CN114771772B - Underwater salvaging device integrating vision and force sense mechanical arm - Google Patents
Underwater salvaging device integrating vision and force sense mechanical arm Download PDFInfo
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- CN114771772B CN114771772B CN202210314550.5A CN202210314550A CN114771772B CN 114771772 B CN114771772 B CN 114771772B CN 202210314550 A CN202210314550 A CN 202210314550A CN 114771772 B CN114771772 B CN 114771772B
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- 230000010365 information processing Effects 0.000 claims description 35
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- 238000007667 floating Methods 0.000 description 6
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Classifications
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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
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- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
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Abstract
The invention discloses an underwater salvaging device integrating vision and force sense mechanical arms, belonging to the technical fields of machinery, control, information technology, life science and energy chemical industry. And vision and force sense are simultaneously fused on the mechanical arm, so that difficult salvage work can be completed on a complicated sea surface. The unmanned salvage is more intelligent, not only can the target object be positioned in real time, but also the force control on the target object can be completed 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 and control, information technology, life science and energy chemical industry, in particular to an underwater salvage device integrating vision and force sense mechanical arms.
Background
In the world today, as ocean resources are being developed vigorously in various countries, various ocean devices are inevitably broken down in complex ocean environments to stay in the ocean, and how to recycle these ocean devices has become a new problem that limits the development of numerous ocean 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 marine development under the great background of the national great development of environmental remediation. At the today of high-speed development of science and technology, marine equipment recovery and salvage of surface of water floater are mainly still accomplished by artifical salvage or the ship salvage, and artifical salvage work inefficiency, intensity of labour are big, can't carry out salvage operation under the unrestrained environment of wind, and the ship salvage mobility is poor, and the price is expensive, is unfavorable for small-size marine equipment recovery and the salvage work of surface of water floater.
Disclosure of Invention
The invention aims to provide an underwater salvage device integrating vision and force sense mechanical arms, which solves the problems that the manual salvage work provided in the background art is low in efficiency and high in labor intensity, salvage operation cannot be performed in a stormy wave environment, the salvage maneuverability of a ship is poor, the price is high, and the salvage operation of small marine equipment recovery and water surface floaters is not facilitated.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a fuse vision and force sense mechanical arm's underwater fishing device, includes two catamarans about, two catamaran top left side and centre install spring buffer and hydraulic shock absorber respectively, and spring buffer and hydraulic shock absorber's installation end all are connected with the information processing room outer wall, two catamaran top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame, information processing room right side extension end is equipped with arm and two image acquisition equipment, and the mechanical clamping jaw is installed to the one end that the arm deviates from mutually with the information processing room, image acquisition equipment is located information processing room extension end bottom, and the arm is located between two image acquisition equipment, information processing room and image acquisition equipment, stop device, arm connection, be equipped with computer control module in the information processing room, be equipped with force detection equipment on the mechanical clamping jaw, and force detection equipment is including installing the force sensor and the data transmission conversion unit on mechanical clamping end inner wall, data transmission conversion unit is connected with force sensor, information processing room.
Preferably, the spacing ratio between the left and right catamarans is 3m-4.5m.
Preferably, the image acquisition device is a binocular camera for acquiring an image of the target object location.
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, and 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) According to the invention, the visual sensor is assembled on the unmanned ship, so that the target object is accurately positioned, the mechanical arm has the function of 'watching', the force sensor is assembled on the mechanical arm, the target object is accurately analyzed, and the mechanical arm can complete the required 'touch' function. And vision and force sense are simultaneously fused on the mechanical arm, so that difficult salvage work can be completed on a complicated sea surface. The unmanned salvage is more intelligent, not only can the target object be positioned in real time, but also the force control on the target object can be completed 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 the working mode of human beings, so that the flexibility is improved, and the autonomous learning capability is enhanced. The mechanical arm combining the two senses is applied to salvaging and is a new breakthrough. An attempt is made for the robots fusing various senses in the future, a thought is provided, and the application scenes of the robots and different parts of the robots are greatly widened.
