CN211076296U - Seabed observation underwater robot based on trinocular vision - Google Patents
Seabed observation underwater robot based on trinocular vision Download PDFInfo
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- CN211076296U CN211076296U CN201921820444.4U CN201921820444U CN211076296U CN 211076296 U CN211076296 U CN 211076296U CN 201921820444 U CN201921820444 U CN 201921820444U CN 211076296 U CN211076296 U CN 211076296U
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Abstract
The utility model relates to a submarine observation underwater robot based on trinocular vision, which comprises a shell and a driving unit arranged on the shell; the method is characterized in that: the device also comprises a vision acquisition unit and an air bag device; the visual acquisition unit comprises a miniature camera, a columnar electric push rod and a holder; wherein the micro camera is arranged at the end head of the push rod; the holder device is rotationally connected with the bottom plate of the shell; the holder is fixedly connected with the electric push rod; the two air bag devices are respectively positioned at the left end and the right end of the push rod in parallel; when the air bags in the air bag device are opened, the electric push rod is arranged between the two air bags and is parallel to the two air bags. The utility model discloses be used for protecting the electronic pole structure that can rotatory data under water at the electronic gasbag device of underwater robot lower extreme. And the corresponding balance sliding mode model is designed by adopting the design of the balance sliding mode to realize the control on the stability of the robot.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a submarine observation underwater robot based on trinocular vision.
Background
With the increasing scarcity of land resources, people turn the attention to oceans with rich resources, the underwater environment danger is not suitable for direct observation of human beings, the underwater robot can replace human beings to observe at the sea bottom, and the underwater robot becomes an important tool for human beings to explore oceans.
At present, underwater robots on the market are various and have complex structures, and when some caves or corners on the seabed are detected, the underwater robots cannot directly enter short-distance observation due to the fact that the underwater robots occupy certain space, and underwater observation operation cannot be completed smoothly. Meanwhile, when some dangerous objects are observed, if the underwater robot is directly close to the observation, the underwater robot is easy to attack, so that the survival rate of the underwater robot is greatly reduced, the maintenance cost of the underwater robot is indirectly increased, and the electric push rod can rotate for 360 degrees in the horizontal direction through the holder. The condition around the underwater robot is observed from all directions of the horizontal plane, and the underwater robot can perform the function of danger early warning in the severe underwater environment. Meanwhile, the adoption of the electric push rod structure can put higher requirements on the balance sliding mode control of the underwater robot.
Disclosure of Invention
1. The technical problem to be solved is as follows:
The invention provides a submarine observation underwater robot based on trinocular vision and a control method thereof aiming at the technical problems. According to the method, video information is acquired by adopting a structure that an electric push rod is arranged on the underwater robot, an electric air bag device is adopted to protect a video acquisition device, and meanwhile, a corresponding balance sliding mode model is designed according to the design to realize the stability control of the robot.
2. The technical scheme is as follows:
A submarine observation underwater robot based on trinocular vision comprises a shell and a driving unit arranged on the shell; the method is characterized in that: the device also comprises a vision acquisition unit and an air bag device; the vision acquisition unit comprises a miniature camera, a columnar electric push rod and a holder; wherein the micro camera is arranged at the end head of the push rod; the holder device is rotationally connected with the bottom plate of the shell; the holder is fixedly connected with the electric push rod; the two air bag devices are respectively positioned at the left end and the right end of the push rod in parallel; when the air bags in the air bag device are opened, the electric push rod is arranged between the two air bags and is parallel to the two air bags.
Further, the airbag device comprises an airbag sensor, an igniter, a gas generator, an airbag ejection port and an airbag; when the airbag sensor sends a control signal to the igniter, the igniter ignites the inflating reagent in the gas generator to inflate the airbag, and the airbag inflation is sprayed out of the airbag spraying opening.
The driving unit is connected with the driving unit and controls the driving unit; the raspberry pie is connected with the air bag device to control the air bag device.
