing action is finished, the information processing chamber 3 can also control the mechanical arm 5 to move to the position where the unmanned ship belongs to place.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not to be construed as limiting the claims.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. Fuse underwater fishing device of vision and strength sense arm, including controlling two catamarans (1), its characterized in that: the left sides and the middle of the tops of the two catamarans (1) are respectively provided with a spring buffer device (2) and a hydraulic damping device, the mounting ends of the spring buffer devices (2) and the hydraulic damping devices are connected with the outer wall of the information processing chamber (3), the right sides of the tops of the two catamarans (1) are respectively provided with a limiting device, the driving end of each limiting device is connected with a limiting frame (18), the right extending end of the information processing chamber (3) is provided with a mechanical arm (5) and two image acquisition devices (4), a mechanical clamping jaw is mounted at one end of the mechanical arm (5) opposite to the information processing chamber (3), the image acquisition devices (4) are located at the bottom of the extending end of the information processing chamber (3), the mechanical arm (5) is located between the two image acquisition devices (4), and the information processing chamber (3) is connected with the image acquisition devices (4) and the limiting devices, Arm (5) are connected, be equipped with computer control module in information processing room (3), be equipped with power check out test set on the mechanical clamping jaw, and power check out test set is including installing force sensor and the data transmission conversion unit on the mechanical clamping jaw exposed core inner wall, the data transmission conversion unit is connected with force sensor, information processing room (3).
2. The underwater fishing device with the integrated visual sense and force sense mechanical arm as claimed in claim 1, wherein: the distance ratio between the left catamaran (1) and the right catamaran (1) is 3m-4.5 m.
3. The underwater fishing device of the fusion vision and force sense mechanical arm as claimed in claim 1, wherein: the image acquisition equipment (4) is a binocular camera used for acquiring position images of the target object.
4. The underwater fishing device with the integrated visual sense and force sense mechanical arm as claimed in claim 1, wherein: the limiting device comprises a mounting seat (7), a first motor (8) arranged on the mounting seat (7), a supporting plate (9), a second motor (6) arranged on the supporting plate (9), an adjusting column (10), a guide frame (11) arranged on the adjusting column (10), a hydraulic rod (15) arranged on the adjusting column (10), and a first movable rod (12) and a second movable rod (13) hinged to the guide frame (11).
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