3) The invention provides a new thought and a new method for recovering the floating matters on the water surface, has strong plasticity and large development space, and the conventional ocean equipment throwing and recovering technology is not very efficient and mature because of relying on a large amount of manpower and long operation time. Therefore, the invention has strong development potential and application prospect. In addition, the invention also has considerable expansibility and a unique intelligent module mechanism, so that the device can further expand different equipment to finish different salvage tasks according to different task demands, and can be widely applied to main aspects of garbage salvage, water quality collection and the like.
4) The invention has wider application range, and can finish the search and rescue of the intelligent unmanned ship in the sea area by exchanging for the mechanical claw module which is suitable for the application range, and the water surface detection device is arranged at the suitable position. The intelligent mechanical arm and the double-water-spraying propeller can safely and rapidly rescue people on the water surface, and a large amount of human resources are saved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged schematic view of the structure A in FIG. 1 according to the present invention;
FIG. 3 is a schematic view of a mechanical arm and image acquisition device according to the present invention;
FIG. 4 is a schematic diagram of the workflow of the present invention;
FIG. 5 is a schematic diagram of a visual information detection and processing flow according to the present invention;
FIG. 6 is a schematic diagram of a force sense information detection and processing flow according to the present invention;
FIG. 7 is a graph showing the motion response of the catamaran at a side-to-side catamaran pitch ratio of 3 in accordance with the present invention;
FIG. 8 is a graph showing the motion response of the catamaran at a side-to-side catamaran pitch ratio of 3.5 in accordance with the present invention;
FIG. 9 is a graph showing the motion response of the catamaran at a side-to-side catamaran pitch ratio of 4 in accordance with the present invention;
fig. 10 is a graph showing the motion response of the catamaran at a pitch ratio of 4.5 for the left and right catamarans of the present invention.
In the figure: 1. catamaran; 2. a spring buffer device; 3. an information processing room; 4. an image acquisition device; 5. a mechanical arm; 6. a second motor; 7. a mounting base; 8. a first motor; 9. a support plate; 10. an adjusting column; 11. a guide frame; 12. a movable rod I; 13. a second movable rod; 14. a swinging member; 15. a hydraulic rod; 16. a movable rod IV; 17. a movable rod III; 18. and a limit frame.
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 apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 utility model provides a fuse vision and mechanical arm's underwater fishing device, includes two catamarans 1 about, two install spring buffer 2 and hydraulic shock absorber respectively with the centre in the middle of catamaran 1 top left side, and spring buffer 2 and hydraulic shock absorber's installation end all with information processing room 3 outer wall connection, two catamaran 1 top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame 18, information processing room 3 right side extension end is equipped with arm 5 and two image acquisition equipment 4, and the mechanical clamping jaw is installed with the one end that information processing room 3 deviates from to arm 5, image acquisition equipment 4 is located information processing room 3 extension end bottom, and arm 5 is located between two image acquisition equipment 4.
The pitch ratio between the left and right catamarans 1 is 3m.
Example 2:
the utility model provides a fuse vision and mechanical arm's underwater fishing device, includes two catamarans 1 about, two install spring buffer 2 and hydraulic shock absorber respectively with the centre in the middle of catamaran 1 top left side, and spring buffer 2 and hydraulic shock absorber's installation end all with information processing room 3 outer wall connection, two catamaran 1 top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame 18, information processing room 3 right side extension end is equipped with arm 5 and two image acquisition equipment 4, and the mechanical clamping jaw is installed with the one end that information processing room 3 deviates from to arm 5, image acquisition equipment 4 is located information processing room 3 extension end bottom, and arm 5 is located between two image acquisition equipment 4.
The pitch ratio between the left and right catamarans 1 is 3.5m.
Example 3:
the utility model provides a fuse vision and mechanical arm's underwater fishing device, includes two catamarans 1 about, two install spring buffer 2 and hydraulic shock absorber respectively with the centre in the middle of catamaran 1 top left side, and spring buffer 2 and hydraulic shock absorber's installation end all with information processing room 3 outer wall connection, two catamaran 1 top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame 18, information processing room 3 right side extension end is equipped with arm 5 and two image acquisition equipment 4, and the mechanical clamping jaw is installed with the one end that information processing room 3 deviates from to arm 5, image acquisition equipment 4 is located information processing room 3 extension end bottom, and arm 5 is located between two image acquisition equipment 4.