Furthermore, the shell comprises three aluminum plates which are respectively positioned at the left end, the right end and the lower end; the left and right aluminum plates are fixedly connected with the bottom aluminum plate through corner pieces.
Further, the driving unit comprises a first horizontal thruster, a second horizontal thruster, a third horizontal thruster, a fourth horizontal thruster, a first vertical thruster, a second vertical thruster, a first standby vertical thruster and a second standby vertical thruster; the first horizontal thruster, the second horizontal thruster, the third horizontal thruster and the fourth horizontal thruster are uniformly distributed and fixed between the left aluminum plate and the right aluminum plate; the first vertical thruster and the second vertical thruster are symmetrically and respectively positioned at the inner sides of the left aluminum plate and the right aluminum plate; the first standby vertical thruster and the second standby vertical thruster are symmetrically and respectively positioned on the outer sides of the left aluminum plate and the right aluminum plate.
Further, the columnar electric push rod comprises a direct current motor, a worm gear-worm mechanism, a displacement sensor and a trapezoidal lead screw; the motor drives the worm gear-worm mechanism to realize the extension and contraction of the electric push rod; the position sensor is arranged in the columnar electric push rod.
Furthermore, the vision acquisition unit also comprises a patrol camera arranged at the top of the underwater robot and a holder camera arranged at the middle position; the inspection camera, the holder camera and the miniature camera are all infrared cameras.
A control method of a submarine observation underwater robot based on trinocular vision is characterized by comprising an early warning observation control method, an air bag protection control method and a balance sliding mode control method, wherein the early warning observation control method specifically comprises the steps of starting a patrol camera, detecting whether a fish school algorithm is started to detect whether a fish school exists in a preset range or not based on yolov3, tracking the detected fish school by adopting a deep-sort tracking algorithm if the fish school exists, presetting a circle for carrying out bidirectional counting of the fish school in a video acquired by the camera, starting a counter to count if a central point coordinate of a detection frame Bbox of the video acquired by the camera meets a self-defined arbitrary circle coordinate, counting the number of the fish school, traversing the preset in-circle coordinate, if the central point coordinate of the detection frame Bbox meets the preset arbitrary circle coordinate, the central point coordinate of a previous frame image detection frame Bbox belongs to a deceleration pixel coordinate in the defined circle, going out of the counter +1, if the central point coordinate of the detection frame Bbox does not belong to the intersection of the preset in-circle coordinate, if the central point coordinate of the previous frame Bbox and the previous frame Bbox does not belong to the intersection of the preset in-circle coordinate, the previous frame, and if the central point coordinate of the previous frame Bbox does not belong to the threshold, the threshold L, the distance is less than the Euclidean distance is less than a threshold, and the threshold L, and the distance L is set, if the distance is less than the distance L, the distance is less than the set, the distance of the set, the distance of the distance L, and the distance of the distance L is less than the Euclidean Euc.
The air bag protection control method specifically comprises the following steps: the inspection camera works, the fish shoals are detected and counted by adopting svm + hog, and the trajectory is predicted by utilizing a Klaman algorithm; if the predicted track continuously approaches the electric push rod and the number of the counted tracks exceeds a preset threshold value, a large number of fish schools approach, the patrol camera sends a large number of fish school approach early warning signals to the raspberry pie, the raspberry pie sends the large number of fish school approach early warning signals to the electric air bag sensor through the GPIO port, the air bag sensor receives the early warning signals sent by the raspberry pie, the signals are transmitted to the igniter, the igniter ignites the inflating agent and reacts in the gas generator, and the air bag is sprayed out from the air bag port.
