CN109407683A - A kind of underwater robot of energy automatic tracing goldfish - Google Patents
A kind of underwater robot of energy automatic tracing goldfish Download PDFInfo
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- CN109407683A CN109407683A CN201811297043.5A CN201811297043A CN109407683A CN 109407683 A CN109407683 A CN 109407683A CN 201811297043 A CN201811297043 A CN 201811297043A CN 109407683 A CN109407683 A CN 109407683A
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- module
- carrier frame
- propeller
- pressure
- pressure casing
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- 241000252229 Carassius auratus Species 0.000 title claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to underwater robot technical fields, it is desirable to provide a kind of underwater robot of energy automatic tracing goldfish.The robot includes structural system, Subsea Control Systems and target identification and tracing system；Structural system includes carrier frame, and pressure casing is wrapped in outside carrier frame, and clump weight and propeller are mounted on pressure casing, and battery is mounted in carrier frame；Subsea Control Systems include the basic control module being mounted on carrier frame and motor drive module, and are mounted on the pressure sensor outside pressure casing；Target identification and tracing system include distance exam software module, target identification Trancking Software module and the photographing module being mounted in pressure casing transparent camera window.This product size is small, it is light-weight, easy to operate, be not necessarily to other ancillary equipments, can be operated without the individual of any specialty background；And it is cheap, each user can be allowed to have the ability to use.There is certain practicability and very strong interest, ornamental value simultaneously.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of underwater robots of energy automatic tracing goldfish.
Background technique
Robot technology is a kind of emerging intelligent Manufacturing Technology, is at home and abroad widely applied.Autonomous underwater machine
People be it is a kind of several meters of even upper kms, upper myriametre depth can carry out the robot of autonomous navigation below the water surface, have automatic
Navigation, independent navigation, the autonomous ability for executing subsea tasks.Task compared with unmanned plane, unmanned vehicle and unmanned boat, locating for it
Environment is increasingly complex, and used sensor and propulsion system are also different.It is in particular in: 1) high frequency radio wave under water ten
Several meters of following depth are not available, it will are caused operator to be difficult to keep good with underwater robot and write to each other；And it adopts
It is not only at high cost with underwater acoustic communication set, and traffic rate all can not be compared with radio wave with capacity；2) field of electronic components etc. is appointed
What nonwatertight electrical subassembly, mechanical part, propulsive element must do watertight, pressure resistance protection, otherwise infiltration will occur, leak causes
It cannot normal underwater navigation.
Currently, the prior art depends on the acoustic equipment of range to the detection tracking of fish, lacking can be accurate
The underwater robot of tracing study fish individual.This patent is a kind of miniature underwater robot towards tracking goldfish, is had higher
Reliability, easily operability and certain practicability.
Summary of the invention
The technical problem to be solved by the present invention is to overcome deficiency in the prior art, provide a kind of energy automatic tracing goldfish
Underwater robot.
In order to solve the technical problem, the technical scheme adopted by the invention is that:
A kind of underwater robot of energy automatic tracing goldfish is provided, including structural system, Subsea Control Systems and target are known
Not and tracing system；
Structural system includes carrier frame, the pressure casing with transparent camera window, clump weight, propeller and battery；Pressure resistance
Shell is wrapped in outside carrier frame, and clump weight and propeller are mounted on pressure casing, and battery is mounted in carrier frame；
Subsea Control Systems include the basic control module being mounted on carrier frame and motor drive module, and installation
Pressure sensor outside pressure casing；Basic control module is connected to motor drive module and pressure sensing by signal wire
Device realizes data communication；Motor drive module is connected to propeller by power supply line；
Target identification includes distance exam software module, target identification Trancking Software module with tracing system and is mounted on resistance to
The photographing module in shell transparent camera window is pressed, which is connect by signal wire with basic control module, realizes data
Communication；The distance exam software module and target identification Trancking Software module are embedded in photographing module.
As an improvement carrier frame is made by PLA material；Pressure casing is by transparent organic glass or Asia
Gram force is made；Clump weight is using balance grume.
As an improvement basic control module includes STM32F103C8T6 single-chip microcontroller and auxiliary circuit.
As an improvement motor drive module uses Risym 12V 15A high power DC electric machine drive module, can control
Positive and negative rotation processed can be carried out PWM speed regulation.
