Camera holder device of deep-sea robot

Abstract

The invention relates to the technical field of camera holders, and particularly discloses a camera holder device of a deep-sea robot, which performs analysis based on an internal pressure value to obtain a detection abnormal signal, performs analysis on internal pressure data and external pressure data based on the detection abnormal signal to obtain a first coincidence time period ratio and a second coincidence time period ratio, and obtains a camera holder of the deep-sea robot according to the first coincidence time period ratio and the second coincidence time period ratio. And performing data processing based on the first coincidence time period ratio and the second coincidence time period ratio, judging whether the external pressure is suspected to influence the internal pressure drop, processing and analyzing based on the internal interval pressure difference and the external pressure mean value corresponding to the coincidence time periods to obtain a variation ratio variance value, and calculating the variation ratio variance value. According to the invention, the internal abnormal pressure reduction time period and the internal normal pressure reduction time period of the holder device are respectively subjected to coincidence analysis with the external abnormal pressure time period, so that when the air tightness test is carried out on the holder device, whether the external pressure is a reason for influencing the internal pressure abnormity of the holder device or not is determined based on the variance value of the change ratio. External pressure influence is avoided as far as possible.

Description

Technical Field

[0001] The invention relates to the technical field of camera pan platforms, and in particular to a camera pan platform device for a deep-sea robot. Background Art

[0002] A pan / tilt head is a device used to install and fix cameras. It can rotate and tilt the camera, thereby expanding the camera's field of view. Combined with the needs of deep-sea exploration and technological development, deep-sea robot camera pan / tilt heads have come into being. This device combines underwater robots and pan / tilt head technology, and uses robots equipped with observation equipment such as pan / tilt heads and cameras to monitor and shoot the deep-sea environment in real time.

[0003] A Chinese invention patent with publication number CN217918370U discloses a deep-sea robot camera gimbal, comprising a sealed cabin, an inner top wall of the sealed cabin fixedly connected to a first motor, an output shaft of the first motor fixedly connected to a rotating frame, and a bottom end of the rotating frame fixedly connected to a rotating sealing ring; by arranging the first motor, the rotating sealing ring, the scraper, the transparent protective cover, the rotating ring and other components, through the mutual cooperation relationship between the rotating sealing ring component and the rotating ring component, the first motor component can rotate the scraper through the rotating sealing ring, thereby achieving the effect that the device can clean the adhesive on the surface of the screened transparent protective cover through the scraper, solving the problem that the deep-sea robot camera gimbal works in seawater, and there are more adhesives in the seawater. When these adhesives come into contact with the camera protective cover, they will adhere to the surface of the camera protective cover, thereby causing the problem of being unable to shoot.

[0004] However, the above-mentioned prior art lacks analysis of factors affecting the air tightness of the pan-tilt device. The influencing factors include external pressure. The influence of external pressure may make the judgment of the air tightness of the pan-tilt device inaccurate. In actual situations, the influence of factors such as external pressure on air tightness detection should be avoided as much as possible. Summary of the invention

[0005] The purpose of the present invention is to provide a deep-sea robot camera pan-tilt device and system to solve the technical problems in the above background.

[0006] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides a deep-sea robot camera pan-tilt device, comprising: Data acquisition module: acquires internal pressure data of the pan / tilt device, wherein the internal pressure data includes an internal pressure value; Detection signal generation module: based on the internal pressure value, obtain the internal pressure drop rate value, analyze based on the internal pressure drop rate value, and obtain the detection signal, the detection signal includes the detection abnormality signal and the detection normal signal; Abnormal period acquisition module: based on the detection of abnormal signals, analyze the internal pressure data to obtain the internal abnormal pressure reduction period and the internal normal pressure reduction period, and analyze the external pressure data, wherein the external pressure data includes the external pressure value, to obtain the external abnormal pressure period and the external normal pressure period; Time period coincidence analysis module: perform coincidence analysis on the internal abnormal pressure reduction period and the external abnormal pressure period to obtain the first coincidence period ratio YC, perform coincidence analysis on the internal normal pressure reduction period and the external abnormal pressure period to obtain the second coincidence period ratio EC, perform data processing based on the first coincidence period ratio YC and the second coincidence period ratio EC to obtain the coincidence influence value CY, and judge whether the external pressure is suspected of affecting the internal pressure drop based on the coincidence influence value CY, and if so, generate a suspected influence signal; External pressure impact determination module: Based on the suspected impact signal, the internal interval pressure difference and the external pressure mean corresponding to the overlap period are obtained, and based on the internal interval pressure difference and the external pressure mean corresponding to the overlap period, the change ratio variance difference is obtained through processing and analysis, and based on the change ratio variance difference, it is determined whether the external pressure is the cause of the abnormal internal pressure of the pan-tilt device.

