Object in and out of water experimental system and method in deep sea area and image analysis method

Abstract

The embodiment of the present application provides a kind of deep sea area object water entry and exit experiment system, method and image analysis method, wherein, support assembly includes frame body and water tank, frame body includes top surface, and water tank is oppositely arranged with top surface;Experimental assembly includes lifting component, driving component and experimental body, lifting component is arranged on top surface, experimental body is connected to lifting component, driving component is connected to lifting component, and experimental body is driven to move along the first direction by driving lifting component;Wave making assembly is arranged in water tank, and includes wave making component and clutch component, wave making component is arranged in water tank, and clutch component is arranged between wave making component and driving component;Camera assembly includes lens, optical axis of lens is perpendicular to the first direction, and focus on the opening end of water tank.The deep sea area object water entry and exit experiment system, method and image analysis method provided by the embodiment of the present application aim to improve the controllability of wave generated when water experiment, and better carry out the dynamics research of deep sea area water entry and exit.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater dynamics analysis, test and application of objects, and particularly relates to a deep-sea object water-entry and water-exit test system and method and an image analysis method. BACKGROUND

[0002] In recent years, people have found that seabed metallic mineral resources are extremely attractive in terms of reserves and quality, and are expected to become alternative resources of land mineral resources. However, the complex occurrence conditions of various deep-sea minerals, the existing scientific and technological level and the multiple restrictions of the marine environment have posed severe challenges to deep-sea development. As the key equipment in deep-sea mining operations, robots determine whether the mining operations can run normally, and have become the focus of research.

[0003] The deep-sea net cage cleaning robot is a robot for cleaning the net cage at the bottom of the sea. The hydrodynamic research on the deep-sea net cage cleaning robot mainly aims at the water dynamic characteristics of deployment and recovery under wave conditions and the water dynamic problem of seabed travel, which affects the safety, stability of deployment and recovery and the reliability of normal work on the seabed. In terms of deployment conditions under wave conditions, the water entry of the deep-sea net cage cleaning robot is a typical multiphase flow problem. The water entry will produce a violent impact in an instant, and in the process from hitting the water surface to complete immersion, it is accompanied by the generation, development, closure and collapse of cavitation. If the actual wave load is considered, the water entry impact and kinematic behavior of the deep-sea net cage cleaning robot will be more complex. The hydrodynamic research on the water entry and exit of the deep-sea net cage cleaning robot can greatly improve the safety and stability of the deployment and recovery of the robot, provide protection for the normal work of the robot and reduce the risk of robot failure. Therefore, the research on the water entry and exit dynamics of the robot has important significance for the deep-sea mining industry.

[0004] At present, there are great challenges and difficulties in the research on the water entry and exit dynamics of the deep-sea net cage cleaning robot, and the test system for the same is also relatively lacking. First, it is difficult to observe the generation, development, closure and collapse of cavitation in the process of water entry and exit of the robot. Second, considering the actual situation, the impact and movement in the process of water entry and exit of the robot are relatively complex, and the research is relatively difficult. Therefore, the development of the water entry and exit test verification system for the deep-sea net cage cleaning robot has important value and significance, which can help researchers better understand the hydrodynamic behavior of deep-sea robots. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a deep-sea object water-entry and water-exit test system and method and an image analysis method, which can improve the controllability of the wave generation of the wave-making member in the water-exit experiment, and thus better perform the hydrodynamic research on the water entry and exit of objects in deep-sea areas.

[0006] In a first aspect, the embodiments of the present application provide a deep sea object water entry and exit experiment system, comprising a support assembly, an experiment assembly, a wave making assembly and a camera assembly, wherein the support assembly comprises a frame body and a water tank, the frame body comprises a top surface, the water tank is arranged opposite to the top surface along a first direction, and the water tank is open at one end, and the open end of the water tank is close to the top surface; the experiment assembly comprises a lifting member, a driving member and an experiment body, at least part of the lifting member is arranged on the top surface, the experiment body is connected to the lifting member, the driving member is connected to the lifting member and drives the lifting member to move the experiment body along the first direction so that the experiment body enters or exits the water tank through the open end of the water tank; the wave making assembly is arranged in the water tank and comprises a wave making member and a clutch member, the wave making member is arranged in the water tank, and the clutch member is arranged between the wave making member and the driving member and is used for engaging or disconnecting the driving member; the camera assembly comprises a lens, and the optical axis of the lens is perpendicular to the first direction and focuses on the open end of the water tank.

[0007] According to an embodiment of the first aspect of the present application, the wave making member comprises a rotating shaft and a wave making plate, and the two ends of the rotating shaft along the axial direction are connected to the water tank through two bearings respectively; the wave making assembly further comprises a transmission belt, the transmission belt is connected to the rotating shaft and the clutch member respectively, so that the power of the driving member is transmitted to the rotating shaft when the clutch member is engaged with the driving member.

[0008] According to an embodiment of the first aspect of the present application, the wave making member further comprises a wave absorbing plate, and the wave absorbing plate is arranged on at least one inner wall of the water tank.

[0009] According to an embodiment of the first aspect of the present application, the wave making assembly further comprises a sensor, the sensor is arranged in the water tank, the sensor is connected to the clutch member and is used for transmitting a control signal to the clutch member to control the clutch member to engage or disconnect the driving member.

[0010] According to an embodiment of the first aspect of the present application, the experiment assembly further comprises a holding member, the holding member is arranged on the top surface and holds the experiment body on the top surface; when the deep sea object water entry and exit experiment system is used for water entry experiment, the holding member can be controlled to release the experiment body.

[0011] According to an embodiment of the first aspect of the present application, the camera assembly further comprises a light source member, the light source member comprises a first light source, a second light source and a soft light piece, wherein the first light source is arranged at one end of the water tank close to the lens and illuminates into the water tank; the second light source is arranged at one end of the water tank away from the first light source and illuminates into the water tank; and the soft light piece is arranged at least on the side wall of the water tank close to the second light source.

[0012] According to one embodiment of the first aspect of the present application, the lifting member comprises a first fixed pulley, a second fixed pulley and a cable, wherein the first fixed pulley is mounted on the top surface; the second fixed pulley is mounted on the frame body and connected with the driving member; the cable is wound around the second fixed pulley and connected with the experimental body at one end after passing through the first fixed pulley.

[0013] In the second aspect, the embodiments of the present application further provide a method for water-entry and water-exit experiment of an object in a deep sea area, comprising the following steps:

[0014] Step S1: turn on the camera assembly to make the light source member emit light into the water tank;

[0015] Step S2: control the clutch member to engage with the driving member, and drive the wave-making member to work by the driving member;

[0016] Step S3: control the experimental assembly to make the experimental body free fall into the water tank along the first direction, and the camera assembly captures the first image information of the experimental body when entering the water;

[0017] Step S4: control the clutch member to disengage from the driving member, and wait for a unit time;

[0018] Step S5: control the driving member to work to pull the experimental body in the water tank upward along the first direction in reverse by the lifting member;

[0019] Step S6: after the sensor detects the experimental body, control the clutch member to engage with the driving member, and drive the wave-making member to work by the driving member;

[0020] Step S7: the camera assembly captures the second image information of the experimental body when exiting the water;

[0021] Step S8: analyze the first image information and the second image information collected to obtain the experimental result.

