CN114954863A - Autonomous inspection early warning bionic robotic dolphin system and control method - Google Patents
Autonomous inspection early warning bionic robotic dolphin system and control method Download PDFInfo
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- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to an autonomous inspection early warning bionic dolphin robot system and a control method, relating to the field of bionic robots, wherein the system comprises: a head part, a chest part, an abdomen part and a tail part which are sequentially connected in a static sealing way; the head perception information module comprises a depth sensor, an inertial measurement sensor, an active sonar and a binocular camera unit, and the depth sensor detects depth information; the inertial measurement sensor detects position information and attitude information; the binocular camera unit detects underwater images and video information; active sonar acquires environmental echo information; the head perception information module part is characterized in that a multi-water parameter sensor of the information perception module and an abdomen multi-module motion control module are connected with a main controller of the chest multi-mode motion control module; detecting water quality environment information by a multi-water-quality parameter sensor; the abdomen multi-module motion control module drives the system to move. The invention can realize real-time dynamic monitoring of water quality and fish growth conditions.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to an autonomous inspection early warning bionic dolphin system and a control method.
Background
The unmanned fishing ground is an all-weather, all-process and all-space unmanned production cultivation mode which is used for carrying out remote control, whole-process automatic control or robot autonomous control on facilities, equipment and the like of the fishing ground by utilizing new-generation information technologies such as Internet of things, big data, artificial intelligence, 5G, cloud computing, robots and the like under the condition that workers do not enter the fishing ground.
The unmanned fishing ground not only requires three-dimensional dynamic detection of water quality parameters such as dissolved oxygen, temperature and pH of a water body to obtain the change condition of the water quality parameters in real time, but also requires real-time monitoring of the growth condition of fishes and foreign matters on the water surface in the unmanned fishing ground.
Traditional underwater robot adopts the screw as propeller, outside cable to provide electric power, adopts this kind to impel and the disturbance of power supply mode to the water is big, is difficult for closely monitoring fish. The bionic robot simulates the physiological structure of organisms conforming to the natural environment to realize excellent motion performance and is not easy to cause the alertness of the organisms, and the bionic robot for autonomous inspection and early warning is urgently needed aiming at the requirements of three-dimensional water quality dynamic detection and real-time fish growth condition monitoring of an unmanned fishing ground.
Disclosure of Invention
The invention aims to provide an autonomous inspection early warning bionic dolphin robot system and a control method thereof so as to realize real-time dynamic monitoring of water quality and fish growth conditions.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides an independently patrol and examine early warning bionical machine dolphin system, includes: a head part, a chest part, an abdomen part and a tail part which are sequentially connected in a static sealing way;
the header includes a header awareness information module; the head perception information module comprises a depth sensor, an inertial measurement sensor, an active sonar and a binocular camera unit, and the depth sensor is used for detecting the depth information of the autonomous patrol early warning bionic dolphin system; the inertial measurement sensor is used for detecting the position information and the attitude information of the autonomous inspection early warning biomimetic robotic dolphin system; the binocular camera unit is used for detecting underwater images and video information; the active sonar is used for acquiring environmental echo information of a water area in front of the autonomous inspection early warning biomimetic robotic dolphin system;
the chest includes a chest multi-modality motion control module; the chest multi-modal motion control module comprises a main controller; the head sensing information module is connected with the main controller;
the abdomen comprises an abdomen information sensing module and an abdomen multi-module motion control module; the abdomen information sensing module comprises a multi-water-quality parameter sensor; the multi-water-quality parameter sensor and the abdomen multi-module motion control module are both connected with the main controller; the multi-water quality parameter sensor is used for detecting water quality environment information; the abdomen multi-module motion control module is used for driving the autonomous patrol early warning bionic dolphin system to move.
Optionally, the head further comprises a head transparent shell; the head perception information module also comprises a navigation module connected with the main controller; the active sonar and the depth sensor are fixed on the outer side of the head transparent shell; the navigation module, the inertial measurement sensor and the binocular camera unit are all arranged on the inner side of the head transparent shell.
Optionally, the chest further comprises a chest shell and a rib connection; the chest multi-modal motion control module further comprises a pectoral fin, a pectoral fin sealing unit and a steering engine unit; the chest shell is connected with the head transparent shell; the pectoral fins are arranged on the outer side of the chest shell through the pectoral fin sealing unit; the steering engine unit is connected with the pectoral fin sealing unit; the steering engine unit and the main controller are both fixed on the inner side of the chest shell; the rib connector is for connecting the chest shell and the abdomen.