As an improvement pressure sensor uses GY-MS5803-14BA pressure sensor waterproof module, range arrives for 0
The pressure of 14Bar, communication interface I2C。
As an improvement photographing module use OpenMV3CamM7 intelligent video camera head, carry OV7725 photosensitive element and
ARM Cortex M7 processor carries out program development using MicroPython language.
As an improvement electromagnetic relay is equipped in basic control module, for controlling vertical propeller power supply
On-off.
As an improvement one of them, which sets, is mounted at the top of pressure casing, and from center through load there are three propellers
Body frame, and configure 12V DC immersible pump；Other two propeller is symmetrically mounted on pressure casing both sides external, and configures 12V
Brush direct current motor and three-bladed propeller, battery use 12V lithium battery.
As an improvement the aerial weight of underwater robot is less than 4kg, length is less than 15cm.
Inventive principle description:
Target identification and method for tracing are used in the present invention, i.e., identify the method in conjunction with outline identification using color,
Realize the detection of target, and using monocular vision estimation the distance between with object, further obtain between object
Relative bearing in three-dimensional space.Target identification and the signal of tracing system output are transferred to basic control module by signal wire
In, the latter passes through the movement such as advance, retrogressing, steering, floating and sinking of signal line traffic control robot again.
The principle of target identification and tracking are as follows: goldfish has apparent red feature, identifies mesh using color recognizer
Mark.The distribution of color probability of first statistical picture middle section, and the maximum color interval of cumulative distribution probability is extracted as target
Color characteristic.Then according to the azimuth information of target, the revolving speed of left and right motor, and control water pump are adjusted by PI control algolithm
Switch.Spacing tracing algorithm using the target area in the picture of known dimensions, estimates camera lens according to pinhole imaging system principle
The distance between target is then adjusted by revolving speed of the PI control algolithm to left and right motor.Specific adjusting method are as follows: such as
Fruit target is on the left of optical center line, then the motor speed reduction 1/4 in the propeller in left side, in the propeller on right side
Motor speed increases 1/4；If target, on the right side of optical center line, the motor speed in the propeller in left side increases 1/4, the right side
Motor speed in the propeller of side reduces 1/4；If target is placed in the middle, left and right motor speed is constant.
Basic control module in the present invention, i.e., above-mentioned single-chip microcontroller, including motor-driven controller.The level of motor-driven controller pushes away
It is calculated and is obtained by following formula into device revolving speed control output quantity:
V=V0+Kp(x-xd)+Kd(x-x0)
In above-mentioned formula: V is horizontal propeller revolving speed, is control output quantity.V0It is the horizontal propeller turn of previous moment
Speed.X is present orientation, xdIt is current goal orientation, the two is quantity of state, can pass through the processing of photographing module 5 and calculate
It arrives.x0It is the orientation of previous moment.(x-xd) it is azimuthal error, (x-x0) it is horizontal rate, the two is control input quantity.KpIt is
Azimuthal error coefficient, KdIt is horizontal rate coefficient, can be obtained by test measurement, be known parameters.
In the present invention, distance exam device software module passes through the distance between the estimation of following formula and target:
Wherein D is the distance that estimation obtains, and K is known parameters related with camera, and L is the longitudinal direction of known object
Highly, r is the ratio of the longitudinal height and image total height of object in the picture.
Compared with prior art, the beneficial effects of the present invention are:
(1) size of the present invention it is small, it is light-weight, easy to operate, be not necessarily to other ancillary equipments, without any specialty background
People can be operated.
(2) present invention is cheap, and each user can be allowed to have the ability to use.
(3) present invention can be identified and be tracked to goldfish automatically, have certain practicability and very strong interest,
Ornamental value.
Detailed description of the invention
Fig. 1 is composition schematic diagram of the invention.
Fig. 2 is propeller and photographing module schematic view of the mounting position of the invention.
Appended drawing reference in figure: 1- pressure casing；2,3,4- propeller；5- photographing module.
Specific embodiment
Firstly the need of explanation, the present invention relates to robot technology.In the implementation process of the invention, may be related to
The application of multiple software function modules.It is applicant's understanding that such as reading over application documents, accurate understanding realization original of the invention
After reason and goal of the invention, in the case where combining existing well-known technique, those skilled in the art completely can be with its grasp
Software programming technique realize the present invention.The category scope that all the present patent application files refer to, applicant are not listed one by one.Separately
Outside, realization of the invention depends on the application of a variety of electronic components, and these electronic components are the prior art, and are had into
Ripe product can market purchase acquisition, such as basic control module cited below, motor drive module, pressure sensor, camera shooting
Module 5 etc..