[0022] In the third aspect, the embodiments of the present application further provide an image analysis method for analyzing the first image information or the second image information, comprising the following steps:

[0023] Step S81: since the image output by the camera assembly is an RGB three-dimensional image, in order to improve the calculation speed of image processing, the first image information or the second image information captured by the camera assembly is converted from an RGB three-dimensional image to a two-dimensional gray image in this step, and the converted gray image includes the complete morphological characteristics of the experimental body; wherein, the calculation formula of the two-dimensional gray image f(x d ,y d ) is as follows:

[0024] f(x d ,y d ) = 0.298R + 0.587G + 0.144B.

[0025] wherein R, G, B represent the red, green and blue components of the original image respectively, y d and x d are the horizontal and vertical coordinates of the pixels of the image respectively, and satisfy {1≤x d ≤H, 1≤y d ≤W, x sub , y d ∈I}, H and W are the pixel values of the rows and columns of the image respectively, and I is a natural number set;

[0026] Step S82: Obtain a gray value difference matrix with less background noise; the calculation formula of the gray value difference matrix D sub (x d ,y d ) is as follows:

[0027] D sub (x d ,y d ) = B(x d ,y d ) - Y(x d ,y d );

[0028] wherein Y(x d ,y d ) is the original image matrix after the foregoing step S81 processing, and B(x d ,y d ) is the gray value matrix of the background image

[0029] Step S83: Suppress the smaller values in the gray value difference matrix and amplify the larger values to obtain an enhanced matrix of the gray value difference matrix; the calculation formula of the enhanced matrix D enh (x d ,y d ) is as follows:

[0030]

[0031] wherein p e and q e are constants;

[0032] Step S84: Obtain a binary matrix according to the enhanced matrix; specifically, first define a cutoff threshold f ν , and then obtain the binary matrix according to the cutoff threshold f ν and the enhanced matrix D enh (x d ,y d ); the calculation formula of the binary matrix D bin (x d ,y d ) is as follows:

[0033]

[0034] Among them, the pixels with a value of 1 in the binary matrix contain information about the cavitation morphology and the position of the experimental subject;

[0035] Step S85: Obtain a new image grayscale matrix that completely removes the background while preserving the complete cavitation morphology and the outline of the experimental object, wherein the new image grayscale matrix Y era (x d ,y d The calculation formula for ) is as follows:

[0036] Y era (x d ,y d )=Y(x d ,y d )·D bin (x d ,y d )+255[1-D bin (x d ,y d )];

[0037] Simultaneously, define the image background linear modulation function I. b (x d ,y d )as follows:

[0038] I b (x d ,y d )=(s b -e b )B(x d ,y d )+e b ;

[0039] Among them, s b =0.94 is the grayscale suppression coefficient, e b =0.7 is the grayscale enhancement factor;

[0040] Step S86: Obtain an image I with cleaned cavitation morphology and experimental specimen contours, free from background noise interference. p The calculation formula is as follows:

[0041] I p =Y(x d ,y d )·D bin (x d ,y d )+[1-D bin (x d ,y d )]·I b (xd y d ).

[0042] According to an embodiment of the second aspect of the present application, after obtaining the image of the cavitation shape and the experimental body contour cleaned and without background noise interference, the method further comprises the steps of S87 edge detection and S88 correction of refraction effect, wherein,

[0043] The step S87 edge detection comprises the following steps:

[0044] Step S871: using image rotation technology to process the original image, and segmenting a local image containing the experimental body according to the bottom surface and the side surface of the experimental body;

[0045] Step S872: performing k-order interpolation on the segmented image based on a second-order interpolation method;

[0046] Step S873: calculating the distribution of the detected edge points in the interpolated image according to the coordinates of the center points of the edge of the bottom surface of the experimental body, and the calculation formula is as follows:

[0047]

[0048] wherein, n det is the number of detection points on the edge of the robot, L inp is an estimated value of the length of the edge of the robot in the interpolated image; and L inp is calculated according to the following formula:

[0049]

[0050] The step S88 correction of refraction effect comprises the following steps:

[0051] Assuming that the experimental body makes a planar three-dimensional motion after entering the water, the following formula is used to correct the coordinates of the center position of the experimental body affected by refraction:

[0052]

[0053] wherein, l c is the distance from the lens of the high-speed camera of the camera to the wall of the water tank, l t is the distance from the axis of the robot to the wall of the water tank, s measure is the distance from the coordinates of the detection point to the center position of the camera lens, s real is the actual pixel distance of the detection coordinate point, and n is the refractive index of water.

[0054] The beneficial effect of the present application is that by setting the wave making assembly including the wave making component and the clutch component, the clutch component is set between the wave making component and the driving component and is used to engage or disconnect the driving component, so that the movement of the wave making component can be associated with the movement of the lifting component. When the water entry experiment is carried out, the movement of the wave making component can be associated with the movement of the driving component by the engagement of the clutch component and the driving component. When the water exit experiment is carried out, the movement of the wave making component can be associated with the movement of the driving component through the lifting component to drive the experimental body to move up and down. The purpose of making waves only when the water exit experiment is carried out can reduce the energy waste of the wave making component in the non-experiment stage, and on the other hand, it can reduce the superposition of water waves in the water tank, destroy the complete waveform of the water waves, and improve the accuracy and reliability of the experiment. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0056] Figure 1 is a schematic diagram of the three-dimensional structure of the deep sea object water entry and exit experiment system provided by the first aspect of the present application;

[0057] Figure 2 is a schematic diagram of the three-dimensional structure of part of the structure of the deep sea object water entry and exit experiment system provided by the first aspect of the present application;

[0058] Figure 3 is a schematic diagram of the three-dimensional structure of part of the structure of the experimental assembly of the deep sea object water entry and exit experiment system provided by the first aspect of the present application;

[0059] Figure 4 is a step block diagram of the deep sea object water entry and exit experiment method provided by the second aspect of the present application;

[0060] Figure 5 is the first image information obtained by the deep sea object water entry and exit experiment method provided by the second aspect of the present application;

[0061] Figure 6 is the second image information obtained by the deep sea object water entry and exit experiment method provided by the second aspect of the present application.

[0062] In the figure, 100, a deep sea object water entry and exit experiment system; 10, a support assembly; 11, a frame body; 111, a top surface; 12, a water tank; 121, an open end; 20, an experiment assembly; 21, a lifting member; 211, a first fixed pulley; 212, a second fixed pulley; 22, a driving member; 23, an experimental body; 24, a retaining member; 31, a wave making member; 312, a wave making board; 32, a clutch member; 33, a transmission belt; 331, a first belt body; 332, a second belt body; 34, a wave absorbing board; 35, a sensor; 36, a speed reducer; 40, a camera assembly; 41, a lens; 42, a light source member; 421, a first light source; 422, a second light source; 423, a soft light piece; X, a first direction. DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0064] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as those commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms “include” and “have” and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover not exclusive inclusion. The terms “first”, “second” and the like in the specification and claims of the present application and the above description of drawings are used to distinguish different objects, not to describe a particular order or primary and secondary relationship.