The balance sliding mode control method specifically comprises the following steps: control system in balance sliding mode 
Defining a sliding mode surface s (x) as s (x) 1,x2.....xn) 0, where x is the state variable, i.e. the depth of the ROV; and constructing a state equation of the sliding mode state observer: 
(1) In the formula: m represents the additional mass; d represents a perturbation; c represents secondary water resistance; tau is the input signal of the ROV system and the thrust of the propeller; z is the depth of the underwater robot under water;
The designed slip form surface is as follows:
s is Pe (2) is derived to obtain formula (3)
(2) In formulae (1) and (3): s is a slip form surface; p is an adjustment parameter; e is the difference between the measured value and the set value;
Selecting power approach rate to shorten time for reaching sliding mode surface, and calculating 
Is taken into the formula (1) to obtain The control rate is as follows:
(4) the formula is a balance equation, wherein α is a regulating parameter 1, β is a regulating parameter 2, k is a regulating parameter 3, and tau is an input signal of the ROV system, namely the thrust of the propeller.
3. Has the advantages that:
(1) The underwater robot mechanical structure body is composed of three aluminum plates, the left aluminum plate and the right aluminum plate are connected and fixed through the fixing rod piece, and the bottom plate is connected with the left aluminum plate and the right aluminum plate through the corner piece, so that the robot is lighter, and the stability of a mechanical structure is improved.
(2) In the driving module, two standby vertical propellers are arranged on the outer sides of the left and right aluminum plates, so that the underwater robot cannot safely return to the water surface due to the fact that the vertical propellers on the inner sides fail, and meanwhile, the power for submerging and floating of the underwater robot is enhanced.
(3) The invention installs the cloud terrace device on the bottom plate of the underwater robot, connect the electric push rod with miniature camera head and cloud terrace in the end, the electric push rod carries on 360 degrees of rotations through the cloud terrace. According to the acquisition, the rotation speed of the cradle head can be controlled according to the information, the underwater robot has the function of danger early warning, and the underwater safety coefficient of the underwater robot is improved.
(4) The invention can realize the purpose of observing some caves and corners under water and exploring some environments which are not suitable for the underwater robot to directly enter, such as underwater sunken ships and the like by installing the miniature camera in the electric push rod device of the underwater robot. By means of the electric push rod, the electric push rod is extended out through the trapezoidal lead screw, so that the miniature camera with the infrared device at the tail end of the miniature camera can directly observe an observed object in a short distance, meanwhile, direct damage to an underwater robot when some dangerous objects are observed is avoided, the safety coefficient of the underwater robot is improved, the underwater operation difficulty of the underwater robot is reduced, and the operation and maintenance cost of the underwater robot is reduced.
(5) In the electric air bag device of the underwater robot, when the underwater robot performs underwater operation, an inspection camera arranged at the top end works, fish schools are detected by adopting svm + hog and counted, a trail prediction is performed by utilizing a Klaman algorithm, the predicted trail continuously approaches an electric push rod, the counted number exceeds a threshold value, then a large number of fish schools approach, the inspection camera sends a large number of fish school approach early warning signals to a raspberry pie, the raspberry pie sends the large number of fish school approach early warning signals to an electric air bag sensor through a GPIO port, the air bag sensor receives the early warning signals sent by the raspberry pie, the signals are transmitted to an igniter, the igniter ignites an inflating agent and reacts in a gas generator, and the air bag is sprayed out from an air bag port. The electric push rod with the miniature camera of the underwater robot is protected, and the underwater safety factor of the underwater robot is improved.
Drawings
Fig. 1 is an overall structural view of an underwater robot of the present invention;
FIG. 2 is a schematic structural view of the electric putter device according to the present invention;
FIG. 3 is a position profile of the driver module of the present invention;
FIG. 4 is a schematic view of an airbag assembly of the present invention;
FIG. 5 is a diagram of a balanced sliding mode anti-jitter interference simulation model according to the present invention;
FIG. 6 is a following experiment simulation model diagram in the present invention;
FIG. 7 is a balance sliding mode control law model diagram of the balance sliding mode anti-jitter interference of the present invention;
FIG. 8 is a waveform diagram of the balanced sliding mode anti-jitter interference simulation of the present invention;
FIG. 9 is a waveform diagram of following experiment simulation of a balanced sliding mode in the present invention
FIG. 10 is a flow chart of an early warning observation control method in accordance with the present invention;
FIG. 11 is a flow chart of an air bag protection control method of the present invention;
FIG. 12 is a diagram showing the airbag ejection of the underwater robot for seafloor observation with an electric push rod in the present invention.