Optionally, the abdomen further comprises an abdomen shell and a waist connection; the abdomen information perception module also comprises a dorsal fin signal transceiving unit; the dorsal fin signal receiving and transmitting unit is connected with the navigation module; the multi-water parameter sensor is arranged on the outer side of the abdomen shell; the dorsal fin signal transceiving unit and the abdomen multi-module motion control module are both arranged on the inner side of the abdomen shell; the waist connecting piece is used for connecting the abdomen shell and the tail.
Optionally, the tail comprises a tendon drive transmission module, a universal spine module and a biomimetic dolphin tail;
the tendon driving transmission modules are connected with the universal spine module and the bionic dolphin tail; the universal spine module and the bionic dolphin tail are further connected with the waist connecting piece.
An autonomous inspection early warning bionic machine control method is applied to any one of the above autonomous inspection early warning bionic machine dolphin systems, and comprises the following steps:
acquiring depth information, position information, posture information, environment echo information, water quality environment information, underwater image and video information;
determining a swimming path of the autonomous patrol early warning bionic dolphin system according to the depth information, the position information and the posture information;
determining a front object of the autonomous inspection early warning bionic dolphin system according to the environment echo information;
adjusting the swimming speed of the autonomous patrol early warning bionic dolphin system according to the front object;
controlling the autonomous inspection early warning bionic dolphin system to swim according to the swimming path and the swimming speed;
identifying the front object according to the underwater image and the video information, and determining the state of the front object; the state of the front object comprises the type and health condition of the front object;
and comparing and early warning according to the water quality environment information and a set threshold value.
Optionally, the determining a swimming path of the autonomous patrol early warning biomimetic robotic dolphin system according to the depth information, the position information, and the attitude information specifically includes:
and determining a swimming path of the autonomous patrol early warning bionic dolphin system by utilizing a dynamic rapid expansion random tree algorithm according to the depth information, the position information and the attitude information based on the boundary condition of the unmanned fishing ground.
Optionally, the identifying the front object according to the underwater image and the video information to determine the state of the front object specifically includes:
identifying a front object by using a Yolo algorithm according to the underwater image and the video information to obtain the type of the front object;
judging whether the fish is a fish school or not according to the type of the front object to obtain a first judgment result;
if the first judgment result is negative, controlling a dorsal fin signal transceiver unit to send out an early warning and controlling the dorsal fin signal transceiver unit to send the depth information and the position information to a shore-based system;
and if the first judgment result is yes, identifying by using a long-term and short-term memory algorithm according to the underwater image and the video information to obtain the health condition of the front object.
Optionally, after the identifying by using a long-term and short-term memory algorithm according to the underwater image and the video information to obtain the health condition of the object in front, the method further comprises:
judging whether the health state is healthy or not to obtain a second judgment result;
if the second judgment result is yes, estimating the overall dimension and the quality of the fish by using a biomass estimation algorithm;
and if the second judgment result is negative, controlling the dorsal fin signal receiving and transmitting unit to send out early warning.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the head perception information module comprises a depth sensor, an inertia measurement sensor, an active sonar and a binocular camera unit, wherein the depth sensor is used for detecting the depth information of the autonomous inspection early warning bionic dolphin system; the inertial measurement sensor is used for detecting the position information and the attitude information of the autonomous inspection early warning biomimetic robotic dolphin system; the binocular camera unit is used for detecting underwater images and video information; the active sonar is used for acquiring environmental echo information of a water area in front of the autonomous inspection early warning biomimetic robotic dolphin system; the abdomen comprises an abdomen information sensing module and an abdomen multi-module motion control module; the abdomen information sensing module comprises a multi-water-quality parameter sensor; the multi-water-quality parameter sensor and the abdomen multi-module motion control module are both connected with the main controller; the multi-water quality parameter sensor is used for detecting water quality environment information; the abdomen multi-module motion control module is used for driving the autonomous patrol early warning bionic dolphin system to move. The data detected by the depth sensor, the inertial measurement sensor, the active sonar, the binocular camera unit and the multi-water-quality parameter sensor are processed by the main controller to realize real-time dynamic monitoring of the water quality and the fish growth condition.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of the overall structure of an autonomous inspection early warning biomimetic robotic dolphin system provided by the present invention;
FIG. 2 is a schematic view of the head structure of the autonomous patrol early warning biomimetic robotic dolphin system provided by the present invention;
FIG. 3 is a schematic diagram of the breast structure of the autonomous patrol early warning biomimetic robotic dolphin system provided by the present invention;
FIG. 4 is a schematic view of the abdomen structure of the autonomous patrol early warning biomimetic robotic dolphin system provided by the present invention;
FIG. 5 is a schematic view of the tail structure of the autonomous patrol early warning biomimetic robotic dolphin system provided by the present invention;
FIG. 6 is a schematic view of the information sensing and motion control structure of the autonomous patrol early warning biomimetic robotic dolphin system provided by the present invention;
fig. 7 is a schematic diagram of a control method of the autonomous inspection early warning bionic machine provided by the invention.