The pitch ratio between the left and right catamarans 1 is 4m.
Example 4:
the utility model provides a fuse vision and mechanical arm's underwater fishing device, includes two catamarans 1 about, two install spring buffer 2 and hydraulic shock absorber respectively with the centre in the middle of catamaran 1 top left side, and spring buffer 2 and hydraulic shock absorber's installation end all with information processing room 3 outer wall connection, two catamaran 1 top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame 18, information processing room 3 right side extension end is equipped with arm 5 and two image acquisition equipment 4, and the mechanical clamping jaw is installed with the one end that information processing room 3 deviates from to arm 5, image acquisition equipment 4 is located information processing room 3 extension end bottom, and arm 5 is located between two image acquisition equipment 4.
The pitch ratio between the left and right catamarans 1 is 4.5m.
The unmanned ship adopted by the invention is a catamaran 1, and meanwhile, a solar panel can be added to carry out partial energy supply in the invention. The catamaran 1 has the advantages of wider deck area, larger transverse center stabilizing radius, smaller wave-making resistance and the like, and can more stably implement the salvaging function. Meanwhile, after analysis of the upper part of the deck, the bottom of the deck and the vertical surface of the ship body, a mechanical arm 5 is arranged at the tail part 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 salvaging objects, and increases the application range of the device. The vision sensor is 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 of the great difficulty in calibrating the calibration coefficients, binocular vision cameras must be installed symmetrically on both sides as much as possible.
The front spring damping structure of the invention is provided with a damping base frame of a hard spring on a pontoon, and the base frame is provided with a universal joint which is connected with a platform of the catamaran 1 through two mutually perpendicular spring brackets. The structure utilizes the stability of the triangle and the buffer function of the spring, so that the hull can obtain the shock absorption function in the XYZ direction when encountering waves, the shaking of the platform of the catamaran 1 is reduced, on the hydraulic shock absorption structure at the rear part, the pontoon is connected with the platform through the universal joint and the spring bracket, and in addition, the spring hydraulic rod is arranged in the middle of the bracket and is connected with the platform. When the ship body encounters waves, the hydraulic rod is pressed, so that a buffer effect similar to a spring can be realized, and the shaking of the ship body is reduced. The wind and wave resistant structure formed by the spring damping structure at the front part and the hydraulic damping structure at the rear part can keep the platform stable when the throwing ship is thrown, and is convenient for salvage work.
Referring to fig. 7 to 10, in examples 1 to 4, at four pitch ratios of 3.0, 3.5, 4.0 and 4.5, respectively, the load frequency in the 1.5Hz region is considered to be the resonance region of the roll response of the catamaran 1 with an ambient load angle of 90 °, and the wave period is about 0.67s. The design needs to be considered with emphasis, and the resonance interval is gradually enlarged with the increase of the pitch ratio, so the pitch ratio selected in the design should not be excessively large, according to the roll response characteristic curve, the roll motion response of the ship body is firstly increased and then reduced with the increase of the wave circle frequency, each pitch ratio reaches a peak value when the wave frequency is 1.5Hz, the motion amplitude operator of K/D=4.5 is lower than that of other pitch ratios, K/D=3.5 times, and K/D=3 is maximum. From the pitch response curve, the pitch response of the hull peaks at 0.75Hz, and the overall trend is to rise to a peak with increasing frequency, then decrease rapidly, continue to decrease after coming to the next slightly smaller extreme, and finally stabilize at a lower level. From the heave characteristic response, it is seen that the catamaran motion response remains at a higher level as the wave frequency is lower, and decreases as the wave frequency increases. The pitch ratio is different, the corresponding frequencies of the heave response peaks are slightly different, but basically maintained at 2-2.5Hz, and when the frequency is greater than 3.5Hz, the heave motion response is finally kept within a lower threshold.
In summary, the pitch ratio selected by the device is 3.5, so as to obtain lower sailing resistance and better wave resistance.
