Buoyancy-driven rotary binocular camera device for amphibious robot

Abstract

The invention belongs to the technical field of cross-domain unmanned systems, and particularly discloses a buoyancy-driven rotary binocular camera device for an amphibious robot, which comprises a base assembly, a connecting assembly and a camera assembly, the base assembly comprises a base shaft, a fixing piece and a rotation control piece. The connecting assembly comprises a connecting rod, a balance weight piece and a buoyancy piece, the camera assembly comprises a first camera close to the balance weight piece and a second camera close to the buoyancy piece, the first camera is provided with a first water immersion switch, and the second camera assembly is provided with a second water immersion switch. Through an ingenious buoyancy driving and water immersion switch linkage mechanism, full-automatic and self-adaptive switching of the working state of the binocular camera device is realized. The whole switching process does not need motor driving, the structure is simple and reliable, energy is saved, the amphibious robot adapts to the severe environment, and the environment sensing autonomy of the amphibious robot and the environment adaptability of the whole system are remarkably improved.

Description

Technical Field

[0001] This application belongs to the field of cross-domain unmanned systems technology, and more specifically, relates to a buoyancy-driven rotating binocular camera device for amphibious robots. Background Technology

[0002] A terrestrial-aquatic unmanned system is a special type of robot capable of maneuvering in all directions on various land terrains (sand, grassland, mountains) and at various depths in water (surface, underwater, and underwater). In recent years, various complex tasks, such as island and reef environmental patrols, land-based three-dimensional inspections, and surface and underwater search and rescue, have demanded enhanced autonomous capabilities from terrestrial-aquatic unmanned systems.

[0003] Binocular cameras are a common perception method used in unmanned land or underwater systems. However, this technology faces the following challenges in cross-domain scenarios involving both land and water: Binocular cameras on unmanned systems are typically fixed with their baselines parallel to the horizontal plane (i.e., arranged "left and right" on the unmanned system). For example, Chinese patent CN115790571A discloses a method for simultaneous localization and map building based on mutual observation between heterogeneous unmanned systems. It mentions building an occupancy grid map based on depth images from both a first and a second binocular camera, detecting obstacles in the exploration area, and generating a safe zone. However, this configuration results in both cameras being near the water surface simultaneously during the robot's traversal. Due to dynamic water surface fluctuations and the blurring of near-field water surface imaging, both cameras suffer from poor image quality and cannot detect the underwater environment in advance, easily leading to the failure of the robot's localization and navigation tasks.

[0004] Therefore, for the positioning and navigation tasks of a cross-domain unmanned system, when near the water surface, one camera needs to be submerged in the water beforehand to explore the underwater environment, while another camera needs to continue acquiring images above the water. Current technology involves mounting the two cameras with their baselines perpendicular to the horizontal plane (i.e., an "up-down" arrangement of the unmanned system). However, this configuration presents a problem: to ensure the lower camera is submerged beforehand, it needs to be as close as possible to the bottom of the cross-domain robot, potentially leading to bottom collisions (such as hitting rocks on the ground) and reducing the system's mobility in terrestrial environments. Summary of the Invention

[0005] In response to the deficiencies or improvement needs of existing technologies, this application provides a buoyancy-driven rotating binocular camera device for amphibious robots, aiming to solve the problem that existing technologies cannot simultaneously cover both water and land when using binocular cameras for amphibious robots that cross waterways.

[0006] This application provides a buoyancy-driven rotating binocular camera device for amphibious robots, which includes a base assembly, a connecting assembly, and a camera assembly; The base assembly includes a base shaft, a fixing member, and a rotation control member. The fixing member is rotatably mounted on one end of the base shaft, and the rotation control member is disposed between the base shaft and the fixing member. The connecting assembly includes a connecting rod and counterweights and buoyancy components respectively installed at both ends of the connecting rod, and the connecting rod is fixedly connected to the fixing component; The camera assembly includes a first camera positioned near the counterweight and a second camera positioned near the buoyancy component. The first camera is equipped with a first water immersion switch, and the second camera is equipped with a second water immersion switch. When the connecting rod is horizontal, the height of the first water immersion switch is lower than the height of the second water immersion switch. The rotation control element is configured to allow the linkage to rotate when the first immersion switch is in contact with water and the second immersion switch is not in contact with water.

[0007] More preferably, the base assembly further includes a limiting component, which is disposed between the base shaft and the fixing member to limit the maximum angle of rotation of the fixing member relative to the base shaft.

[0008] More preferably, the limiting component restricts the maximum angle of rotation of the fixing member relative to the base shaft to 90°.