[0065] In the present application, “embodiments” are mentioned, which means that the specific features, structures or properties described in combination with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiments, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0066] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connected", "connection", "attach" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0067] The term "and / or" in the present application is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in the present application generally represents that the front and rear associated objects have an "or" relationship.

[0068] The "multiple" appearing in the present application refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0069] Figure 1 is a schematic diagram of the three-dimensional structure of the deep sea object water entry and exit experiment system provided by the first aspect of the present application; Figure 2 is a schematic diagram of the three-dimensional structure of the partial structure of the experiment assembly in the deep sea object water entry and exit experiment system provided by the first aspect of the present application; Figure 3 is a schematic diagram of the three-dimensional structure of the partial structure of the deep sea object water entry and exit experiment system provided by the first aspect of the present application.

[0070] As Figures 1 to 3As shown, the embodiment of the present application provides a deep sea object water entry and exit experiment system 100, which comprises a support assembly 10, an experiment assembly 20, a wave making assembly and a camera assembly 40. The support assembly 10 comprises a frame body 11 and a water tank 12. The frame body 11 comprises a top surface 111. The water tank 12 is oppositely arranged with the top surface 111 along a first direction X. The water tank 12 is open at one end. The open end 121 of the water tank 12 is close to the top surface 111. The experiment assembly 20 comprises a lifting member 21, a driving member 22 and an experiment body 23. At least part of the lifting member 21 is arranged on the top surface 111. The experiment body 23 is connected to the lifting member 21. The driving member 22 is connected to the lifting member 21 and drives the lifting member 21 to drive the experiment body 23 to move along the first direction X, so that the experiment body 23 enters or exits the water tank 12 through the open end 121 of the water tank 12. The wave making assembly is arranged in the water tank 12 and comprises a wave making member 31 and a clutch member 32. The wave making member 31 is arranged in the water tank 12. The clutch member 32 is arranged between the wave making member 31 and the driving member 22 and is used for engaging or disconnecting the driving member 22. The camera assembly 40 comprises a lens 41. The optical axis of the lens 41 is perpendicular to the first direction X and is focused on the open end 121 of the water tank 12.

[0071] The deep sea object water entry and exit experiment system 100 is an experiment system. It is mainly aimed at the deep sea. The object is thrown into the sea from a ship for water entry experiment and pulled out of the water for water exit experiment, so as to study the water entry and exit dynamics of the object.

[0072] The support assembly 10 is an external frame of the deep sea object water entry and exit experiment system 100, which is used to form the overall frame of the experiment system and support other components.

[0073] In the embodiments of the present application, the support assembly 10 comprises the frame body 11 and the water tank 12. The frame body 11 is mainly used to support the experiment assembly 20 and the wave making assembly of the deep sea object water entry and exit experiment system 100, so as to provide a stable and good working environment for the experiment assembly 20 and the wave making assembly. The water tank 12 is used to contain water to simulate the sea level with the wave making assembly.

[0074] Exemplarily, in the embodiments of the present application, the material of the frame body 11 can be selected as the European standard aluminum profile, so that the frame body 11 has good support strength and improves the stability of the deep sea object water entry and exit experiment system 100 during the experiment. The water tank 12 can be made of super white glass.

[0075] In some embodiments of the present application, the side plate thickness of the water tank 12 can be set to 0.010m to 0.015m, and the light transmittance is not less than 92%, so that the water tank 12 can carry a sufficient amount of water while having good light transmittance to facilitate the camera assembly 40 to shoot. In these embodiments of the present application, the water in the water tank 12 can also be saltwater to better simulate the seawater environment.

[0076] The frame body 11 includes a top surface 111, and the water tank 12 is arranged opposite to the top surface 111 along a first direction X. In a possible implementation, the first direction X is a vertical direction, and the top surface 111 is arranged opposite to the water tank 12 along the first direction X, so that the experimental body 23 installed to the top surface 111 through the lifting member 21 can make free fall motion to the water tank 12 under the action of gravity, to simulate the process of the robot being thrown from the ship to the deep sea.

[0077] In these embodiments of the present application, the top surface 111 mainly serves as a support. In some embodiments, the top surface 111 can be a frame structure formed by the aforementioned European standard aluminum profiles. In some embodiments, the top surface 111 can also be an overall flat plate structure. The above can be selected according to actual conditions.

[0078] The water tank 12 is open at one end, and the open end 121 of the water tank 12 is close to the top surface 111. This means that in these embodiments of the present application, the top surface 111 cooperates with the water tank 12 to form the basic structure of the object in-and-out-of-water experiment, and the open end 121 of the water tank 12 is close to the top surface 111, so that the experimental body 23 can enter and exit the water tank 12 along the first direction X under the cooperation of the lifting member 21 and the driving member 22, thereby completing the object in-and-out-of-water experiment.

[0079] For example, in these embodiments of the present application, the experimental body 23 can be set as an experimental model of a net cage cleaning robot. Specifically, the experimental body 23 can be made of photosensitive resin through 3D printing, and the density of the experimental body 23 can be controlled to be 1.15g / cm3. After the outer surface is polished, a self-drying hydrophobic PTFE solvent is applied, so as to simulate the net cage cleaning robot by using the experimental body 23, and obtain the in-and-out-of-water hydrodynamic behavior law of the net cage cleaning robot.

[0080] The experimental assembly 20 is the main structure for conducting the in-and-out-of-water experiment. In these embodiments of the present application, the experimental assembly 20 includes the lifting member 21, the driving member 22, and the experimental body 23. The lifting member 21 is a transmission structure. For example, in these embodiments of the present application, the lifting member 21 can be set as a pulley block. The driving member 22 serves to drive the lifting member 21 to work. The experimental body 23 is connected to the lifting member 21 and can move with the lifting member 21 under the driving action of the driving member 22.

[0081] At least part of the lifting member 21 is arranged on the top surface 111, which means that one end of the lifting member 21 for connecting the experimental body 23 is arranged on the top surface 111, so that the experimental body 23 can enter and exit the water tank 12 along the first direction X when the water entering and exiting experiment is performed, which is convenient for subsequent experimental data analysis.

[0082] Exemplarily, in the embodiments of the present application, the part of the lifting member 21 can be arranged at the center position of the top surface 111.

[0083] The experimental body 23 is connected to the lifting member 21, and the possible implementation manner is that the lifting member 21 and the experimental body 23 are detachably connected, so that different experimental bodies 23 can be installed by disassembly, so as to realize the water entering and exiting experiment for different experimental bodies 23.