A kind of underwater robot of energy automatic tracing goldfish provided by the invention, the aerial weight of underwater robot are small
In 4kg, length is less than 15cm.Including structural system, Subsea Control Systems and target identification and tracing system.
Structural system includes carrier frame, the pressure casing 1 with transparent camera window, clump weight, propeller 2,3,4 and electricity
Pond.Carrier frame is made by PLA material.Pressure casing 1 is wrapped in outside carrier frame, and pressure casing 1 is had by transparent
Machine glass or acrylic are made.Clump weight is using balance grume.Clump weight and propeller are mounted on pressure casing 1, electricity
Pond, Subsea Control Systems and target identification and tracing system are mounted on carrier frame.There are three propellers 2,3,4, propeller 2
At 1 top of pressure casing, and it is through to carrier frame bottom, while configuring 12V DC immersible pump.Propeller 3 and propeller 4 are right
Title is mounted on 1 two sides of pressure casing, and configures 12V DC brush motor and three-bladed propeller.Battery uses 12V lithium battery.
Subsea Control Systems include the basic control module being mounted on carrier frame and motor drive module, and installation
Pressure sensor outside pressure casing 1.Basic control module is connected to motor drive module by signal wire and pressure passes
Sensor realizes data communication.Electromagnetic relay is equipped in basic control module, for controlling the logical of vertical propeller power supply
It is disconnected.Basic control module includes STM32F103C8T6 single-chip microcontroller and auxiliary circuit.Motor drive module is connected to by power supply line
Propeller.Motor drive module uses Risym 12V 15A high power DC electric machine drive module, and controlling rotation direction can be into
Row PWM speed regulation.Pressure sensor uses GY-MS5803-14BA pressure sensor waterproof module, and range is 0 pressure for arriving 14Bar
Power, communication interface I2C。
Target identification includes distance exam device software module, target identification Trancking Software module with tracing system and is mounted on
Photographing module 5 in 1 transparent camera window of pressure casing, the photographing module 5 are connect by signal wire with basic control module, are realized
Data communication.Photographing module 5 uses OpenMV3CamM7 intelligent video camera head, carries OV7725 photosensitive element and ARM Cortex
M7 processor carries out program development using MicroPython language.Distance exam device software module and target identification Trancking Software
Module is developed to obtain based on the color lump identification library function of OpenMV3.
Basic control module in the present invention, i.e., above-mentioned single-chip microcontroller, including motor-driven controller.The horizontal of motor-driven controller promotes
Device revolving speed controls output quantity and calculates acquisition by following formula:
V=V0+Rp(x-xd)+Kd(x-x0)
In above-mentioned formula: V is horizontal propeller revolving speed, is control output quantity.V0It is the horizontal propeller turn of previous moment
Speed.X is present orientation, xdIt is current goal orientation, the two is quantity of state, can pass through the processing of photographing module 5 and calculate
It arrives.x0It is the orientation of previous moment.(x-xd) it is azimuthal error, (x-x0) it is horizontal rate, the two is control input quantity.KpIt is
Azimuthal error coefficient, KdIt is horizontal rate coefficient, can be obtained by test measurement, be known parameters.
In the present invention, distance exam device software module passes through the distance between the estimation of following formula and target:
Wherein D is the distance that estimation obtains, and K is known parameters related with camera, and L is the longitudinal direction of known object
Highly, γ is the ratio of the longitudinal height and image total height of object in the picture.
More than, it is only a case study on implementation of the invention, limitation in any form not is done to the present invention, although
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when making certain changes using the structure and technology contents of the disclosure above
Or modify and become the equivalence enforcement case of equivalent variations.