Description of the symbols:
1-head, 2-chest, 3-belly, 4-tail, 5-head transparent shell, 6-depth sensor, 7-active sonar, 8-inertial measurement sensor, 9-GPS/Beidou navigation module, 10-binocular camera unit, 11-chest shell, 12-NVIDIAJetson Xavier, 13-steering engine unit, 14-pectoral fin, 15-pectoral fin sealing unit, 16-rib connector, 17-dorsal fin signal transceiver unit, 18-battery box, 19-STM32 driving unit, 20-multi-water parameter sensor, 21-belly shell, 22-waist connector, 23-belly aviation plug, 24-brushless motor, 25-brushless motor fixing frame, 26-driving seat, 27-universal joint, 28-transmission line, 29-bionic dolphin tail, 30-rib, 31-skin, 32-turntable and 33-nickel-titanium alloy wire.
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.
The invention aims to provide an autonomous inspection early warning bionic dolphin robot system and a control method thereof so as to realize real-time dynamic monitoring of water quality and fish growth conditions.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 5, the autonomous patrol early-warning dolphin system provided by the present invention includes: a head part 1, a chest part 2, an abdomen part 3 and a tail part 4 which are connected in sequence in a static sealing way. The head 1 and the abdomen 3 are provided with information perception modules, and the chest 2, the abdomen 3 and the tail 4 are provided with multi-mode motion control modules.
As shown in fig. 2, the header 1 includes a header perception information module; the head perception information module comprises a depth sensor 6, an inertia measurement sensor 8, an active sonar 7 and a binocular camera unit 10, wherein the depth sensor 6 is used for detecting the depth information of the autonomous patrol early warning bionic dolphin system; the inertial measurement sensor 8 is used for detecting the position information and the attitude information of the autonomous inspection early warning biomimetic robotic dolphin system; the binocular camera unit 10 is used for detecting underwater images and video information; the active sonar 7 is used for acquiring environmental echo information of a water area in front of the autonomous patrol early warning biomimetic robotic dolphin system. The active sonar 7 acquires environmental information of a water area in front of the biomimetic robotic dolphin, and senses whether an object exists in front through returned sound wave information. The binocular camera unit 10 comprises a binocular camera and two freedom degree stability augmentation cloud platforms, the two freedom degree stability augmentation cloud platforms comprise two steering engines and a cloud platform connecting structure, and the binocular camera is used for stably acquiring close-range images and video information.
The chest 2 comprises a chest multi-modal motion control module; the chest multi-modal motion control module comprises a main controller; the head sensing information module is connected with the main controller. The main controller in the invention is NVIDIA Jetson Xavier 12.
The abdomen 3 comprises an abdomen information sensing module and an abdomen multi-module motion control module; the abdomen information sensing module comprises a multi-water quality parameter sensor 20; the multi-water-quality parameter sensor 20 and the abdomen multi-module motion control module are both connected with the main controller; the multi-water-quality parameter sensor 20 is used for detecting water quality environment information; the abdomen multi-module motion control module is used for driving the autonomous patrol early warning bionic dolphin system to move.
In practical application, the head 1 further comprises a head transparent shell 5; the head perception information module also comprises a navigation module connected with the main controller; wherein, the navigation module is a GPS/Beidou navigation module 9. The active sonar 7 and the depth sensor 6 are fixed on the outer side of the head transparent shell 5; the place communicated with the inside of the head transparent shell 5 is statically sealed by an O-shaped ring; the navigation module, the inertial measurement sensor 8 and the binocular camera unit 10 are all disposed inside the head transparent housing 5. The GPS/Beidou navigation module 9 and the inertial measurement sensor 8 are used for sensing the position information and the attitude information of the bionic dolphin robot; the GPS/Beidou navigation module 9 and the inertial measurement sensor 8 are fixed on a horizontal plane on the inner side of the head transparent shell 5 through screws, the stability-increasing tripod heads with two degrees of freedom are fixed on the upper portion of the inner side of the head transparent shell 5, the binocular camera is fixed at the tail ends of the stability-increasing tripod heads with two degrees of freedom, as the head 1 can vibrate up and down and left and right when the bionic dolphin carries out dorsal-ventral propulsion and the waist-tail swinging and yawing, the stability-increasing tripod heads with two degrees of freedom are designed for counteracting interference brought to shooting of the binocular camera by vibration, when the head 1 of the bionic dolphin vibrates, the inertial measurement sensor 8 measures a deviation value of the vibration and feeds the value back to the steering engine, the steering engine rotates by a corresponding angle to counteract the vibration of the head 1 to realize stable shooting, and the binocular camera unit 10 is used for stably obtaining images and video information at close distances.
