Submarine observation underwater robot based on trinocular vision and control method thereof

Abstract

The invention particularly relates to a submarine observation underwater robot based on trinocular vision and a control method thereof. The robot comprises a shell and a driving unit arranged on the shell, and is characterized by further comprising a visual collecting unit and air bag devices, the visual collecting unit comprises a micro camera, a columnar electric push rod and a pan tilt, the micro camera is installed at one end of the push rod, the pan tilt is rotationally connected with a bottom of the shell and fixedly connected with the electric push rod, the two air bag devices are located at the left end and the right end of the push rod in parallel, and when air bags in the air bag devices are opened, the electric push rod is located between the two air bags and is parallel to thetwo air bags. The electric air bag devices at the lower end of the underwater robot are used for protecting the electric push rod capable of rotationally collecting underwater data. By means of the design of a balance sliding formwork and a corresponding balance sliding formwork model, the robot is stably controlled.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a submarine observation underwater robot based on trinocular vision and a control method thereof. Background technique [0002] With the increasing scarcity of land resources, people turn their attention to the ocean with rich resources, and the underwater environment is dangerous and not suitable for direct observation by humans. Underwater robots can replace humans for observation on the seabed. important tool. [0003] At present, there are various kinds of underwater robots on the market, and their structures are relatively complicated. When detecting certain caves or corners on the seabed, due to the need for underwater robots to occupy a certain amount of space, they cannot directly enter close-range observations, resulting in inability to Successful completion of underwater observation operations. At the same time, when observing some dangerous objects, if the ...

AI Technical Summary

Problems solved by technology

[0003] At present, there are various kinds of underwater robots on the market, and their structures are relatively complex. When detecting certain caves or corners on the seabed, due to the need for underwater robots to occupy a certain amount of space, they cannot directly enter close-range observations, resulting in inability to Successful completion of underwater observation operations

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