The information processing room 3 is internally provided with a computer control module, the image acquisition device 4 is a binocular camera for acquiring a target object position image, as shown in fig. 5, the image acquisition device 4 acquires an image of a marine floating object, a vision system processes the image, a central point coordinate of the marine floating object is acquired through methods such as graying, kalman filtering, gaussian mixture model algorithm, contour extraction, minimum external matrix and the like, the central point coordinate is converted into a mechanical arm 5 base coordinate through a calibration matrix to realize target positioning, 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, and the force sensor and the data transmission conversion unit 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 the information processing room 3.
Simultaneously, the wrist force sensor and the pressure sensor are finally selected by combining the motion structural characteristics of the mechanical arm 5. The wrist force sensor is arranged on the wrist of the mechanical arm 5, and the sensor adopts a six-dimensional force sensor, so that more and 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 transmission conversion unit selects a transmitter, the transmitter amplifies analog signals output by the force sensor and converts the analog signals into electric signals, the two-wire RS485 and Modbus RTU communication protocol are used for communication transmission with the industrial personal computer, and the signal mode of the electric signals is more convenient for the industrial personal computer to acquire and process information.
The force sense part completes the mechanical learning and force control of the target object. The mechanical arm can feel the contact state with the object so as to perform related actions, and the most proper contact state between the mechanical arm and the object is ensured. The mechanical arm force sense part can learn the force characteristics contained in the accumulated force information in a large amount to improve the contact experience with the outside, and finally complete force processing according to the mechanics experience, integrate the complex environment of the sea surface and better complete the salvaging process.
Mechanical arm motion control and application system experimental analysis integrating visual guidance and force feedback. The force sense and the visual part can be well fused together through the central control equipment. And (3) establishing a motion model of the mechanical arm, and realizing real-time positioning and grabbing of the object through visual guidance and force feedback. And meanwhile, the installation experiment platform is subjected to a verification application experiment of a mechanical arm sea surface salvage algorithm under visual guidance and force feedback.
The information processing room 3 is internally provided with a computer control module, namely an upper computer, other devices are controlled through a software system, the image acquisition device 4 is a binocular camera for acquiring position images of objects, the mechanical clamping jaw is provided with a force detection device which mainly obtains contact force information, 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, the data transmission conversion unit is connected with the force sensor and the information processing room 3, the modules realize data intercommunication in principle, thus a working system is formed, as shown in fig. 6, force detection is carried out on the force sensor on the clamping end of the mechanical clamping jaw on the mechanical arm 5 through serial port information, force information generated in the process of contacting the mechanical arm 5 with different marine floaters is analyzed and acquired, a force characteristic detection model is obtained through a machine learning method for the force information sample by using an LSTM network training, the model result is analyzed and tested, whether the model result can be applied in actual conditions is judged, and finally the mechanical clamping jaw can carry out force control on the objects more accurately and intelligently through processing the current force information.
The mounting seat 7 is provided with a supporting frame, one end of the adjusting column 10 is connected with the supporting frame through a bearing, the other end of the adjusting column 10 is connected with the output shaft of the motor II 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 movable rod II 13 is hinged with the top of the swinging piece 14, the other end of the movable rod I12 is hinged with an L-shaped movable block, one end of the L-shaped movable block, which is away from the movable rod I12, is hinged with a movable rod III 17, a movable groove capable of accommodating the movable rod III 17 is formed in the swinging piece 14, the other end of the movable rod III 17 penetrates through the movable groove to be hinged to the middle of the outer wall of the limiting frame 18, the bottom of the swinging piece 14 is hinged to the movable rod IV 16, the other end of the movable rod IV 16 is hinged to the upper portion 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, the outer wall of the rotating column is provided with a slave fluted disc, 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 a driving fluted disc, and the driving fluted disc is meshed with the slave fluted disc. The motor I8 and the motor II 6 are stepping motors, the hydraulic rod 15 stretches and contracts to drive the swinging part 14 to rotate by taking the other end of the movable rod II 13 as an axle center, and meanwhile, the swinging part 14 can drive the movable rod IV 16 and the movable rod III 17 to move when rotating, so that the position of the limiting frame 18 is adjusted, the limiting frame 18 stretches out between the two catamarans 1 to limit an object, the motor II 6 can drive the adjusting column 10 to rotate, and the guide frame 11 and the hydraulic rod 15 are changed from a horizontal working state to a vertical standby state.