Description of reference numerals: the device comprises a first horizontal propeller 1, a second horizontal propeller 2, a third horizontal propeller 3, a fourth horizontal propeller 4, a first vertical propeller 5, a second vertical propeller 6, a first standby vertical propeller 7, a second standby vertical propeller 8, a tripod head camera 9, a tripod head 10, a turbine-worm mechanism 11, a displacement sensor 12, a direct current motor 13, an underwater illuminating lamp 14, a trapezoidal screw nut 15, a miniature camera 16, an air bag ejection port 17, an igniter 18, a gas generator 19, an air bag sensor 20, a patrol camera 21, and air bags 22 and 23.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, the submarine observation underwater robot based on trinocular vision comprises a shell and a driving unit arranged on the shell; the method is characterized in that: the device also comprises a vision acquisition unit and an air bag device; the vision acquisition unit comprises a miniature camera, a columnar electric push rod and a holder 10; wherein the micro camera is arranged at the end head of the push rod; the holder device is rotationally connected with the bottom plate of the shell; the holder is fixedly connected with the electric push rod; the two air bag devices are respectively positioned at the left end and the right end of the push rod in parallel; when the air bag in the air bag device is opened, the electric push rod is arranged between the two air bags and is parallel to the two air bags, wherein the specific structure of the air bag device is shown in figure 4.
According to the invention, the telescopic rod capable of stretching is arranged at the bottom of the underwater robot to drive the miniature camera to acquire the visual image of the top of the robot, so that the scenes of submarine or underwater cave observation, sunken ship observation and the like can be conveniently identified and explored.
Further, the airbag device includes an airbag sensor 20, an igniter 18, a gas generator 19, an airbag ejection port 17, and airbags 22, 23; when the airbag sensor sends a control signal to the igniter, the igniter ignites the inflating reagent in the gas generator to inflate the airbag, and the specific structure of the inflated airbag ejected from the airbag ejection port is shown in figure 4. When the balloon is ejected, as shown in figure 12.
During underwater exploration, uncontrollable factors influence the use of the miniature camera, and the method adopts an electric air bag structure to protect the electric push rod and the miniature camera.
The driving unit is connected with the driving unit and controls the driving unit; the raspberry pie is connected with the air bag device to control the air bag device.
As a control system of the whole underwater robot, the raspberry pi is adopted to control the operation of the underwater robot and process collected signals.
Furthermore, the shell comprises three aluminum plates which are respectively positioned at the left end, the right end and the lower end; the left and right aluminum plates are fixedly connected with the bottom aluminum plate through corner pieces, and the structure of the aluminum plate is shown in the attached drawing 1.
Further, as shown in fig. 3, the driving unit includes a first horizontal thruster 1, a second horizontal thruster 2, a third horizontal thruster 3, a fourth horizontal thruster 4, a first vertical thruster 5, a second vertical thruster 6, a first standby vertical thruster 7, a second standby vertical thruster 8; the first horizontal thruster, the second horizontal thruster, the third horizontal thruster and the fourth horizontal thruster are uniformly distributed and fixed between the left aluminum plate and the right aluminum plate; the first vertical thruster and the second vertical thruster are symmetrically and respectively positioned at the inner sides of the left aluminum plate and the right aluminum plate; the first standby vertical thruster 7 and the second standby vertical thruster 8 are symmetrically and respectively positioned on the outer sides of the left aluminum plate and the right aluminum plate.
In the method, two standby vertical propellers are arranged on two sides of the shell besides four horizontal drivers and two vertical drivers.
Further, the columnar electric push rod comprises a direct current motor 13, a worm gear-worm mechanism 11, a displacement sensor 12 and a trapezoidal lead screw 15; the direct current motor drives the worm gear-worm mechanism to realize the extension and contraction of the electric push rod; the position sensor is arranged inside the columnar electric push rod, an underwater illuminating lamp is 14 in the figure, and the illuminating lamp of the water tank is turned on when needed.