[0084] The driving member 22 is connected to the lifting member 21 and drives the lifting member 21 to drive the experimental body 23 to move along the first direction X, so that the experimental body 23 enters and exits the water tank 12 through the opening end 121 of the water tank 12. The possible implementation manner is that the driving member 22 is installed on the lifting member 21 to drive the lifting member 21 to move towards both ends along the first direction X; in some embodiments, the driving member 22 can also be fixedly connected to the lifting member 21 to improve the consistency between the driving member 22 and the lifting member 21.

[0085] In the embodiments of the present application, at least part of the lifting member 21 needs to move along the first direction X during the operation, so that the experimental body 23 can enter and exit the water tank 12 along the first direction X under the driving of the lifting member 21, and the water entering and exiting experiment of the experimental body 23 can be completed.

[0086] The wave making assembly is arranged in the water tank 12, which means that the structure for stirring the water in the water tank 12 to form waves in the water tank 12 is arranged in the water tank 12.

[0087] The wave making assembly includes a wave making member 31 and a clutch member 32, wherein the wave making member 31 is a member for stirring the water in the water tank 12 to realize the wave making function, and in the embodiments of the present application, the wave making member 31 can be arranged as a multi-plate structure with a rotating shaft. When the wave making is needed, the multi-plate structure can be driven to rotate in the water body through the rotation of the rotating shaft, so as to stir the water body to form waves.

[0088] The clutching member 32 can be regarded as a switch of the wave making member 31. When the wave making member 31 needs to work, the wave making member 31 can be connected with the driving member 22 through the clutching member 32, so that the driving member 22 can drive the wave making member 31 to move. When the wave making member 31 does not need to work, the wave making member 31 can be disconnected with the driving member 22 through the clutching member 32, so that the wave making member 31 stops working.

[0089] Exemplarily, in the embodiments of the present application, the part structure of the clutching member 32 can be a gear structure, the part structure of the driving member 22 can also be a gear structure, and the axial directions of the two gear structures are parallel to each other. In this way, when the clutching member 32 needs to be engaged with the driving member 22, one of the two gear structures can be moved along the axial direction to make the two gear structures mesh with each other, so that the driving member 22 drives the clutching member 32 to move.

[0090] In some embodiments, the part structure of the clutching member 32 can also be a rotating shaft structure, and the rotating shaft structure is coaxially arranged with the output shaft of the driving member 22. In this way, the rotating shaft structure of the clutching member 32 can be driven to move along the axial direction to realize the connection or disconnection with the output shaft of the driving member 22, so as to realize the engagement or disengagement between the clutching member 32 and the driving member 22.

[0091] Exemplarily, in the embodiments of the present application, the clutching member 32 can be a friction clutch. Through the arrangement of the clutching member 32, the wave making member 31 can be connected with the driving member 22 at an appropriate time, that is, the timing of wave generation can be better controlled. In this way, the probability of irregular wave shape in the water tank 12 can be reduced, so that the wave can be generated only when the experimental body 23 is close to entering or leaving the water, which is beneficial to the research on the dynamics of the experimental body 23 under various special wave shapes.

[0092] The wave making member 31 is arranged in the water tank 12, which means that the whole structure of the wave making member 31 is immersed in the water body of the water tank 12, so as to improve the stirring effect of the wave making member 31 on the water body when the wave making member 31 works.

[0093] The clutching member 32 is arranged between the wave making member 31 and the driving member 22 in the connection relationship, that is, the wave making member 31 can be connected with the driving member 22 through the clutching member 32 to work under the driving action of the driving member 22. In the spatial relationship, the clutching member 32 can be arranged close to the driving member 22 to facilitate the engagement or disengagement with the driving member 22.

[0094] The camera assembly 40 comprises a lens 41, the optical axis of which is perpendicular to the first direction X and focuses on the open end 121 of the water tank 12, aiming to capture clear image information of the experimental body 23 in the water entry or water exit stage.

[0095] In the embodiments of the present application, the lens 41 can be, but is not limited to, the lens of a high-speed camera or the lens of a high-speed camera.

[0096] The optical axis of the lens 41 is perpendicular to the first direction X, so that the image information can be reflected to the lens 41 along the direction parallel to the optical axis, reducing the deformation of the image information, and thus obtaining more real experimental body 23 water entry or water exit image information.

[0097] The lens 41 focuses on the open end 121 of the water tank 12, which means that in the embodiments of the present application, the water in the water tank 12 is sufficient and fills the open end 121 of the water tank 12, so that the position of the experimental body 23 entering or exiting the water can be captured by adjusting the orientation of the lens 41 and the position of the focal point using the camera assembly 40.

[0098] For example, in the embodiments of the present application, the orientation of the lens 41 can be adjusted so that the horizontal plane of the water in the water tank 12 is located in the middle of the image information collected, so that clear and complete images of water droplets, bubbles and experimental body 23 can be captured in the water entry or water exit experiment.

[0099] The deep sea object water entry and exit experiment system 100 according to the embodiments of the present application comprises a wave making assembly including a wave making member 31 and a clutch member 32, the clutch member 32 is arranged between the wave making member 31 and the driving member 22 and is used to engage or disengage the driving member 22, so that the movement of the wave making member 31 can be linked with the movement of the lifting member 21, in the water entry experiment, the movement of the wave making member 31 can be linked with the movement of the driving member 22 by engaging the clutch member 32 with the driving member 22; in the water exit experiment, the movement of the wave making member 31 can be linked with the movement of the driving member 22 through the lifting member 21 to drive the experimental body 23 to ascend and descend, so that the experimental body 23 can be waved only when it is close to the water exit in the water exit experiment, which can reduce the superposition of water waves in the water tank, reduce the possibility of water wave superposition destroying the complete waveform of the water wave, and thus can be used for water entry or water exit experiment of different waveforms, improving the accuracy and reliability of the experiment, and reducing the energy waste of the wave making member 31 in the non-experiment stage.

[0100] According to one embodiment of the first aspect of the present application, the wave making component 31 comprises a rotating shaft (not shown in the figure) and a wave making plate 312, the rotating shaft is connected to the water tank 12 through two bearings at its two axial ends respectively; the wave making assembly further comprises a transmission belt 33, the transmission belt 33 is connected to the rotating shaft and the clutch component 32 respectively, so as to transmit the power of the driving component 22 to the rotating shaft when the clutch component 32 is engaged with the driving component 22.

[0101] In the embodiments of the present application, the rotating shaft can be arranged vertically to the first direction X, so that the rotating shaft is connected to the pair of opposite side walls of the water tank 12 through two bearings at its two axial ends respectively, and the wave making plate 312 is connected to the rotating shaft, so that the rotating shaft can drive the wave making plate 312 to rotate to make waves.

[0102] The wave making assembly further comprises a transmission belt 33, the transmission belt 33 is connected to the rotating shaft and the clutch component 32 respectively, so as to transmit the power of the driving component 22 to the rotating shaft when the clutch component 32 is engaged with the driving component 22, wherein the transmission belt 33 is used to transmit the power of the clutch component 32 (obtained from the driving component 22 in the engaged state) to the rotating shaft, so that the rotating shaft can move under the action of the driving component 22, thereby realizing the effect of making waves.