In practice, as shown in fig. 3, the chest 2 further comprises a chest housing 11 and a rib connection 16; the chest multi-modal motion control module further comprises a pectoral fin 14, a pectoral fin sealing unit 15 and a steering engine unit 13; the chest shell 11 is connected with the head transparent shell 5; the pectoral fins 14 are arranged outside the chest housing 11 via the pectoral fin sealing unit 15; the steering engine unit 13 is connected with the pectoral fin sealing unit 15; the steering engine unit 13 and the main controller are both fixed on the inner side of the chest shell 11; the rib connector 16 is used to connect the chest shell 11 and the abdomen 3.
The pectoral fins 14 are arranged on two sides of the outer part of the chest shell 11 through pectoral fin sealing units 15, the pectoral fin sealing units 15 are in dynamic sealing, each pectoral fin sealing unit 15 is composed of a transmission shaft, a bearing, an O-shaped ring, a Glare ring, a pectoral fin flange and a pectoral fin gland, one end of the transmission shaft is connected with the pectoral fins 14, and the other end of the transmission shaft is fixed with a steering wheel connected with a steering engine; the pectoral fin flange is fixed on the chest shell 11, and the part matched with the chest shell 11 is statically sealed by a 0-shaped ring; the bearing and the GRIN ring are sleeved on the transmission shaft and embedded in the pectoral fin flange, and the pectoral fin gland presses the GRIN ring axially to realize dynamic sealing. The steering engine unit 13 is fixed in the chest shell 11, an output shaft of the steering engine unit 13 is connected with the pectoral fin sealing unit 15, the steering engine unit 13 is composed of a steering engine, a steering wheel, a fixing frame and a stud, the output shaft of the steering engine is connected with the steering wheel, the steering wheel is fixed with the transmission shaft, and the pectoral fin 14 rotates together when the steering engine drives the transmission shaft to rotate. NVIDIA JetsonXavier12 with its WIFI module is fixed inside chest shell 11. NVIDIA Jetson Xavier12 is a control center and an information receiving, processing and sending center of the whole bionic dolphin, and information acquired by an information perception module is processed by NVIDIA Jetson Xavier12 to make a decision to control the bionic dolphin to move and send the acquired information to a shore-based system through WIFI. The rib connection 16 is used for the connection and static sealing of the thorax 2 to the abdomen 3.
In practical application, as shown in fig. 4, the abdomen 3 further comprises an abdomen shell 21 and a waist connecting piece 22; the abdomen information sensing module further comprises a dorsal fin signal transceiving unit 17; the dorsal fin signal transceiver unit 17 is connected with the navigation module; the multiple water quality parameter sensor 20 is arranged outside the shell of the abdomen part 3; the dorsal fin signal transceiver unit 17 and the abdomen multi-module motion control module are both arranged on the inner side of the abdomen shell 21; the waist connecting member 22 is used to connect the abdomen cover 21 and the tail 4. The belly 3 also comprises a power module comprising a switch unit, a battery aviation plug, a battery pack and a battery box 18; the abdomen information sensing module comprises a dorsal fin signal transceiving unit 17, an abdomen aviation plug 23 and a multi-water-quality parameter sensor 20; the abdominal multi-module motion control module includes an STM32 drive unit 19 and a brushless motor 24. The power supply module is arranged in the abdomen shell 21 and used for controlling the power supply of the whole bionic dolphin machine to be switched on and off; an abdomen aviation plug 23 positioned at the upper part of the abdomen shell 21 is used for charging the bionic dolphin robot, a battery pack is contained in the battery box 18, and a groove in the side surface of the battery box 18 is matched and fixed with a convex body of the abdomen shell 21; dorsal fin signal transceiver unit 17 comprises dorsal fin, signal transceiver and communication line, and signal transceiver fixes and is used for receiving GPS big dipper navigation signal and communicates with the shore based system through WIFI on the dorsal fin, and the communication line passes the cavity in the dorsal fin and links to each other with the corresponding module of belly 3, adopts static seal between dorsal fin and the belly casing 21. The dorsal fin signal transceiving unit 17 is used for receiving a GPS/beidou navigation signal and communicating with a shore-based system through WIFI; the multi-water-quality parameter sensor 20 is attached to the outer side of the abdomen shell 21, fixed by a buckle, connected with the inside of the abdomen shell 21 through an abdomen aviation plug 23 and used for monitoring the pH, the temperature and the dissolved oxygen of the aquaculture water in the unmanned fishing ground; the STM32 driving unit 19 is fixed inside the abdomen casing 21 for driving the brushless motor 24 to rotate by communicating with NVIDIA JetsonXavier 12; the waist attachment 22 is used for the connection and static sealing of the abdomen 3 to the tail 4.
