CN109436254A - A kind of underwater robot based on bionical vision - Google Patents
A kind of underwater robot based on bionical vision Download PDFInfo
- Publication number
- CN109436254A CN109436254A CN201811367818.1A CN201811367818A CN109436254A CN 109436254 A CN109436254 A CN 109436254A CN 201811367818 A CN201811367818 A CN 201811367818A CN 109436254 A CN109436254 A CN 109436254A
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- China
- Prior art keywords
- fixed ring
- bionical
- cabin
- power
- flange
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000002146 bilateral effect Effects 0.000 claims abstract description 6
- 238000001727 in vivo Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 5
- 239000007787 solid Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241000272814 Anser sp. Species 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater robots based on bionical vision, including robot cabin device, bionical sighting device and power device, it is characterized in that, the bionical sighting device is arranged inside the robot cabin device, the bionical sighting device include two bilateral symmetries and at 20 °~130 ° angles arrange wide angle camera, the power device is arranged outside the robot cabin device, the power device includes the motor of two upward motors of power and two power backward, the upward motor of two power in the power device is located at cabin device middle position at symmetrical, the motor of two power backward is located at cabin device tail portion at symmetrical in the power device.The present invention has the advantages that at low cost, easy to maintain, and bionical sighting device can increase camera fields of view range, in the available environment depth information in two camera fields of view overlay regions, improves robot undersea detection ability.
Description
Technical field
The present invention relates to a kind of underwater robot equipment, especially a kind of underwater robot based on bionical vision belongs to
Robot field.
Background technique
The past in a decade or so in, using autonomous underwater robot carry out underwater environment detection achieve it is very big
Progress.At the same time, the underwater robot of miniature cheap low-power consumption receives more and more attention, because they are easier to manage
Reason, effect on environment are smaller.At present under water in robot, common measurement sensor is mainly sonar, but this is set
Standby at high cost, Maintenance Difficulty, in comparison, vision measurement is more and more applied in robot under water, and traditional vision is surveyed
Amount relies primarily on monocular camera, binocular camera and structure light camera, these cameras are at low cost, and maintenance is simple, but also has oneself
Limitation, monocular camera loses the depth information of environment, and field range is limited, although and binocular camera and structure light camera
The depth information of available environment, but field range is still limited.In living nature, the vision of wild goose is dissected and is found, two
Monocular camera forms an angle like that according to wild goose eyes and controls arrangement, may make up bionical vision, the field range of bionical vision
Greatly, visual field overlay region can obtain the depth information of environment, by this bionical vision application under water robot, can break through tradition
Vision measurement gives underwater robot bring limitation, improves the detectivity of underwater robot.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of field range is big, the bionical of the depth information of environment can be obtained
Sighting device, and it is used for underwater robot.
In order to solve the above-mentioned technical problem, specifically, technical scheme is as follows:
A kind of underwater robot based on bionical vision, including robot cabin device, bionical sighting device and power dress
It sets, which is characterized in that the bionical sighting device is arranged inside the robot cabin device, the bionical sighting device packet
The wide angle camera for including two bilateral symmetries and arranging at 20 °~130 ° angles, the power device are arranged in the robot cabin
Outside body device, the power device includes the motor of two upward motors of power and two power backward.
Further, the upward motor of two power in the power device is located at the cabin and fills at symmetrical
Middle position is set, the motor of two power backward is located at the cabin device tail at symmetrical in the power device
Portion.
Further, the robot cabin device includes that transparent hemi cover, the first fixing screws, fixed ring, flange are solid
Determine ring, cylindrical cabin, rear circular baffle plate, fixing pin, parting plate, the first rubber ring and the second rubber ring, which is characterized in that
The transparent hemi is covered with flat edge lip, the fixed ring and one side contacts of hemisphere flaring lip, the hemisphere flaring lip
The other side and flange fixed ring contact.
Further, the hemisphere flaring lip, fixed ring and flange fixed ring are provided with threaded hole, and three passes through institute simultaneously
The first fixing screws are stated to be fixed together.
Further, the flange fixed ring has the first groove in the plane touched with the hemisphere flaring lipped joint, and described
One groove is equipped with first rubber ring, and the flange fixed ring and the cylindrical cabin contact plane are recessed there are two second
Slot, second groove are respectively equipped with second rubber ring.