[0103] According to one embodiment of the first aspect of the present application, the wave making assembly further comprises a wave absorbing plate 34, the wave absorbing plate 34 is arranged on at least one inner wall of the water tank 12.

[0104] The wave absorbing plate 34 is arranged on at least one inner wall of the water tank 12, and possible implementation is that the wave absorbing plate 34 can be arranged on the inner wall of the end of the water tank 12 opposite to the wave making component 31, so as to absorb the energy of the water waves at this position, reduce the rebound effect of the water waves after contacting the inner wall of the water tank 12, and increase the stability of the water body fluctuation made by the wave making component 31.

[0105] Exemplarily, in some embodiments of the present application, the wave absorbing plate 34 can be arranged in a mesh structure to reduce the rebound performance of the water waves by using the mesh structure; in some embodiments, the wave absorbing plate 34 can also be arranged in a porous structure to absorb the impact energy of the water waves, which can also reduce the impact energy of the water waves.

[0106] The wave absorbing plate 34 can be arranged on the inner wall of the water tank 12 by means of bonding, but is not limited thereto.

[0107] In some embodiments of the present application, the wave-absorbing plates 34 can be arranged on the inner walls of the water tank 12 except the side close to the camera assembly 40 to improve the stability of the water body and improve the efficiency of the simultaneous water-entry experiment and water-exit experiment of the deep-sea object water-entry and exit experiment system 100. That is, after the image information collection of the water-entry experiment of the deep-sea object water-entry and exit experiment system 100 is completed, the water body can recover to calm in a short time, and then the water-exit experiment can be performed in a short time.

[0108] Based on this, in the embodiments of the present application, the wave-absorbing plates 34 can be used in cooperation with the clutch member 32 in the wave-making assembly 30. On the one hand, the wave-making member 31 can be started by the clutch member 32 when the experimental body 23 is close to the water surface during the water-entry or water-exit experiment, which can reduce the superposition of waves in the water tank 12. On the other hand, the wave-absorbing plates 34 can absorb the impact of waves on the inner walls of the water tank 12, reduce the rebound impact energy of the waves, and make the water tank 12 recover to calm faster after the water-entry experiment, so as to quickly perform the water-exit experiment, improve the overall efficiency of the water-entry and exit experiment of the experimental body 23, and improve the accuracy and reliability of the experimental data.

[0109] According to an embodiment of the first aspect of the present application, the wave-making assembly further comprises a sensor 35 arranged in the water tank 12, the sensor 35 is connected with the clutch member 32 and used to transmit a control signal to the clutch member 32 to control the engagement or disengagement of the clutch member 32 and the driving member 22.

[0110] The sensor 35 is used to sense the position of the experimental body 23. In the embodiments of the present application, the sensor 35 is connected with the clutch member 32 and used to transmit a control signal to the clutch member 32 to control the engagement or disengagement of the clutch member 32 and the driving member 22. That is, during the water-exit experiment of the experimental body 23, the driving member 22 can be used to drive the lifting member 21 to pull the experimental body 23 in the water tank 12 to move along the first direction X towards the opening end 121. When the sensor 35 senses the experimental body 23, the sensor 35 can send a control signal to the clutch member 32 to control the clutch member 32 to engage with the driving member 22, so that the wave-making member 31 can move with the driving member 22 to make waves, to form a wave environment simulating a deep-sea area before the experimental body 23 exits the water, and then complete the image information collection of the water-exit experiment of the experimental body 23.

[0111] In the embodiments of the present application, the wave generating component 31 can be controlled to start generating waves only when the experimental body 23 is adjacent to the water surface during the water entry experiment, and the wave form suitable for the experiment can be generated by controlling the wave generating component 31, so as to reduce the influence of the water wave on the designed wave form after the water wave rebounds on the side wall, facilitate the control of the experimental variables, and improve the reliability and accuracy of the experiment. At the same time, in the embodiments of the present application, the movement of the wave generating component 31 can be reduced, and the consumption of energy can be reduced, which is more economical and environmentally friendly.

[0112] For example, in some embodiments of the present application, the sensor 35 can be, but is not limited to, an infrared sensor or a visual sensor.

[0113] It should be noted that in some embodiments of the present application, the wave generating assembly can also include a speed reducer 36, and the transmission belt 33 can include a first belt body 331 connected with the clutching component 32 and a second belt body 332 connected with the wave generating component 31. The speed reducer 36 is a multi-gear structure and is connected with the first belt body 331 and the second belt body 332 respectively.

[0114] According to one embodiment of the first aspect of the present application, the experimental assembly 20 further includes a holding component 24 arranged on the top surface 111 and holding the experimental body 23 at a position on the top surface 111. When the water entry experiment is performed by using the deep-sea object water entry and exit experiment system 100, the holding component 24 can be controlled to release the experimental body 23.

[0115] The holding component 24 functions to control the experimental body 23 at a position on the top surface 111 before the water entry experiment starts, and release the experimental body 23 after the water entry experiment starts, so that the experimental body 23 can freely fall into the water body of the water tank 12 along the first direction X.

[0116] The holding component 24 is arranged on the top surface 111, and in some embodiments, the holding component 24 can be fixedly connected with part of the lifting component 21, so that the holding component 24 and the lifting component 21 will not deviate too much in the direction perpendicular to the first direction X, reducing the possibility that the lifting component 21 will affect the experimental body 23 when the experimental body 23 is in free fall.

[0117] In some embodiments of the present application, the holding component 24 can be a combination structure of a hook structure and a pneumatic finger, so as to mount the experimental body 23 by using the hook structure, and release the experimental body 23 by using the pneumatic finger. In some embodiments, the holding component 24 can also be a clamping jaw structure, which can clamp the experimental body 23 before the water entry experiment, and release the experimental body 23 after the water entry experiment, so that the released experimental body 23 can perform free fall along the first direction X.

[0118] For example, in an embodiment where the lifting member 21 is a pulley block, a fixed pulley in the lifting member 21 can be set at the top surface 111. The cable of the lifting member 21 passes through the fixed pulley and points towards the water tank 12 in the first direction X. At this time, a retaining member 24 can be set close to the fixed pulley and fixed to other structures of the lifting member 21. In this way, the experimental body 23 is held at the top surface 111 position by using the retaining member 24.

[0119] According to an embodiment of the first aspect of this application, the camera assembly 40 further includes a light source component 42, which includes a first light source 421, a second light source 422, and a diffuser 423. The first light source 421 is disposed near the lens 41 at one end of the water tank 12 and illuminates the water tank 12. The second light source 422 is disposed at the end of the water tank 12 away from the first light source 421 and illuminates the water tank 12. The diffuser 423 is disposed at least on the side wall of the water tank 12 near the second light source 422.