Furthermore, the vision acquisition unit also comprises a patrol camera arranged at the top of the underwater robot and a holder camera 9 arranged at the middle position; the inspection camera 21, the holder camera and the micro camera 16 are all infrared cameras. The tripod head camera is a camera conventionally arranged on an underwater robot, generally can rotate together with a tripod head connected with the camera, and is generally provided with a glass cover on the surface of the camera. The inspection camera is arranged at the top of the underwater robot and can acquire images around the underwater robot. The camera adopts infrared rays, and can realize the night vision function.
A control method of a submarine observation underwater robot based on trinocular vision is characterized by comprising an early warning observation control method, an air bag protection control method and a balance sliding mode control method, as shown in a flow chart of the early warning observation control method shown in figure 10, the early warning observation control method specifically comprises the steps of starting an inspection camera, starting and detecting whether a fish school exists in a preset range or not based on yolov3, tracking the detected fish school by adopting a deep-sort tracking algorithm if the fish school exists, presetting a circle for carrying out bidirectional counting of the fish school in a video acquired by the camera, starting and counting a counter if a central point coordinate of a detection frame Bbox of the video acquired by the camera intersects with any coordinate of a self-defined circle, counting the number of the fish school, traversing the preset circle, if the central point coordinate of the detection frame Bbox intersects with the preset circle, setting a pixel coordinate in the definition circle +1 if the central point coordinate of the detection frame Bbox intersects with the preset circle, if the central point coordinate of the detection frame Bbox intersects with the preset circle, the central point coordinate in the detection frame Bbox is not less than the threshold value of an Euclidean exit frame, and the threshold value L is set, and the distance is less than the threshold value L, if the distance L is less than the threshold value L, the distance L is set, and the distance L is less than the set, and the distance of the tripod head, and the distance L is less than the set if the distance L, the set.
As shown in the flowchart of fig. 11, the airbag protection control method specifically includes: the inspection camera works, the fish shoals are detected and counted by adopting svm + hog, and the trajectory is predicted by utilizing a Klaman algorithm; if the predicted track continuously approaches the electric push rod and the number of the counted tracks exceeds a preset threshold value, a large number of fish schools approach, the patrol camera sends a large number of fish school approach early warning signals to the raspberry pie, the raspberry pie sends the large number of fish school approach early warning signals to the electric air bag sensor through the GPIO port, the air bag sensor receives the early warning signals sent by the raspberry pie, the signals are transmitted to the igniter, the igniter ignites the inflating agent and reacts in the gas generator, and the air bag is sprayed out from the air bag port.
The balance sliding mode control method specifically comprises the following steps: control system in balance sliding mode 
Defining a sliding mode surface s (x) as s (x) 1,x2.....xn) 0, where x is the state variable, i.e. the depth of the ROV; and constructing a state equation of the sliding mode state observer: 
(1) In the formula: m represents the additional mass; d represents a perturbation; c represents secondary water resistance; tau is an input signal of the ROV system, namely the thrust of the propeller; z is the depth of the underwater robot under water;
The designed slip form surface is as follows:
s is Pe (2) is derived to obtain formula (3)
(2) In formulae (1) and (3): s is a slip form surface; p is an adjustment parameter; e is the difference between the measured value and the set value;
Selecting power approach rate to shorten time for reaching sliding mode surface, and calculating 
The control rate obtained after the substitution into the formula (1) is:
(4) the formula is a balance equation, wherein α is a regulating parameter 1, β is a regulating parameter 2, k is a regulating parameter 3, and tau is an input signal of the ROV system, namely the thrust of the propeller.
The specific embodiment is as follows: as shown in fig. 5 to fig. 9, fig. 5 is a diagram of a balanced sliding mode anti-shake interference simulation model, fig. 6 is a following experiment simulation model, fig. 7 is a balanced sliding mode control law model, fig. 8 is a balanced sliding mode anti-shake interference simulation oscillogram, and fig. 9 is a following experiment simulation oscillogram. Therefore, experimental results show that the designed sliding mode controller has good control performance, the system quickly reaches the sliding mode area description, and a method for improving the robustness of the system by eliminating the arrival stage in a mode of changing the approach rate is feasible.