Further, the flange fixed ring and the cylindrical cabin interference fit are fixed together, in the cylinder
The front and back dress of shape cabin is there are two identical flange fixed ring, in the rear end of the cylindrical cabin, the flange fixed ring and
Circular baffle plate plane contact after described, the other side of the rear circular baffle plate and the fixed ring plane contact, the flange are solid
Determine ring, rear circular baffle plate and fixed ring and be provided with threaded hole, three is fixed together by first fixing screws simultaneously, institute
Stating flange fixed ring has third groove in the plane with the rear circular baffle plate contact, and the third groove is equipped with first rubber
Cushion rubber, the parting plate is in the Cylindrical cabin body and the flange fixed ring of the front and back contacts and the cylindrical cabin
Inner surface contact, be fixed in the Cylindrical cabin body by the fixing pin in the flange fixed ring, it is described every
In close transparent hemi cover side setting, there are two threaded holes on object plate.
Further, the bionical sighting device, is arranged at described two threaded holes of the parting plate.
Compared to the prior art the present invention has the following advantages: at low cost, easy to maintain, bionical sighting device can increase phase
Machine field range improves robot undersea detection ability in the available environment depth information in two camera fields of view overlay regions.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is axonometric drawing of the invention
Fig. 2 is left view of the invention
Fig. 3 is cabin cross-sectional view of the invention
Fig. 4 is parting plate installation cross-sectional view of the invention
Fig. 5 is the axonometric drawing for having camera of the invention
Fig. 6 is the front view for having camera of the invention
Fig. 7 is bionical visual field schematic diagram of the invention
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
According to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of underwater robot based on bionical vision, including machine
People's cabin device, bionical sighting device and power device, which is characterized in that the bionical sighting device is arranged in the robot
Inside cabin device, the bionical sighting device include two bilateral symmetries and at 20 °~130 ° angles arrange wide angle camera,
The power device is arranged outside the robot cabin device, the power device include two upward motors of power and
The motor of two power backward.The upward motor of two power in the power device is located at the cabin at symmetrical
Device middle position, the motor of two power backward is located at the cabin device tail at symmetrical in the power device
Portion.
In the present embodiment, according to Fig. 1, Fig. 2, Fig. 3, robot cabin device includes transparent hemi cover (1), first
Fixing screws (2), fixed ring (3-1), fixed ring (3-2), flange fixed ring (4-1), flange fixed ring (4-2), Cylindrical cabin
Body (5), rear circular baffle plate (6), the first rubber ring (13), fixing pin (14), parting plate (15) and the second rubber ring (16), thoroughly
Bright half ball cover (1) has a flat edge lip, one side contacts of fixed ring (3-1) and transparent hemi cover (1) side lip, transparent hemi cover (1)
The side lip other side and flange fixed ring (4-1) contact.Transparent hemi cover (1) side lip, fixed ring (3-1) and flange fixed ring (4-
1) it is provided with threaded hole, three is fixed together by first fixing screws (2) simultaneously.
Flange fixed ring (4-1) has the first groove in the plane touched with transparent hemi cover (1) the side lipped joint, and described first
Groove is equipped with first rubber ring (13), is used for waterproof sealing, and the flange fixed ring (4-1) and cylindrical cabin (5) connect
Plane is touched there are two the second groove, the second groove is respectively equipped with second rubber ring (16), is used for waterproof sealing.Flange is solid
Determine ring (4-1) and cylindrical cabin (5) is interference fitted and is fixed together, is equipped in the rear end of cylindrical cabin (5) and flange is solid
Determine the identical flange fixed ring (4-2) of ring (4-1).
In the rear end of cylindrical cabin (5), flange fixed ring (4-2) and rear circular baffle plate (6) plane contact, rear round gear
The other side of plate (6) and fixed ring (3-2) plane contact, flange fixed ring (4-2), rear circular baffle plate (6) and fixed ring (3-2)
Be provided with threaded hole, three is fixed together by first fixing screws (2) simultaneously, flange fixed ring (4-2) with it is rear
The plane of circular baffle plate (6) contact has third groove, and third groove is equipped with the first rubber ring (13), is used for waterproof sealing.