[0007] As a further solution of the present invention: the internal pressure drop rate value is obtained in the following manner: The detection time is preset, and the internal pressure value detected at the end time point corresponding to the detection time is subtracted from the preset internal pressure value to obtain the internal pressure deviation value, and the internal pressure deviation value is ratioed with the detection duration corresponding to the detection time to obtain the internal pressure drop rate value.

[0008] As a further solution of the present invention: the detection signal is generated in the following manner: Compare the internal pressure drop rate value to the internal pressure drop rate threshold: If the internal pressure drop rate value is greater than the internal pressure drop rate threshold, a detection abnormality signal is generated; If the internal pressure drop rate value is less than or equal to the internal pressure drop rate threshold, a detection normal signal is generated.

[0009] As a further solution of the present invention: the internal abnormal pressure reduction period and the internal normal pressure reduction period are obtained in the following manner: Divide the detection time into several time nodes with equal time intervals, and mark them as the first time node, the second time node, ... the i-th time node in chronological order, where i represents the time node number; Obtain the internal interval pressure difference and the internal normal pressure difference at the i-th time node; Compare the internal interval pressure difference at the i-th time node with the internal normal pressure difference; If the internal interval pressure difference at the i-th time node is greater than the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal abnormal pressure reduction period; If the internal interval pressure difference at the i-th time node is less than or equal to the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal normal pressure reduction period.

[0010] As a further solution of the present invention: the internal interval pressure difference and the internal normal pressure difference at the i-th time node are obtained as follows: Obtain the internal pressure value corresponding to the inside of the pan / tilt device at each time node, perform a difference process on the internal pressure value corresponding to the i-th time node and the internal pressure value corresponding to the i-1-th time node, and take the absolute value thereof to obtain the internal interval pressure difference at the i-th time node; The internal normal pressure difference is obtained by multiplying the internal pressure drop rate threshold by the duration corresponding to the internal pressure drop period.

[0011] As a further solution of the present invention: the external abnormal pressure period and the external normal pressure period are obtained in the following manner: Mark the period between the i-th time node and the i-1-th time node as the interval period; Obtain the average external pressure during the interval period; comparing the external pressure mean with an external pressure threshold; If the external pressure mean is greater than the external pressure threshold, the corresponding interval period is marked as an external abnormal pressure period; If the external pressure mean is less than or equal to the external pressure threshold, the corresponding interval period is marked as an external normal pressure period.

[0012] As a further solution of the present invention: the method for obtaining the mean value of the external pressure during the interval period is: Divide the interval period into a number of time period nodes with equal time intervals; The external pressure value corresponding to each time period node is obtained, and the external pressure values ​​corresponding to all time period nodes in the interval period are summed and averaged to obtain the external pressure mean.

[0013] As a further solution of the present invention: the overlap influence value CY is obtained in the following manner: The first overlap period ratio YC and the second overlap period ratio EC are processed by the formula: The overlap influence value CY is calculated, where a1 and a2 are both preset proportional coefficients, and both a1 and a2 are greater than 0.

[0014] As a further solution of the present invention: the first overlap period ratio YC and the second overlap period ratio EC are obtained in the following manner: Count the number of overlapping periods between the internal abnormal pressure reduction period and the external abnormal pressure period, and mark them as the first overlapping period, count the number of the first overlapping period, and perform ratio processing with the number of the internal abnormal pressure reduction period to obtain the first overlapping period ratio YC; The number of overlapping periods between the internal normal pressure reduction period and the external abnormal pressure period is counted and marked as the second overlapping period. The number of the second overlapping periods is counted and ratioed with the number of the internal normal pressure reduction period to obtain the second overlapping period ratio EC.