[0120] The first light source 421 is positioned near the lens 41 at one end of the water tank 12 and illuminates the water tank 12; the second light source 422 is positioned at the end of the water tank 12 away from the first light source 421 and illuminates the water tank 12. That is, the first light source 421 and the second light source 422 illuminate the water tank 12 from both ends of the water tank 12, so that experiments can be carried out under different external lighting conditions, reducing the requirements of the experiment on ambient lighting and improving the convenience of the deep-sea object entry and exit water experiment system 100.

[0121] For example, in some embodiments of this application, the first light source 421 near the lens 41 can be a floodlight, and the second light source 422 away from the lens 41 can be an LED light source matrix. At the same time, the diffuser 423 is at least disposed on the side wall of the water tank 12 near the second light source 422 to enhance the uniformity of the background light source and thereby improve the clarity of the image information.

[0122] In these embodiments of the present application, the number of first light source 421 and second light source 422 can be set to multiple, so that multiple first light source 421 and multiple second light source 422 can be used together to illuminate the water tank 12, which improves reliability.

[0123] According to an embodiment of the first aspect of this application, the lifting component 21 includes a first fixed pulley 211, a second fixed pulley 212, and a cable (not shown). The first fixed pulley 211 is installed on the top surface 111; the second fixed pulley 212 is installed on the frame 11 and is connected to the driving component 22; the cable is wound around the second fixed pulley 212, and one end passes through the first fixed pulley 211 and is connected to the experimental body 23.

[0124] In the embodiments of the present application, the lifting member 21 is a combination of a pulley block and a cable, wherein the first fixed pulley 211 is installed on the top surface 111, i.e., the part of the lifting member 21 connected to the top surface 111; and the second fixed pulley 212 is the part of the lifting member 21 used for winding the cable, wherein the rotation axis of the second fixed pulley 212 should be parallel to the rotation axis of the first fixed pulley 211.

[0125] The second fixed pulley 212 is connected to the driving member 22, and the possible implementation is that the driving member 22 is a motor whose axis is in line with the axis of the second fixed pulley 212, and the output shaft of the motor is connected to the axis of the second fixed pulley 212. In this way, the second fixed pulley 212 can be driven to rotate by the driving member 22, so as to realize the recovery and release of the cable, and then the experimental body 23 can be recovered and released through the cable.

[0126] In some embodiments, a lifting structure can also be arranged between the top surface 111 and other components of the frame 11, so as to adjust the distance between the top surface 111 and the water tank 12. In this way, the distance between the experimental body 23 and the water tank 12 before the water entry experiment can be adjusted through the lifting structure.

[0127] In some embodiments, a force sensor can also be arranged on the cable, so as to record the pulling load acting on the cable in real time during the water exit experiment, so as to better perform the water exit mechanics experiment on the experimental body 23.

[0128] Figure 4 is a step block diagram of the method for the object in the deep sea area to enter and exit the water provided by the second aspect of the present application; Figure 5 is the first image information obtained by the method for the object in the deep sea area to enter and exit the water provided by the second aspect of the present application; Figure 6 is the second image information obtained by the method for the object in the deep sea area to enter and exit the water provided by the second aspect of the present application.

[0129] As Figures 1 to 6 shown, the present application further provides a method for the object in the deep sea area to enter and exit the water, which comprises the following steps:

[0130] Step S1: Turn on the camera assembly 40, so that the light source member 42 illuminates into the water tank 12;

[0131] Step S2: Control the clutch member 32 to engage with the driving member 22, and drive the wave making member 31 to work by using the driving member 22;

[0132] Step S1 and Step S2 are the preparation steps for the method for the object in the deep sea area to enter and exit the water, wherein in Step S1, the number of the light source member 42 can be increased, or the illumination angle of the light source member 42 can be adjusted, so as to obtain the best illumination condition.

[0133] It should be noted that in the embodiments of the present application, the clutching member 32 is first controlled to engage with the driving member 22 to enable the wave making member 31 to work under the driving action of the driving member 22. Based on this, in the embodiment in which the lifting member 21 is a pulley block, before the water entry experiment is performed, the wave making member 31 can be first driven to move by the driving member 22 to agitate the water body in the water tank 12 to form waves, at the same time, the driving member 22 will also drive the pulley block to rotate to relax the cable connected to the experimental body 23 (at this time, although the cable is relaxed, the experimental body 23 is still held by the holding member 24), in this way, when the experimental body 23 is subsequently released, the influence of the cable on the free fall of the experimental body 23 can be reduced, and the stability and reliability of the water entry experiment are improved.

[0134] Step S3: Control the experimental assembly 20 to make the experimental body 23 free fall into the water tank 12 along the first direction X, and the camera assembly 40 shoots to obtain first image information of the experimental body 23 when entering the water;

[0135] In this step, the control of the experimental assembly 20 to make the experimental body 23 free fall into the water tank 12 along the first direction X means that the holding member 24 of the experimental assembly 20 is controlled to stop the holding action on the experimental body 23, so that the experimental body 23 free falls into the water tank 12 after losing the holding force.

[0136] The high-speed camera or high-speed video camera in the camera assembly 40 records the whole process before and after the experimental body 23 enters the water.

[0137] Step S4: Control the clutching member to disengage with the driving member, and wait for a unit time;

[0138] In the embodiments of the present application, the clutching member is controlled to disengage with the driving member, so that in the initial stage of the subsequent water exit experiment, the driving member 22 can be used to control the lifting member 21 alone, so that in the initial stage of the water exit experiment, the experimental body 23 can be moved along the first direction X to the water surface under the driving action of the lifting member 21.

[0139] In the embodiments of the present application, the unit time can be waited for after the experimental body 23 sinks to the bottom of the water tank 12, so that the waves generated by the wave making member 31 in the foregoing water entry experiment can be dissipated, and the water body can be restored to calm before the water exit experiment is performed.

[0140] For example, in some embodiments of the present application, the unit time can be but is not limited to 30s, 60s, 120s or 180s.

[0141] Step S5: Control the driving member 22 to work to pull the experimental body 23 in the water tank 12 along the first direction X in the reverse direction by the lifting member 21;

[0142] In the embodiments of the present application, the driving member 22 can be controlled to move in the reverse direction (opposite to the direction during the water entry experiment) to drive the cable to be retracted, and thus drive the experimental body 23 to move in the first direction X towards the water surface.

[0143] Step S6: After the sensor 35 detects the experimental body 23, the control clutch member 32 is engaged with the driving member 22, and the driving member 22 drives the wave making member 31 to work.

[0144] In the embodiments of the present application, the sensor 35 can be an infrared sensor or a visual sensor, so as to sense the position of the experimental body 23 by using the sensor 35. In this way, the wave making member 31 can be driven to work when the experimental body 23 is close to the water surface, which can reduce the risk of mutual influence between multiple waves generated by the wave making member 31, and can improve the stability of the water environment, reduce the waste of energy of the wave making member 31, and be more economical and environmental friendly.