In practical application, as shown in fig. 5, the tail 4 comprises a tendon driving transmission module, a universal spine module and a bionic dolphin tail 29; the tendon driving transmission modules are connected with the universal spine module and the bionic dolphin tail 29; the universal spine module and the bionic dolphin tail 29 are also connected with the waist connecting piece 22.
The tendon driving transmission module comprises a turntable 32, a brushless motor fixing frame 25, a transmission seat 26 and a transmission line 28, wherein the turntable 32 is matched with the brushless motor 24, the brushless motor 24 is fixed on the brushless motor fixing frame 25, and the brushless motor fixing frame 25 and the transmission seat 26 are fixed on the waist connecting piece 22; the universal spine module comprises universal joints 27, ribs 30, nickel-titanium alloy wires 33 and a skin 31, wherein the universal joints 27 coupled in pairs are connected in series through the nickel-titanium alloy wires 33, the ribs 30 are fixed at the tail ends of the universal joints 27, and the skin 31 covers the ribs 30; the tendon driving module is fixed on the waist connecting piece 22, and the bionic dolphin tail 29 is connected with the waist connecting piece 22 through the universal spine module. One end of each of the four transmission lines 28 is fixed on the rotary table 32, the other end of each of the four transmission lines is fixed on the bionic fish tail, the middle of each transmission line penetrates through the rib 30, the rotary table 32 is driven to pull the transmission lines 28 when the brushless motor 24 rotates, and the transmission lines 28 pull the universal spine module to bend, so that the tail portion 4 of the bionic dolphin robot can flap up and down and swing left and right.
As shown in fig. 6, the binocular camera is connected to NVIDIA JetsonXavier12 through a USB, the active sonar transmits sonar image information to NVIDIA JetsonXavier12 through RS485, the GPS/beidou navigation module 9 transmits position information to NVIDIA JetsonXavier12 through USART, the multiple water parameter sensor 20 transmits water quality parameter information to NVIDIA Jetson Xavier12 through RS485, NVIDIA JetsonXavier12 and STM32 driving unit 19 communicate through USART, the STM32 driving unit 19 respectively controls the stability enhancement cradle head and the steering engine unit through outputting PWM signals, the STM32 driving unit 19 acquires depth information sent by the depth sensor 6 through IIC, the STM32 driving unit 19 acquires attitude information sent by the inertial measurement sensor 8 through USART, and the STM32 driving unit 19 controls the brushless motor 24 to rotate through CAN. The power module supplies power for NVIDIA JetsonXavier12 and STM32 driving unit 19.
The shore-based system issues a command of the bionic robotic dolphin to work through WIFI, and the fin signal transceiving unit starts autonomous tour in a three-dimensional water area of the unmanned fishing ground according to the position, posture and depth information provided by the GPS/Beidou navigation module, the inertial measurement sensor and the depth sensor after receiving the command. The active sonar acquires echo information of a water area in front of the bionic machine dolphin, if an object exists in the front, the bionic machine dolphin slows down the swimming speed and slowly approaches, the binocular camera starts to recognize the object in the front when approaching gradually, if the object in the front is fish, the health condition of the fish is recognized and recorded, and if abnormal behavior of the fish or heterogeneous fish appears, an alarm is sent to a shore-based system through WIFI. The multi-water-quality sensor attached to the belly of the bionic dolphin detects and records dissolved oxygen, PH and temperature in water of the unmanned fishing ground in real time, and if water quality parameters exceed set values, early warning is sent to a shore-based system through WIFI. After one-time all-round inspection is finished, the bionic robotic dolphin swims to a fixed parking position, and all recorded sonar image information, binocular image information and water quality parameter information are uploaded to a shore-based system through WIFI.