[0015] As a further solution of the present invention: the variation ratio difference is obtained in the following manner: Obtain the corresponding internal interval pressure difference and external pressure mean value in the overlap period; The pressure difference change ratio is obtained by dividing the corresponding internal interval pressure difference in the overlap period by the corresponding external pressure mean in the overlap period; All pressure difference change ratios are integrated into a pressure difference change ratio data group, and the variance value of the pressure difference change ratio data group is obtained and marked as the change ratio variance value.

[0016] Beneficial effects of the present invention: The present invention obtains an internal pressure drop rate value based on the internal pressure value, and performs analysis based on the internal pressure drop rate value to obtain a detection signal, wherein the detection signal includes a detection abnormality signal and a detection normal signal. The present invention monitors the internal pressure and evaluates the detection result of the pan-tilt device according to the change of the internal pressure, so as to further judge whether there is external pressure within the detection time that causes the pressure drop rate of the pan-tilt device to be too fast, thereby affecting the generation of the detection abnormality signal; The present invention is based on detecting abnormal signals, analyzing the overlap between the internal abnormal pressure reduction period and the external abnormal pressure period to obtain a first overlap period ratio YC, analyzing the overlap between the internal normal pressure reduction period and the external abnormal pressure period to obtain a second overlap period ratio EC, performing data processing based on the first overlap period ratio YC and the second overlap period ratio EC to generate a suspected impact signal, obtaining the internal interval pressure difference and the external pressure mean corresponding to the overlap period based on the suspected impact signal, obtaining the change ratio variance value based on the internal interval pressure difference and the external pressure mean corresponding to the overlap period through processing and analysis, and determining whether the external pressure is the cause of the abnormal internal pressure of the pan-tilt device based on the change ratio variance value. The present invention determines whether the external pressure is the cause of the abnormal internal pressure change of the pan-tilt device by analyzing the overlap between the internal abnormal pressure reduction period and the internal normal pressure reduction period of the pan-tilt device and the external abnormal pressure period respectively, so as to avoid the influence of external pressure as much as possible when performing an air tightness test on the pan-tilt device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a flowchart of a deep-sea robot camera pan-tilt device according to an embodiment of the present invention; Figure 2 It is a flowchart of a method for obtaining an overlap influence value CY in a deep-sea robot camera pan-tilt device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0020] See also Figure 1-Figure 2 As shown, a deep-sea robot camera pan-tilt device according to an embodiment of the present invention includes the following modules: Data acquisition module: connect the booster pump to the pan-tilt device, boost the pan-tilt device through the booster pump, so that the internal pressure of the pan-tilt device reaches a preset internal pressure value, stop boosting when the internal pressure of the pan-tilt device reaches the preset internal pressure value, detect the internal pressure of the pan-tilt device through the pressure sensor, and obtain the internal pressure data of the pan-tilt device, wherein the internal pressure data includes the internal pressure value; It should be noted that the preset internal pressure value is set by those skilled in the art based on historical data; Detection signal generation module: based on the internal pressure value, obtain the internal pressure drop rate value, analyze based on the internal pressure drop rate value, and obtain the detection signal, the detection signal includes the detection abnormality signal and the detection normal signal; During the detection time, the internal pressure value detected at the end time point corresponding to the detection time is subtracted from the preset internal pressure value to obtain the internal pressure deviation value, and the internal pressure deviation value is ratioed with the detection duration corresponding to the detection time to obtain the internal pressure drop rate value; Compare the internal pressure drop rate value to the internal pressure drop rate threshold: If the internal pressure drop rate value is greater than the internal pressure drop rate threshold, a detection abnormality signal is generated; If the internal pressure drop rate value is less than or equal to the internal pressure drop rate threshold, a detection normal signal is generated; The technical solution of the embodiment of the present invention is mainly as follows: connecting a booster pump to a pan-tilt device, boosting the pan-tilt device through the booster pump so that the internal pressure of the pan-tilt device reaches a preset internal pressure value; when the internal pressure of the pan-tilt device reaches the preset internal pressure value, stopping the boosting; detecting the internal pressure of the pan-tilt device through a pressure sensor to obtain internal pressure data of the pan-tilt device, wherein the internal pressure data includes an internal pressure value; based on the internal pressure value, obtaining an internal pressure drop rate value; analyzing based on the internal pressure drop rate value to obtain a detection signal, the detection signal includes an abnormal detection signal and a normal detection signal. The present invention monitors the internal pressure and evaluates the detection result of the pan-tilt device according to the change in the internal pressure, so as to further determine whether there is external pressure within the detection time that causes the pressure drop rate of the pan-tilt device to be too fast, thereby affecting the generation of the abnormal detection signal. Example