Parting plate (15) is contacted in cylindrical cabin (5) interior one end with flange fixed ring (4-1), and the other end is fixed with flange
Ring (4-2) contact, and cylindrical cabin (5) inner surface contact, by flange fixed ring (4-1) and flange fixed ring (4-2)
On fixing pin (14) be fixed in cylindrical cabin (5), be arranged on parting plate (15) close to transparent hemi cover (1) side
There are two threaded holes.
In the present embodiment, according to Fig. 1, Fig. 2, power device includes front motor bracket (7-1), front motor bracket
(7-2), motor (8-1), motor (8-2), propeller (9), the second fixing screws (10), rear electric machine support (11-1), rear motor
Bracket (11-2), fixing bolt (12), middle section is equipped with symmetrical front motor bracket outside cylindrical cabin (5)
(7-1) and front motor bracket (7-2), front motor bracket (7-1) and front motor bracket (7-2) are fixed on by fixing bolt (12)
Together, composable annulus is fixed on the cylindrical cabin (5), is divided on front motor bracket (7-1) and front motor bracket (7-2)
Not Tong Guo the second fixing screws (10) be fixed with a motor (8-1), be fixed with propeller (9) on motor (8-1), two motors
The power direction of (8-1) is upward, can produce power downward upwards, realizes the floating sinking and rolling function of robot.
Electric machine support (11-1) and rear electric machine support after cylindrical cabin (5) outside aft section is equipped with bilateral symmetry
(11-2), rear electric machine support (11-1) and rear electric machine support (11-2) are fixed together by fixing bolt (12), constitute circle
Ring is fixed on cylindrical cabin (5), passes through described second on rear electric machine support (11-1) and rear electric machine support (11-2) respectively
Fixing screws (10) are respectively fixed with a motor (8-2), are fixed with propeller (9) on motor (8-2), two motors (8-2)
Power direction backward, can produce power forward backward, realize the forward-reverse of robot and the function of yaw.
In the present embodiment, according to Fig. 5, Fig. 6, Fig. 7, bionical sighting device includes camera support (17), camera
(18), third fixing screws (19) and the 4th fixing screws (20), in cylindrical cabin (5) interior forward end, camera support (17)
It is fixed among two parting plates (15) up and down by the 4th fixing screws (20), fixed position is in upper two spiral shells of parting plate (15)
At pit, on camera support (17) by fixing screws (19) it is fixed there are two camera (18), two cameras bilateral symmetries and at
20 °~130 ° angle arrangements, form bionical vision, as shown in fig. 7, region (A) is the visual field of single camera, region (B) is two
A camera fields of view overlay region can extract extraneous depth information, region in the visual field overlay region of region (B) according to parallax relationship
It (C) is the final visual field of robot.When it is implemented, two Angle between two cameras are adjusted according to actual needs.
Claims (7)
1. a kind of underwater robot based on bionical vision, including robot cabin device, bionical sighting device and power device,
It is characterized in that, the bionical sighting device is arranged inside the robot cabin device, the bionical sighting device includes
Two bilateral symmetries and the wide angle camera arranged at 20 °~130 ° angles, the power device are arranged in the robot cabin
Outside device, the power device includes the motor of two upward motors of power and two power backward.
2. the underwater robot according to claim 1 based on bionical vision, which is characterized in that in the power device
The upward motor of two power is located at cabin device middle position at symmetrical, and two are moved in the power device
The motor of power backward is located at cabin device tail portion at symmetrical.
3. a kind of underwater robot based on bionical vision according to claim 1, the robot cabin device include
Transparent hemi cover, the first fixing screws, fixed ring, flange fixed ring, cylindrical cabin, rear circular baffle plate, fixing pin, parting
Plate, the first rubber ring and the second rubber ring, which is characterized in that the transparent hemi is covered with flat edge lip, the fixed ring and
One side contacts of hemisphere flaring lip, the hemisphere flaring lip other side and flange fixed ring contact.
4. a kind of underwater robot based on bionical vision according to claim 3, which is characterized in that the hemisphere flaring
Lip, fixed ring and flange fixed ring are provided with threaded hole, and three is fixed together by first fixing screws simultaneously.
5. a kind of underwater robot based on bionical vision according to claim 3, which is characterized in that the flange is fixed
Ring has the first groove in the plane touched with the hemisphere flaring lipped joint, and first groove is equipped with first rubber ring, described
There are two the second groove, second groove is respectively equipped with one article described for flange fixed ring and the cylindrical cabin contact plane
Two rubber rings.