[0145] It should be noted that, in some embodiments of the present application, the wave making assembly can further include a speed reducer 36, and the transmission belt 33 can include a first belt body 331 connected with the clutch member 32 and a second belt body 332 connected with the wave making member 31. The speed reducer 36 is a multi-gear structure and is connected with the first belt body 331 and the second belt body 332 respectively.

[0146] In this way, during the water exit experiment, the speed and period of the wave making member 31 can be adjusted by the speed reducer 36 without affecting the driving member 22, so as to form different wave patterns in the water tank 12, and enable the experimental body 23 to perform the water exit experiment in various wave environments.

[0147] Step S7: The camera assembly 40 captures the second image information of the experimental body 23 during the water exit experiment.

[0148] Step S8: The first image information and the second image information are analyzed to obtain the experimental result.

[0149] According to the object in-water and out-of-water experiment method provided by the second aspect of the present application, a more realistic sea surface water environment can be simulated in the laboratory, especially when the out-of-water experiment is performed, the wave is generated when the experimental body 23 is close to the water surface, the suitable wave form can be generated by controlling the wave generating component 31, and the reliability and accuracy of the experiment can be improved. At the same time, due to the existence of the wave generating component 31, the experimental body 23 can be affected by the real wave, thereby simulating the influence of the wave force on the robot in the actual marine environment, so that the experimental results are closer to the actual application scene. By setting the speed reducer 36, the parameters of the wave in the experiment (such as wave height, wave period, wave speed, etc.) can be adjusted, so as to control the wave variable and meet the research needs of different experimental purposes.

[0150] The third aspect of the present application also provides an image analysis method for analyzing first image information or second image information, comprising the following steps:

[0151] Step S81: Since the image output by the camera assembly 40 is an RGB three-dimensional image, in order to improve the calculation speed of image processing, the first image information or the second image information photographed by the camera assembly 40 is converted from an RGB three-dimensional image to a two-dimensional gray image in this step, and the converted gray image includes the complete morphological characteristics of the experimental body; wherein, the calculation formula of the two-dimensional gray image f(x d ,y d ) is as follows:

[0152] f(x d ,y d ) = 0.298R + 0.587G + 0.144B;

[0153] Wherein, R, G and B represent the red, green and blue components of the original image, y d and x d respectively refer to the horizontal and vertical coordinates of the image pixels, and satisfy {1≤x d ≤H, 1≤y d ≤W x, y ∈ I}, H and W are respectively the pixel values of the image row and column, and I is a natural number set;

[0154] In these embodiments of the present application, the image analysis processing is a gray scale gradient detection algorithm for solving the problem of interference of the experimental body 23 profile verification in the experiment, and a digital image processing technology based on image gray scale gradient detection object edge profile is adopted. In the image with strong background interference, it is difficult to accurately extract the edge profile of the robot and the cavity profile, and it is necessary to eliminate the image background noise as much as possible under the premise of preserving the complete robot profile and the cavity shape.

[0155] Based on this, the RGB three-dimensional image captured by the camera assembly 40 is converted into a two-dimensional grayscale image by using the aforementioned algorithm, and the converted grayscale image includes the complete morphological characteristics of the experimental body. The advantage is that the matrix data amount of the converted image can be reduced to 1 / 3 of the matrix data amount of the original image (the RGB three-dimensional image), and the calculation speed of image processing can be greatly improved, thereby improving the efficiency of image processing.

[0156] Step S82: Obtain a grayscale value difference matrix with less background noise; the grayscale value difference matrix D sub (x d ,y d ) is calculated according to the following formula:

[0157] D sub (x d ,y d ) = B(x d ,y d ) - Y(x d ,y d );

[0158] wherein Y(x d ,y d ) is the original image matrix after the aforementioned step S81, and B(x d ,y d ) is the grayscale value matrix of the background image. It should be noted that the background image corresponding to the aforementioned B(x d ,y d ) is the image when the experimental body 23 does not enter the field of view.

[0159] In this step, since the image size collected by the camera assembly 40 under the same experimental condition is the same, the grayscale value difference matrix with less background noise can be obtained by using the above formula.

[0160] Step S83: Suppress the smaller values in the grayscale value difference matrix and amplify the larger values to obtain an enhanced matrix of the grayscale value difference matrix; wherein the calculation formula of the enhanced matrix D enh (x d ,y d ) is as follows:

[0161]

[0162] wherein p e and q e are constants;

[0163] In this step, since the aforementioned D sub (x d ,y dThe pixel points with larger values contain the complete shape information of the moving body, and the pixel points with smaller values represent noise points. In this step, the resolution of noise reduction can be increased by using the above formula.

[0164] Step S84: Calculate a binary matrix according to the enhancement matrix; specifically, define a cutoff threshold f ν , and calculate the binary matrix according to the cutoff threshold f ν and the enhancement matrix D enh (x d ,y d ). The calculation formula of the binary matrix D bin (x d ,y d ) is as follows:

[0165]

[0166] The pixel points with values equal to 1 in the binary matrix contain the shape and position information of the cavitation bubbles and the experimental body;

[0167] For example, in some embodiments, the value of p e in step S83 can be set to 0.8, the value of q e can be set to 1.05, and the value of f ν can be defined as 0.3.

[0168] Step S85: Obtain a new image gray matrix that completely removes the background and retains the complete cavitation bubble shape and experimental body contour, wherein the calculation formula of the new image gray matrix Y era (x d ,y d ) is as follows:

[0169] Y era (x d ,y d ) = Y(x d ,y d ) · D bin (x d ,y d ) + 255 [1-D bin (x d ,y d )];

[0170] At the same time, define the image background linear modulation function I b (x d ,y d ) as follows:

[0171] I b (x d ,y d ) = (s b -eb )B(x d ,y d )+e b ;

[0172] wherein s b = 0.94 is a gray value suppression coefficient, e b = 0.7 is a gray value enhancement coefficient;

[0173] Step S86: obtaining an image I p of the cavitation morphology and the experimental body contour cleaned and free from background noise interference, the calculation formula being as follows:

[0174] I p = Y(x d ,y d )·D bin (x d ,y d )+[1-D bin (x d ,y d )]·I b (x d ,y d ).

[0175] Based on this, through the image analysis and processing described above, the cavitation and the geometric morphology features of the experimental body 23 can be well captured and retained.

[0176] According to an embodiment of the third aspect of the present application, the image analysis and processing further comprises a step S87 of edge detection and a step S88 of correction of refraction influence, wherein,

[0177] The step S87 of edge detection comprises the following steps:

[0178] Step S871: processing the original image by using an image rotation technique, and segmenting a local image containing the experimental body according to the bottom surface and the side surface of the experimental body;

[0179] Step S872: performing k-order interpolation on the segmented image based on a second-order interpolation method;

[0180] Step S873: calculating the distribution of the detected edge points in the interpolated image according to the coordinates of the center points of the edge of the bottom surface of the experimental body, the calculation formula being as follows:

[0181]

[0182]

[0183] wherein n det is the number of detected points on the edge of the robot, and L inp is an estimated value of the length of the edge of the robot in the interpolated image.