[0021] See also Figure 1-Figure 2 As shown, based on Example 1, a deep-sea robot camera pan-tilt device according to an embodiment of the present invention further includes the following modules: Abnormal period acquisition module: based on the detection of abnormal signals, analyze the internal pressure data to obtain the internal abnormal pressure reduction period and the internal normal pressure reduction period, and analyze the external pressure data, wherein the external pressure data includes the external pressure value, to obtain the external abnormal pressure period and the external normal pressure period; Divide the detection time into several time nodes with equal time intervals, and mark them as the first time node, the second time node, ... the i-th time node in chronological order, where i represents the time node number; Obtain the internal pressure value corresponding to the inside of the pan / tilt device at each time node, perform a difference process on the internal pressure value corresponding to the i-th time node and the internal pressure value corresponding to the i-1-th time node, and take the absolute value thereof to obtain the internal interval pressure difference at the i-th time node; Compare the internal interval pressure difference at the i-th time node with the internal normal pressure difference; If the internal interval pressure difference at the i-th time node is greater than the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal abnormal pressure reduction period; If the internal interval pressure difference at the i-th time node is less than or equal to the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal normal pressure reduction period; The internal normal pressure difference is obtained by multiplying the internal pressure drop rate threshold by the duration corresponding to the internal pressure drop period; It should be noted that the internal voltage reduction period refers to the period between the i-th time node and the i-1-th time node; Mark the period between the i-th time node and the i-1-th time node as the interval period; Divide the interval period into a number of time period nodes with equal time intervals; Obtain the external pressure value corresponding to each time period node, sum and average the external pressure values ​​corresponding to all time period nodes within the interval period, and obtain the external pressure mean value; comparing the external pressure mean with an external pressure threshold; If the external pressure mean is greater than the external pressure threshold, the corresponding interval period is marked as an external abnormal pressure period; If the external pressure mean is less than or equal to the external pressure threshold, the corresponding interval period is marked as an external normal pressure period; Time period coincidence analysis module: perform coincidence analysis on the internal abnormal pressure reduction period and the external abnormal pressure period to obtain the first coincidence period ratio YC, perform coincidence analysis on the internal normal pressure reduction period and the external abnormal pressure period to obtain the second coincidence period ratio EC, perform data processing based on the first coincidence period ratio YC and the second coincidence period ratio EC to obtain the coincidence influence value CY, and judge whether the external pressure is suspected of affecting the internal pressure drop based on the coincidence influence value CY, and if so, generate a suspected influence signal; Count the number of overlapping periods between the internal abnormal pressure reduction period and the external abnormal pressure period, and mark them as the first overlapping period, count the number of the first overlapping period, and perform ratio processing with the number of the internal abnormal pressure reduction period to obtain the first overlapping period ratio YC; The number of overlapping periods between the internal normal pressure reduction period and the external abnormal pressure period is counted and marked as the second overlapping period. The number of the second overlapping periods is counted and compared with the number of the internal normal pressure reduction period to obtain the second overlapping period ratio EC. The first overlap period ratio YC and the second overlap period ratio EC are processed by the formula: The overlap influence value CY is calculated, where a1 and a2 are both preset proportional coefficients, and a1 and a2 are both greater than 0; Compare the coincidence impact value CY with the coincidence impact threshold: If the coincidence impact value CY is greater than the coincidence impact threshold, a suspected impact signal is generated; If the coincidence influence value CY is less than or equal to the coincidence influence threshold, it means that the external pressure is not the cause of the abnormal internal pressure of the gimbal device, and further analysis is needed on other influencing factors, including but not limited to temperature, internal components, etc.; External pressure impact determination module: based on the suspected impact signal, the internal interval pressure difference and the external pressure mean corresponding to the overlap period are obtained, based on the internal interval pressure difference and the external pressure mean corresponding to the overlap period, the change ratio variance difference is obtained by processing and analyzing, and based on the change ratio variance difference, it is determined whether the external pressure is the cause of the abnormal internal pressure of the pan / tilt device; Obtain the corresponding internal interval pressure difference and external pressure mean value in the overlap period; The pressure difference change ratio is obtained by dividing the corresponding internal interval pressure difference in the overlap period by the corresponding external pressure mean in the overlap period; Integrate all pressure difference change ratios into a pressure difference change ratio data group, obtain the variance value of the pressure difference change ratio data group, and mark it as the change ratio variance value; Compare the change ratio variance to the change ratio variance threshold: If the change ratio variance difference is greater than or equal to the change ratio variance difference threshold, it means that the external pressure abnormality is not the cause of the abnormal internal pressure of the gimbal device, and further analysis is needed on other influencing factors, including but not limited to temperature, internal components, etc.; If the change ratio variance difference is less than the change ratio variance difference threshold, it means that the external pressure abnormality is the cause of the internal pressure abnormality of the gimbal device; The technical solution of the embodiment of the present invention is mainly as follows: based on the detection of abnormal signals, the internal pressure data is analyzed to obtain the internal abnormal pressure reduction period and the internal normal pressure reduction period, the external pressure data is analyzed, wherein the external pressure data includes the external pressure value, the external abnormal pressure period and the external normal pressure period are obtained, the internal abnormal pressure reduction period and the external abnormal pressure period are analyzed for coincidence, the first coincidence period ratio YC is obtained, the internal normal pressure reduction period and the external abnormal pressure period are analyzed for coincidence, the second coincidence period ratio EC is obtained, data processing is performed based on the first coincidence period ratio YC and the second coincidence period ratio EC, the coincidence influence value CY is obtained, and the external Whether the pressure is suspected to affect the internal pressure drop, if so, a suspected influence signal is generated, based on the suspected influence signal, the internal interval pressure difference and the external pressure mean corresponding to the overlapping period are obtained, based on the internal interval pressure difference and the external pressure mean corresponding to the overlapping period, the change ratio variance difference is obtained through processing and analysis, and based on the change ratio variance difference, it is determined whether the external pressure is the cause of the abnormal internal pressure change of the pan-tilt device. The present invention determines whether the external pressure is the cause of the abnormal internal pressure change of the pan-tilt device by performing overlap analysis on the internal abnormal pressure reduction period and the internal normal pressure reduction period of the pan-tilt device and the external abnormal pressure period, so as to avoid the influence of external pressure as much as possible when performing air tightness test on the pan-tilt device.