Claims (9)
1. a kind of underwater robot of energy automatic tracing goldfish, which is characterized in that including structural system, Subsea Control Systems and mesh
Mark is not and tracing system；
The structural system includes carrier frame, the pressure casing with transparent camera window, clump weight, propeller and battery；Pressure resistance
Shell is wrapped in outside carrier frame, and clump weight and propeller are mounted on pressure casing, and battery is mounted in carrier frame；
The Subsea Control Systems include the basic control module being mounted on carrier frame, motor drive module, and installation
Pressure sensor outside pressure casing；Basic control module is connected to motor drive module and pressure sensing by signal wire
Device realizes data communication；Motor drive module is connected to propeller by power supply line；
The target identification includes distance exam software module, target identification Trancking Software module with tracing system and is mounted on resistance to
The photographing module in shell transparent camera window is pressed, which is connect by signal wire with basic control module, realizes data
Communication；The distance exam software module and target identification Trancking Software module are embedded in photographing module.
2. robot according to claim 1, which is characterized in that the carrier frame is made by PLA material；It is resistance to
Pressure shell is made by transparent organic glass or acrylic；The clump weight is using balance grume.
3. robot according to claim 1, which is characterized in that the basic control module includes STM32F103 C8T6
Single-chip microcontroller and auxiliary circuit.
4. robot according to claim 1, which is characterized in that the motor drive module uses Risym 12V 15A
High power DC electric machine drive module, can control positive and negative rotation, can be carried out PWM speed regulation.
5. robot according to claim 1, which is characterized in that the pressure sensor is pressed using GY-MS5803-14BA
Force snesor waterproof module, range are 0 pressure for arriving 14Bar, communication interface I2C。
6. robot according to claim 1, which is characterized in that the photographing module is using OpenMV3 CamM7 intelligence
Camera carries OV7725 photosensitive element and ARM Cortex M7 processor, carries out program using MicroPython language and opens
Hair.
7. robot according to claim 1, which is characterized in that be equipped with electromagnetic relay in basic control module, be used for
Control the on-off of vertical propeller power supply.
8. robot according to claim 1, which is characterized in that there are three the propellers, one of them, which sets, is mounted on
At the top of pressure casing, run through carrier frame from center, and configure 12V DC immersible pump；Other two propeller is symmetrically mounted on
Pressure casing two sides, and 12V DC brush motor and three-bladed propeller are configured, battery uses 12V lithium battery.
9. robot according to claim 1, which is characterized in that the aerial weight of underwater robot is less than
4kg, length are less than 15cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297043.5A CN109407683A (en) | 2018-11-01 | 2018-11-01 | A kind of underwater robot of energy automatic tracing goldfish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811297043.5A CN109407683A (en) | 2018-11-01 | 2018-11-01 | A kind of underwater robot of energy automatic tracing goldfish |
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| Publication Number | Publication Date |
|---|---|
| CN109407683A true CN109407683A (en) | 2019-03-01 |
Family
ID=65470970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811297043.5A Pending CN109407683A (en) | 2018-11-01 | 2018-11-01 | A kind of underwater robot of energy automatic tracing goldfish |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
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| CN106891341A (en) * | 2016-12-06 | 2017-06-27 | 北京臻迪科技股份有限公司 | A kind of underwater robot and catching method |
| CN106970618A (en) * | 2017-04-06 | 2017-07-21 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control method and system |
| US20180132459A1 (en) * | 2016-11-15 | 2018-05-17 | Fuji Xerox Co., Ltd. | Underwater mobile body and non-transitory computer readable medium |
| CN108415441A (en) * | 2018-03-05 | 2018-08-17 | 中国海洋大学 | Underwater robot target system for tracking based on monocular vision and its method |
-
2018
- 2018-11-01 CN CN201811297043.5A patent/CN109407683A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629994A (en) * | 2016-03-15 | 2016-06-01 | 浙江大学 | Underwater robot for pipeline flaw detection |
| US20180132459A1 (en) * | 2016-11-15 | 2018-05-17 | Fuji Xerox Co., Ltd. | Underwater mobile body and non-transitory computer readable medium |
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106891341A (en) * | 2016-12-06 | 2017-06-27 | 北京臻迪科技股份有限公司 | A kind of underwater robot and catching method |
| CN106970618A (en) * | 2017-04-06 | 2017-07-21 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control method and system |
| CN108415441A (en) * | 2018-03-05 | 2018-08-17 | 中国海洋大学 | Underwater robot target system for tracking based on monocular vision and its method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN110979666B (en) * | 2019-12-27 | 2021-09-21 | 浙江大学 | Water-air robot |
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Application publication date: 20190301 |
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