The control method not only provides image acquisition processing to judge whether fish schools appear around the robot, and if the fish schools appear, whether the airbag protection device is popped up is judged according to the number and the track of the fish schools, but also provides a corresponding balance sliding mode control method aiming at the design, so that the phenomenon that the underwater robot shakes due to the traditional sliding mode controller can be successfully improved.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A submarine observation underwater robot based on trinocular vision comprises a shell and a driving unit arranged on the shell; the method is characterized in that: the device also comprises a vision acquisition unit and an air bag device; the vision acquisition unit comprises a miniature camera, a columnar electric push rod and a holder; wherein the micro camera is arranged at the end head of the push rod; the holder device is rotationally connected with the bottom plate of the shell; the holder is fixedly connected with the electric push rod; the two air bag devices are respectively positioned at the left end and the right end of the push rod in parallel; when the air bags in the air bag device are opened, the electric push rod is arranged between the two air bags and is parallel to the two air bags.
2. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the air bag device comprises an air bag sensor, an igniter, a gas generator, an air bag ejection port and an air bag; when the airbag sensor sends a control signal to the igniter, the igniter ignites the inflating reagent in the gas generator to inflate the airbag, and the airbag inflation is sprayed out of the airbag spraying opening.
3. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the raspberry pie is connected with the driving unit to control the driving unit; the raspberry pie is connected with the air bag device to control the air bag device.
4. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the shell comprises three aluminum plates which are respectively positioned at the left end, the right end and the lower end; the left and right aluminum plates are fixedly connected with the bottom aluminum plate through corner pieces.
5. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the driving unit comprises a first horizontal propeller, a second horizontal propeller, a third horizontal propeller, a fourth horizontal propeller, a first vertical propeller, a second vertical propeller, a first standby vertical propeller and a second standby vertical propeller; the first horizontal thruster, the second horizontal thruster, the third horizontal thruster and the fourth horizontal thruster are uniformly distributed and fixed between the left aluminum plate and the right aluminum plate; the first vertical thruster and the second vertical thruster are symmetrically and respectively positioned at the inner sides of the left aluminum plate and the right aluminum plate; the first standby vertical thruster and the second standby vertical thruster are symmetrically and respectively positioned on the outer sides of the left aluminum plate and the right aluminum plate.
6. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the columnar electric push rod comprises a direct current motor, a worm gear-worm mechanism, a displacement sensor and a trapezoidal lead screw; the motor drives the worm gear-worm mechanism to realize the extension and contraction of the electric push rod; the position sensor is arranged in the columnar electric push rod.
7. The submarine observation underwater robot based on trinocular vision according to claim 1, characterized in that: the vision acquisition unit also comprises an inspection camera arranged at the top of the underwater robot and a holder camera arranged at the middle position; the inspection camera, the holder camera and the miniature camera are all infrared cameras.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN112937806A (en) * | 2021-02-19 | 2021-06-11 | 上海海洋大学 | Shooting type underwater robot |
| CN113830270A (en) * | 2021-10-20 | 2021-12-24 | 广东海洋大学 | Omnidirectional underwater robot |
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2019
- 2019-10-28 CN CN201921820444.4U patent/CN211076296U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110606178B (en) * | 2019-10-28 | 2024-04-23 | 南京工程学院 | Submarine observation underwater robot based on three-eye vision and control method thereof |
| CN112937806A (en) * | 2021-02-19 | 2021-06-11 | 上海海洋大学 | Shooting type underwater robot |
| CN112937806B (en) * | 2021-02-19 | 2024-01-02 | 上海海洋大学 | Shooting type underwater robot |
| CN113830270A (en) * | 2021-10-20 | 2021-12-24 | 广东海洋大学 | Omnidirectional underwater robot |
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