[0022] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A deep-sea robot camera pan-tilt device, characterized in that: include: Data acquisition module: acquires internal pressure data of the pan / tilt device, wherein the internal pressure data includes an internal pressure value; Detection signal generation module: based on the internal pressure value, obtain the internal pressure drop rate value, analyze based on the internal pressure drop rate value, and obtain the detection signal, the detection signal includes the detection abnormality signal and the detection normal signal; Abnormal period acquisition module: based on the detection of abnormal signals, analyze the internal pressure data to obtain the internal abnormal pressure reduction period and the internal normal pressure reduction period, and analyze the external pressure data to obtain the external abnormal pressure period and the external normal pressure period, wherein the external pressure data includes the external pressure value; Time period coincidence analysis module: perform coincidence analysis on the internal abnormal pressure reduction period and the external abnormal pressure period to obtain the first coincidence period ratio YC, perform coincidence analysis on the internal normal pressure reduction period and the external abnormal pressure period to obtain the second coincidence period ratio EC, perform data processing based on the first coincidence period ratio YC and the second coincidence period ratio EC to obtain the coincidence influence value CY, and judge whether the external pressure is suspected of affecting the internal pressure drop based on the coincidence influence value CY, and if so, generate a suspected influence signal; External pressure impact determination module: Based on the suspected impact signal, the internal interval pressure difference and the external pressure mean corresponding to the overlap period are obtained, and based on the internal interval pressure difference and the external pressure mean corresponding to the overlap period, the change ratio variance difference is obtained through processing and analysis, and based on the change ratio variance difference, it is determined whether the external pressure is the cause of the abnormal internal pressure of the pan-tilt device.

2. A deep-sea robot camera pan-tilt device according to claim 1, characterized in that: The internal pressure drop rate value is obtained in the following manner: The detection time is preset, and the internal pressure value detected at the end time point corresponding to the detection time is subtracted from the preset internal pressure value to obtain the internal pressure deviation value, and the internal pressure deviation value is ratioed with the detection duration corresponding to the detection time to obtain the internal pressure drop rate value.