6. a kind of underwater robot based on bionical vision according to claim 3, which is characterized in that the flange is fixed
Ring and the cylindrical cabin interference fit are fixed together, and there are two identical flanges for dress before and after the cylindrical cabin
Fixed ring, in the rear end of the cylindrical cabin, the flange fixed ring and the rear circular baffle plate plane contact are round after described
The other side of shape baffle and the fixed ring plane contact, the flange fixed ring, rear circular baffle plate and fixed ring are provided with spiral shell
Pit, three are fixed together by first fixing screws simultaneously, the flange fixed ring with it is described after circular baffle plate
The plane of contact has third groove, and the third groove is equipped with first rubber ring, and the parting plate is in the Cylindrical cabin
Surface contacts in vivo and in the contact of the flange fixed ring of the front and back and the Cylindrical cabin body, by fixing in the flange
The fixing pin on ring is fixed in the Cylindrical cabin body, close to transparent hemi cover side on the parting plate
There are two threaded holes for setting.
7. a kind of underwater robot based on bionical vision described in any one according to claim 1~6, which is characterized in that
The bionical sighting device, is arranged at described two threaded holes of the parting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811367818.1A CN109436254A (en) | 2018-11-16 | 2018-11-16 | A kind of underwater robot based on bionical vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811367818.1A CN109436254A (en) | 2018-11-16 | 2018-11-16 | A kind of underwater robot based on bionical vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109436254A true CN109436254A (en) | 2019-03-08 |
Family
ID=65553877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811367818.1A Pending CN109436254A (en) | 2018-11-16 | 2018-11-16 | A kind of underwater robot based on bionical vision |
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| Country | Link |
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| CN (1) | CN109436254A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409800A (en) * | 2020-04-24 | 2020-07-14 | 杭州电子科技大学 | Intelligent control cabin of underwater robot |
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| WO2012156425A2 (en) * | 2011-05-17 | 2012-11-22 | Eni S.P.A. | Autonomous underwater system for 4d environmental monitoring |
| CN105215998A (en) * | 2015-08-18 | 2016-01-06 | 长安大学 | The multi-vision visual platform of a kind of imitative spider |
| CN105635688A (en) * | 2016-01-04 | 2016-06-01 | 北京理工大学 | Underwater environment detection system for unmanned amphibious vehicle |
| CN107176279A (en) * | 2017-05-22 | 2017-09-19 | 佛山市神风航空科技有限公司 | A kind of underwater camera Biomimetic Fish |
| CN207157465U (en) * | 2017-08-07 | 2018-03-30 | 西安工业大学 | A kind of monoblock type underwater robot |
| CN207658021U (en) * | 2018-01-03 | 2018-07-27 | 武汉海涵立科技有限公司 | Underwater robot |
| CN209467305U (en) * | 2018-11-16 | 2019-10-08 | 王昕� | A kind of underwater robot based on bionical vision |
-
2018
- 2018-11-16 CN CN201811367818.1A patent/CN109436254A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012156425A2 (en) * | 2011-05-17 | 2012-11-22 | Eni S.P.A. | Autonomous underwater system for 4d environmental monitoring |
| CN105215998A (en) * | 2015-08-18 | 2016-01-06 | 长安大学 | The multi-vision visual platform of a kind of imitative spider |
| CN105635688A (en) * | 2016-01-04 | 2016-06-01 | 北京理工大学 | Underwater environment detection system for unmanned amphibious vehicle |
| CN107176279A (en) * | 2017-05-22 | 2017-09-19 | 佛山市神风航空科技有限公司 | A kind of underwater camera Biomimetic Fish |
| CN207157465U (en) * | 2017-08-07 | 2018-03-30 | 西安工业大学 | A kind of monoblock type underwater robot |
| CN207658021U (en) * | 2018-01-03 | 2018-07-27 | 武汉海涵立科技有限公司 | Underwater robot |
| CN209467305U (en) * | 2018-11-16 | 2019-10-08 | 王昕� | A kind of underwater robot based on bionical vision |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409800A (en) * | 2020-04-24 | 2020-07-14 | 杭州电子科技大学 | Intelligent control cabin of underwater robot |
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Application publication date: 20190308 |
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