[0184] In the embodiments of the present application, the edge detection of step S87 is a high-precision robot edge detection method based on an edge model.

[0185] Since the subsequent edge detection calculation is very large when the image is too large, the moving target must be detected, positioned and segmented before the edge detection is carried out, and then only the segmented image needs to be interpolated, edge detected and the like.

[0186] The specific steps can be set as follows: the original image is processed by using an image rotation technology, and then the local image containing the experimental body 23 is segmented according to the bottom surface and the side surface of the experimental body 23; the segmented image is interpolated by using a second-order interpolation method, the pixel time of the image after interpolation is 2 k times the pixel time of the segmented image, so we only need to detect a limited number of pixel points on the edge of the experimental body 23; and the distribution of the detected edge points in the interpolated image is calculated through the two aforementioned formulas according to the coordinates of the center point of the bottom surface edge of the experimental body 23, so as to monitor the posture of the experimental body 23 during the in-water and out-of-water processes.

[0187] Exemplarily, in the embodiments of the present application, the third-order k=3 and the cubic interpolation method can be selected to interpolate the segmented image, and 100 (n det =100) points on the edge of the robot are detected.

[0188] It should be noted that the motion trajectory of the experimental body 23 is accurately extracted from the first image information or the second image information collected by the camera assembly 40 through the edge detection of the aforementioned step S87. However, the obtained motion trajectory of the experimental body 23 is the result after light refraction, so the following steps are set to correct the influence of light refraction on the first image information or the second image information.

[0189] Step S88 for correcting the influence of refraction includes the following steps:

[0190] Suppose that the experimental body makes a planar three-dimensional motion after entering the water, the following formula is used to correct the coordinates of the center position of the experimental body affected by refraction:

[0191]

[0192] wherein, l c is the distance from the camera high-speed camera lens to the water tank wall, l t is the distance from the robot axis to the water tank wall, s measure is the distance from the coordinate of the detection point to the center position of the camera lens, s real is the actual pixel distance of the coordinate point, and n is the refractive index of water.

[0193] Exemplarily, in the embodiments of the present application, the aforementioned l c = 1.02m, l t = 0.5m and n = 1.33, wherein l c and l t need to be converted into pixel length; the pixel coordinates of the obtained robot center will be multiplied by the ratio of pixel D / D pixel to obtain the actual coordinates of the robot, and the change of the actual in-and-out water posture of the robot can be obtained according to the corrected actual coordinates.

[0194] It should be understood by those of ordinary skill in the art that the above discussion of any of the embodiments is merely exemplary and is not intended to suggest any of the protection scope of the present application is limited to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present application as described above, which are not provided in details for the sake of brevity.

[0195] One or more embodiments of the present application are intended to cover all such alternatives, modifications and variations falling within the broad scope of the present application. Therefore, any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principles of one or more embodiments of the present application shall be included in the protection scope of the present application.

Claims

1. A method for testing the entry and exit of an object into and out of water in a deep sea area, characterized in that, The deep-sea object water-entry and water-exit experiment system comprises: a support assembly comprising a support body and a water tank, the support body comprising a top surface, the water tank being oppositely arranged with the top surface along a first direction, and the water tank being open at one end, the open end of the water tank being close to the top surface; an experiment assembly comprising a lifting member, a driving member and an experiment body, at least a part of the lifting member being arranged on the top surface, the experiment body being connected to the lifting member, and the driving member being connected to the lifting member and driving the lifting member to drive the experiment body to move along the first direction, so that the experiment body enters or exits the water tank through the open end of the water tank; a wave-making assembly arranged in the water tank and comprising a wave-making member and a clutching member, the wave-making member being arranged in the water tank, the clutching member being arranged between the wave-making member and the driving member and being used for engaging or disengaging the driving member, the wave-making assembly further comprising a sensor arranged in the water tank, the sensor being connected to the clutching member and being used for transmitting a control signal to the clutching member to control the clutching member to engage or disengage the driving member; a camera assembly comprising a lens, the optical axis of the lens being perpendicular to the first direction and focusing on the open end of the water tank, the camera assembly further comprising a light source member, the light source member comprising: a first light source arranged at one end of the water tank close to the lens and lighting into the water tank; a second light source arranged at one end of the water tank away from the first light source and lighting into the water tank; a soft light piece arranged at least on the side wall of the water tank close to the second light source. The deep-sea object water-entry and water-exit experiment method comprises the following steps: turning on the camera assembly to make the light source member light into the water tank; controlling the clutching member to engage with the driving member and using the driving member to drive the wave-making member to work; controlling the experiment assembly to make the experiment body free-fall into the water tank along the first direction, and the camera assembly shooting to obtain first image information of the experiment body when entering the water; controlling the clutching member to disengage from the driving member and waiting for a unit time; controlling the driving member to work to pull the experiment body in the water tank upward along the first direction through the lifting member in reverse; after the sensor detects the experiment body, controlling the clutching member to engage with the driving member, and the driving member driving the wave-making member to work; the camera assembly shooting to obtain second image information of the experiment body when exiting the water; 2. The method of claim 1, wherein, analyzing the collected first image information and second image information to obtain an experiment result. The wave-making member comprises a rotating shaft and a wave-making plate, and the rotating shaft is connected to the water tank through two bearings at both ends along the axial direction; 3. The method of claim 2, wherein the object is a ship. The wave-making assembly further comprises a transmission belt, and the transmission belt is connected to the rotating shaft and the clutching member respectively, so that the power of the driving member is transmitted to the rotating shaft when the clutching member engages with the driving member. The wave-making member further comprises a wave-damping plate arranged on at least one inner wall of the water tank.

4. The method of claim 1, wherein the object is a deep-sea object. The experimental assembly further comprises a holding member arranged on the top surface and holding the experimental body in position on the top surface; During the water-entry experiment using the water-entry and exit experimental system for objects in deep sea areas, the holding member can be controlled to release the experimental body.

5. The method of claim 1, wherein the object is a deep-sea object. The lifting member comprises: a first fixed pulley mounted on the top surface; a second fixed pulley mounted on the frame and connected with the driving member; a cable wound around the second fixed pulley and connected with the experimental body at one end through the first fixed pulley.

6. An image analysis method for analyzing first image information or second image information, characterized in that The water-entry and exit experimental method for objects in deep sea areas according to claim 1 further comprises the following steps: convert the first image information or the second image information captured by the camera assembly from RGB three-dimensional image to two-dimensional gray image, and the converted gray image comprises complete morphological characteristics of the experimental body; obtain a gray value difference matrix with less background noise; suppress the smaller values in the gray value difference matrix and amplify the larger values to obtain an enhanced matrix of the gray value difference matrix; calculate a binary matrix according to the enhanced matrix; obtain a new image gray matrix completely removing the background and retaining the complete cavitation morphological characteristics and the experimental body contour; obtain an image with clear cavitation morphological characteristics and experimental body contour and without background noise interference.

Images