The invention aims to provide an autonomous inspection early warning bionic dolphin which meets the requirements of three-dimensional water quality dynamic detection and real-time monitoring of fish growth conditions in an unmanned fishing ground. The bionic robotic dolphin realizes the straight-swimming, pitching, yawing and rolling movements of the bionic robotic dolphin through the control of the pectoral fins and the tail part, simultaneously senses the surrounding information through various sensors carried by the bionic robotic dolphin, actively detects the information of a water area far away from the bionic robotic dolphin by sonar, shoots the fish school at a close distance by a binocular camera, provides a data source for local identification, disease identification, behavior identification and dead fish identification, and sends an early warning to a shore-based system for the abnormal condition of the fish school in the water body, a multi-water-quality-parameter sensor detects and records the water quality information in real time, if the water quality parameter information exceeds a set value, the early warning is sent to the shore-based system, and the recorded water quality-parameter information provides a data source for researching the space-time distribution of dissolved oxygen, pH and temperature in the water body.
In order to more conveniently manage data acquired by a plurality of sensors and control the motion of the bionic dolphin robot, the invention adopts an ROS operating system. The ROS operating system is a system that employs distributed computing resources to perform tasks such as scheduling, loading, monitoring, error handling, and the like. According to the frame of the ROS operating system, different nodes are respectively arranged on each functional module of the bionic robotic dolphin, and a sonar node for remote sensing, a binocular camera node for near-distance monitoring, a stability-increasing holder node for stabilizing a binocular camera, a steering engine node, a motor node, a navigation node, a positioning node, a depth node and a power supply node are used, and control and message transmission of the bionic robotic dolphin are realized by adopting a theme publishing/subscription and service request/response mechanism.
The invention also provides an autonomous inspection early warning bionic machine control method, which is applied to the autonomous inspection early warning bionic machine dolphin system and comprises the following steps:
and acquiring depth information, position information, attitude information, environment echo information, water quality environment information, underwater image and video information.
And determining a swimming path of the autonomous patrol early warning bionic dolphin system according to the depth information, the position information and the posture information.
And determining a front object of the autonomous patrol early warning bionic dolphin system according to the environment echo information.
And adjusting the swimming speed of the autonomous patrol early warning bionic dolphin system according to the front object.
And controlling the autonomous inspection early warning bionic dolphin system to swim according to the swimming path and the swimming speed.
Identifying the front object according to the underwater image and the video information, and determining the state of the front object; the state of the front object includes the kind and health condition of the front object.
And comparing and early warning according to the water quality environment information and a set threshold value.
In practical application, the determining of the swimming path of the autonomous patrol early warning bionic dolphin system according to the depth information, the position information and the attitude information specifically includes:
and determining a swimming path of the autonomous patrol early warning bionic dolphin system by utilizing a dynamic rapid expansion random tree algorithm according to the depth information, the position information and the attitude information based on the boundary condition of the unmanned fishing ground.
In practical application, the identifying the front object according to the underwater image and the video information to determine the state of the front object specifically includes:
and identifying the front object by using a Yolo algorithm according to the underwater image and the video information to obtain the type of the front object.
Judging whether the fish is a fish school or not according to the type of the front object to obtain a first judgment result; if the first judgment result is negative, controlling a dorsal fin signal transceiver unit to send out early warning and controlling the dorsal fin signal transceiver unit to send the depth information and the position information to a shore-based system; and if the first judgment result is yes, identifying by using a long-term and short-term memory algorithm according to the underwater image and the video information to obtain the health condition of the front object.
In practical application, after the identification is performed by using a long-short term memory algorithm according to the underwater image and the video information to obtain the health condition of the front object, the method further comprises the following steps:
judging whether the health state is healthy or not to obtain a second judgment result; if the second judgment result is yes, estimating the overall dimension and the quality of the fish by using a biomass estimation algorithm; and if the second judgment result is negative, controlling the dorsal fin signal receiving and transmitting unit to send out early warning.
As shown in fig. 7, the invention also provides a specific working flow of the autonomous inspection early warning bionic machine control method in practical application.
The shore-based system issues a command of the bionic robotic dolphin to work through WIFI, and the bionic robotic dolphin starts after the dorsal fin signal transceiving unit receives the command.