3. A deep-sea robot camera pan-tilt device according to claim 2, characterized in that: The detection signal is generated in the following manner: Compare the internal pressure drop rate value to the internal pressure drop rate threshold: If the internal pressure drop rate value is greater than the internal pressure drop rate threshold, a detection abnormality signal is generated; If the internal pressure drop rate value is less than or equal to the internal pressure drop rate threshold, a detection normal signal is generated.

4. A deep-sea robot camera pan-tilt device according to claim 1, characterized in that: The method for obtaining the internal abnormal pressure reduction period and the internal normal pressure reduction period is: Divide the detection time into several time nodes with equal time intervals, and mark them as the first time node, the second time node, ... the i-th time node in chronological order, where i represents the time node number; Obtain the internal interval pressure difference and the internal normal pressure difference at the i-th time node; Compare the internal interval pressure difference at the i-th time node with the internal normal pressure difference; If the internal interval pressure difference at the i-th time node is greater than the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal abnormal pressure reduction period; If the internal interval pressure difference at the i-th time node is less than or equal to the internal normal pressure difference, the period corresponding to the i-th time node and the i-1-th time node is marked as the internal normal pressure reduction period.

5. A deep-sea robot camera pan-tilt device according to claim 4, characterized in that: The internal interval pressure difference and the internal normal pressure difference at the i-th time node are obtained as follows: The internal pressure value corresponding to the i-th time node is subtracted from the internal pressure value corresponding to the i-1-th time node, and the absolute value is taken to obtain the internal interval pressure difference at the i-th time node; The internal normal pressure difference is obtained by multiplying the internal pressure drop rate threshold by the duration corresponding to the internal pressure drop period.

6. A deep-sea robot camera pan-tilt device according to claim 4, characterized in that: The external abnormal pressure period and the external normal pressure period are obtained in the following manner: Mark the period between the i-th time node and the i-1-th time node as the interval period; Obtain the average external pressure during the interval period; comparing the external pressure mean with an external pressure threshold; If the external pressure mean is greater than the external pressure threshold, the corresponding interval period is marked as an external abnormal pressure period; If the external pressure mean is less than or equal to the external pressure threshold, the corresponding interval period is marked as an external normal pressure period.

7. A deep-sea robot camera pan-tilt device according to claim 6, characterized in that: The method for obtaining the mean external pressure value during the interval is as follows: Divide the interval period into a number of time period nodes with equal time intervals; The external pressure value corresponding to each time period node is obtained, and the external pressure values ​​corresponding to all time period nodes in the interval period are summed and averaged to obtain the external pressure mean.

8. The deep-sea robot camera pan-tilt device according to claim 1, characterized in that: The overlap influence value CY is obtained as follows: The first overlap period ratio YC and the second overlap period ratio EC are processed by the formula: The overlap influence value CY is calculated, where a1 and a2 are both preset proportional coefficients, and both a1 and a2 are greater than 0.

9. A deep-sea robot camera pan-tilt device according to claim 8, characterized in that: The first overlap period ratio YC and the second overlap period ratio EC are obtained as follows: Count the number of overlapping periods between the internal abnormal pressure reduction period and the external abnormal pressure period, and mark them as the first overlapping period, count the number of the first overlapping period, and perform ratio processing with the number of the internal abnormal pressure reduction period to obtain the first overlapping period ratio YC; The number of overlapping periods between the internal normal pressure reduction period and the external abnormal pressure period is counted and marked as the second overlapping period. The number of the second overlapping periods is counted and ratioed with the number of the internal normal pressure reduction period to obtain the second overlapping period ratio EC.

10. The deep-sea robot camera pan-tilt device according to claim 1, characterized in that: The variation ratio difference is obtained in the following way: Obtain the corresponding internal interval pressure difference and external pressure mean value in the overlap period; The pressure difference change ratio is obtained by dividing the corresponding internal interval pressure difference in the overlap period by the corresponding external pressure mean in the overlap period; All pressure difference change ratios are integrated into a pressure difference change ratio data group, and the variance value of the pressure difference change ratio data group is obtained and marked as the change ratio variance value.

Images