The telescopic limiting device is adopted, a telescopic claw-shaped limiting device is arranged at the stern end of the double-body, when a salvage object approaches the stern of the ship body, the limiting device is started from two sides of the ship body, the claw-shaped limiting device stretches out to the middle line position of the ship under the driving of the progressive motor, the movable space of the salvage object is compressed, meanwhile, the salvage object is closed and fixed in a claw shape, and then the salvage work is completed by the force vision mechanical arm. The claw-shaped limiting device is provided with a ring gear at the stern shaft end, the limiting device can be changed from a horizontal working state to a vertical standby state under electric driving, the influence of the limiting device on the sailing of the catamaran 1 can be reduced to the maximum extent, and the optimal solution of sailing and efficient salvaging is achieved.
Working principle: the method comprises the steps of obtaining an image of a marine floating object by using an image obtaining device 4 arranged on a ship body, processing the image by a vision system, obtaining a central point coordinate of the marine floating object by using methods such as graying, kalman filtering, gaussian mixture model algorithm, contour extraction, minimum external matrix and the like, and converting the central point coordinate into a mechanical arm 5 base coordinate by using a calibration matrix to realize target positioning. On the basis of the obtained coordinates of the marine float, the control system of the information processing room 3 drives the catamaran 1 and the robot arm 5 to approach the target at a set speed. 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 contacts different marine floaters is analyzed and collected, a force characteristic detection model is obtained through machine learning on a force information sample through LSTM network training, and analysis and testing are carried out on model results to judge whether the force characteristic detection model can be applied in practical situations. Finally, the built catamaran 1 platform and the implemented software system are used for grabbing and recovering the offshore floats. Firstly, the image acquisition device 4 acquires a target object position image, and the image is transmitted to the information processing room 3 for processing, so that the position of the target object on the experimental platform is obtained. Then the information processing room 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 room 3 acquires force information generated by the contact between the clamping tail end of the mechanical clamping jaw and the target object in real time through the force detection equipment, 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 salvage operation. Meanwhile, the information processing room 3 can control the mechanical arm 5 to move to the position of the unmanned ship for placement after the fishing action is finished.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, 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 may be embodied in 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.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a fuse vision and power sense mechanical arm's salvage device under water, includes two catamaran (1) about, its characterized in that: the two catamaran (1) top left side and centre install spring buffer (2) and hydraulic shock absorber respectively, and spring buffer (2) and hydraulic shock absorber's installation end all with information handling room (3) outer wall connection, two catamaran (1) top right side all is equipped with stop device, and stop device's drive end is connected with spacing frame (18), information handling room (3) right side extension end is equipped with arm (5) and two image acquisition equipment (4), and the one end that arm (5) and information handling room (3) deviate from is installed mechanical clamping jaw, image acquisition equipment (4) are located information handling room (3) extension end bottom, and arm (5) are located between two image acquisition equipment (4), information handling room (3) are connected with image acquisition equipment (4), stop device, arm (5), stop device include mount pad (7), establish motor one (8), backup pad (9) on mount pad (7), establish motor two (6), establish on backup pad (9) two guide posts (10), establish on two guide posts (11) on articulated post (11) and two guide posts (11), the information processing room (3) is internally provided with a computer control module, 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 the information processing room (3).
2. The underwater fishing device of the fused vision and force sense mechanical arm of claim 1, wherein: the spacing ratio between the left catamaran (1) and the right catamaran (1) is 3m-4.5m.
3. The underwater fishing device of the fused vision and force sense mechanical arm of claim 1, wherein: the image acquisition device (4) is a binocular camera for acquiring an image of the position of the object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314550.5A CN114771772B (en) | 2022-03-28 | 2022-03-28 | Underwater salvaging device integrating vision and force sense mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314550.5A CN114771772B (en) | 2022-03-28 | 2022-03-28 | Underwater salvaging device integrating vision and force sense mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114771772A CN114771772A (en) | 2022-07-22 |
| CN114771772B true CN114771772B (en) | 2023-12-19 |
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