Firstly, a three-dimensional coordinate system with a bionic machine dolphin starting position as an origin point and an unmanned fishing ground boundary and depth as ranges is established according to longitude and latitude information acquired by a GPS/Beidou navigation module, and the positions of other devices in the unmanned fishing ground, such as an automatic aerator, an automatic bait casting machine, an unmanned ship and the like, are determined. The method comprises the steps that an inertial measurement sensor and a depth sensor acquire attitude information and depth information of the bionic robot dolphin at the moment, the attitude information comprises a pitch angle and a yaw angle of the bionic robot dolphin, the initial state is 0, a relative coordinate system which takes the gravity center of the bionic robot dolphin as an original point, the head dead direction as an x direction, the pointing direction of a left pectoral fin as a y direction and the upward direction along a dorsal fin as a z direction is established according to the attitude information and the depth information, and then a three-dimensional autonomous patrol path of the bionic robot dolphin is generated by using a dynamic-expanding Random Tree algorithm (RRT) according to the positions and boundary conditions of other devices in an unmanned fishing ground. Since the working equipment such as an unmanned ship in the unmanned fishing ground is moved, the autonomous patrol route generated in real time using the dynamic RRT algorithm is continuously adjusted. Wherein the boundary conditions are the boundary of the unmanned fishing ground and the depth of the unmanned fishing ground.
The bionic dolphin robot comprises an STM32 driving unit, an STM32 driving unit, a brushless motor and a steering engine, wherein the STM32 driving unit analyzes the obtained motion command and the obtained attitude command, then a PID control method is used for controlling the brushless motor and the steering engine to rotate, the steering engine unit drives a pectoral fin to deflect, the brushless motor drives the tail part to swing up and down and flap left and right to realize the motion of the bionic dolphin robot, and finally the yaw angle, the pitch angle and the depth obtained by an inertia measurement sensor and a depth sensor are consistent with those set in the attitude command.
After the bionic dolphin begins to tour, active sonar acquires echo information of a water area in front of the bionic dolphin, and possible situations in an unmanned fishing ground are divided into two types according to the echo information, wherein the first type is a fish school or a foreign body, is characterized by more quantity and movement, but the reflection area of a single body is smaller; the second type is unmanned fishing ground equipment or obstacles, and is characterized by small quantity, no movement and large single body reflection area. If the type II is the same, marking the unmanned fishery equipment or the obstacles in the three-dimensional coordinate system, and then re-planning the path; if the robot is the first type, the swimming speed is slowed down, the robot approaches slowly, the binocular camera acquires video information in a short distance, the NVIDIA Jetson Xavier processes the video information acquired by the binocular camera in real time by using a Yolo series algorithm to perform target detection on an object in front of the bionic robot dolphin, and if foreign matters such as garbage and the like exist, an early warning is sent to a shore-based system through WIFI to calibrate the operation direction of the operation equipment; if the fish is the fish species, firstly identifying the species, and if the xenogeneic fish appears, giving an early warning to a shore-based system to prompt that foreign species invade; if the fish school is cultivated, calculating the position of the fish school in a three-dimensional coordinate according to the result of target detection, keeping the fish school to move a small distance along with the fish school in the visual field range of a binocular camera, analyzing video information in the process by using a Long Short-term memory algorithm (LSTM), identifying and recording the health condition of the fish, wherein the health condition of the fish is divided into four types of normal, sick, anoxic and dead, and if the disease, anoxic and dead occur, giving an early warning to a shore-based system and needing other equipment intervention in an unmanned fishing ground; if the fish is normal, a biomass estimation algorithm is called to estimate and record the external dimension and the quality of the fish.
In the tour process of the bionic robotic dolphin, the dissolved oxygen, the pH and the temperature in the water body of the unmanned fishing ground are detected and recorded in real time by the multi-water-quality sensor attached to the abdomen of the bionic robotic dolphin, and if water quality parameters exceed set values, early warning is sent to a shore-based system through WIFI.
After one-time all-round inspection is finished, the bionic robotic dolphin swims to a fixed parking position, and all recorded sonar image information, binocular image information and water quality parameter information are uploaded to a shore-based system through WIFI.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The utility model provides an independently patrol and examine early warning bionical machine dolphin system which characterized in that includes: a head part, a chest part, an abdomen part and a tail part which are sequentially connected in a static sealing way;
the header includes a header awareness information module; the head perception information module comprises a depth sensor, an inertial measurement sensor, an active sonar and a binocular camera unit, and the depth sensor is used for detecting the depth information of the autonomous patrol early warning bionic dolphin system; the inertial measurement sensor is used for detecting the position information and the attitude information of the autonomous inspection early warning biomimetic robotic dolphin system; the binocular camera unit is used for detecting underwater images and video information; the active sonar is used for acquiring environmental echo information of a water area in front of the autonomous inspection early warning biomimetic robotic dolphin system;
the chest includes a chest multi-modality motion control module; the chest multi-modal motion control module comprises a main controller; the head sensing information module is connected with the main controller;
the abdomen comprises an abdomen information sensing module and an abdomen multi-module motion control module; the abdomen information sensing module comprises a multi-water-quality parameter sensor; the multi-water-quality parameter sensor and the abdomen multi-module motion control module are both connected with the main controller; the multi-water quality parameter sensor is used for detecting water quality environment information; the abdomen multi-module motion control module is used for driving the autonomous patrol early warning bionic dolphin system to move.
2. The autonomous inspection early warning biomimetic robotic dolphin system according to claim 1, wherein the head further includes a head transparent shell; the head perception information module also comprises a navigation module connected with the main controller; the active sonar and the depth sensor are fixed on the outer side of the head transparent shell; the navigation module, the inertial measurement sensor and the binocular camera unit are all arranged on the inner side of the head transparent shell.
3. The autonomous inspection early warning robotic dolphin system according to claim 2, wherein the chest further includes a chest shell and a rib connection; the chest multi-modal motion control module further comprises a pectoral fin, a pectoral fin sealing unit and a steering engine unit; the chest shell is connected with the head transparent shell; the pectoral fins are arranged on the outer side of the chest shell through the pectoral fin sealing unit; the steering engine unit is connected with the pectoral fin sealing unit; the steering engine unit and the main controller are both fixed on the inner side of the chest shell; the rib connector is for connecting the chest shell and the abdomen.
4. The autonomous inspection early warning robotic dolphin system according to claim 2, wherein the abdomen further includes an abdomen shell and a waist connection; the abdomen information perception module also comprises a dorsal fin signal transceiving unit; the dorsal fin signal receiving and transmitting unit is connected with the navigation module; the multi-water parameter sensor is arranged on the outer side of the abdomen shell; the dorsal fin signal transceiving unit and the abdomen multi-module motion control module are both arranged on the inner side of the abdomen shell; the waist connecting piece is used for connecting the abdomen shell and the tail.
5. The autonomous inspection early warning biomimetic robotic dolphin system according to claim 4, wherein the tail includes a tendon drive transmission module, a universal spine module, and a biomimetic dolphin tail;
the tendon driving transmission modules are connected with the universal spine module and the bionic dolphin tail; the universal spine module and the bionic dolphin tail are further connected with the waist connecting piece.
6. An autonomous inspection early warning bionic machine control method is applied to the autonomous inspection early warning bionic machine dolphin system of any one of claims 1 to 5, and comprises the following steps:
acquiring depth information, position information, posture information, environment echo information, water quality environment information, underwater image and video information;
determining a swimming path of the autonomous patrol early warning bionic dolphin system according to the depth information, the position information and the posture information;
determining a front object of the autonomous inspection early warning bionic dolphin system according to the environment echo information;
adjusting the swimming speed of the autonomous patrol early warning bionic robotic dolphin system according to the front object;
controlling the autonomous inspection early warning bionic dolphin system to swim according to the swimming path and the swimming speed;
identifying the front object according to the underwater image and the video information, and determining the state of the front object; the state of the front object comprises the type and health condition of the front object;
and comparing and early warning according to the water quality environment information and a set threshold value.
7. The method for controlling the autonomous patrol inspection early warning bionic machine according to claim 6, wherein the determining a swimming path of the autonomous patrol inspection early warning bionic machine dolphin system according to the depth information, the position information and the attitude information specifically comprises:
and determining a swimming path of the autonomous patrol early warning bionic dolphin system by utilizing a dynamic rapid expansion random tree algorithm according to the depth information, the position information and the attitude information based on the boundary condition of the unmanned fishing ground.
8. The control method of the autonomous inspection early warning bionic machine according to claim 6, wherein the identifying the front object according to the underwater image and video information and the determining the state of the front object specifically comprise:
identifying a front object by using a Yolo algorithm according to the underwater image and the video information to obtain the type of the front object;
judging whether the fish is a fish school or not according to the type of the front object to obtain a first judgment result;
if the first judgment result is negative, controlling a dorsal fin signal transceiver unit to send out early warning and controlling the dorsal fin signal transceiver unit to send the depth information and the position information to a shore-based system;
and if the first judgment result is yes, identifying by using a long-term and short-term memory algorithm according to the underwater image and the video information to obtain the health condition of the front object.
9. The control method of the autonomous inspection early warning bionic machine according to claim 8, wherein after the identification is performed by using a long-term and short-term memory algorithm according to the underwater image and video information to obtain the health condition of the front object, the method further comprises the following steps:
judging whether the health state is healthy or not to obtain a second judgment result;
if the second judgment result is yes, estimating the overall dimension and the quality of the fish by using a biomass estimation algorithm;
and if the second judgment result is negative, controlling the dorsal fin signal receiving and transmitting unit to send out early warning.
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