[0009] More preferably, the base assembly further includes a bearing, the base shaft is fixedly connected to the inner ring of the bearing, and the limiting assembly includes a first limiting block fixed to the end of the base shaft and a second limiting block fixed to the fixing member and disposed opposite to the first limiting block. A semi-circular limiting stop is formed at one end of the first limiting block near the second limiting block, and a mounting hole is formed in the middle of the second limiting block to be fixedly connected to the outer ring of the bearing. A limiting protrusion is provided on the end face of the second limiting block. The limiting protrusion is a right-angled ring and cooperates with both ends of the limiting stop to limit movement.

[0010] More preferably, the rotation control component includes a magnetic switch disposed on the base shaft and a magnetic member disposed on the fixing component. The magnetic switch attracts the magnetic member, and the magnetic switch is configured to release the magnetic member when the first water immersion switch is in contact with water and the second water immersion switch is not in contact with water.

[0011] More preferably, the magnetic attractor includes two metal plates, the metal plates are fan-shaped, the magnetic switch is fixed to one side of the base shaft, the two metal plates are arranged circumferentially on the outside of the magnetic switch, the bisecting planes of the two metal plates are angled at 90°, and when the fixing member is rotated to the extreme positions in two directions, the magnetic switch corresponds to the two metal plates respectively.

[0012] More preferably, the first water immersion switch, the second water immersion switch, the magnetic switch, and the NOT gate circuit constitute the control circuit of the magnetic switch. Specifically, the control circuit is as follows: the first water immersion switch and the NOT gate circuit are connected in series to form the first control branch; the second water immersion switch is connected in parallel with the first control branch as the second control branch to form an OR gate circuit; the magnetic switch and the OR gate circuit are connected in series as a whole. When the first water immersion switch comes into contact with water, the first control branch is connected; when the second water immersion switch comes into contact with water, the second control branch is disconnected.

[0013] More preferably, when the fixing member is rotated to its limit position on both sides, the connecting rod is in a horizontal state and a vertical state respectively.

[0014] More preferably, the center of gravity of the structure composed of the connecting assembly and the camera assembly is located on the rotation axis of the fixing member. More preferably, the camera assembly further includes a cover plate, a watertight chamber, a camera unit, an inertial measurement unit, and a connecting plate. The cover plate, the watertight chamber, and the connecting plate cooperate to form a sealed body with an internal accommodating cavity. The connecting plate is mounted on the connecting rod, the camera unit and the inertial measurement unit are mounted in the sealed body, and a water immersion switch is disposed on the surface of the watertight chamber.

[0015] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages: 1. A clever buoyancy-driven and water-immersion switch linkage mechanism enables fully automatic and adaptive switching of the binocular camera device's operating state. Initially, the device's land-based movement link is horizontal, neither of the two water-immersion switches is in contact with water, and the rotation control element restricts the link's rotation, thus forming a land-based binocular camera. When the device enters the water, the first water-immersion switch near the counterweight contacts the water first, creating a state where the first water-immersion switch is in contact with water while the second water-immersion switch is not. The link can then rotate under buoyancy, changing its posture to one suitable for underwater observation. The entire switching process requires no motor drive, is simple and reliable in structure, energy-efficient, and adaptable to harsh environments, significantly improving the amphibious robot's environmental perception autonomy and the overall system's environmental adaptability.

[0016] 2. The limiting component allows the linkage to switch between two typical positions, horizontal and vertical, to meet the observation needs when traveling on land and underwater. This design makes the camera's perspective switching target clear and the position fixed, thus improving the practicality of observation.

[0017] 3. Reliable locking force is provided through magnetic adsorption to prevent accidental rotation under non-switching conditions; the action is rapid and without mechanical jamming when triggered for release, and combined with the water immersion switch signal control, the deterministic action and anti-interference ability are guaranteed.

[0018] 4. When the linkage is horizontal, it corresponds to the robot's land driving state, and the camera is in a horizontal observation posture, forming a horizontal binocular camera system. When the linkage is vertical, it corresponds to the robot's underwater navigation state, with the counterweight end at the bottom and the buoyancy end at the top. The first camera observes underwater, and the second camera observes the water surface.

[0019] 5. By placing the center of gravity of the overall structure consisting of the connecting component and the camera component on the rotation axis of the fixed component, the additional gravitational torque caused by the offset of the center of gravity is eliminated. This allows even a small change in buoyancy to drive its rotation, significantly reducing the requirements for the driving capability of the buoyancy component and improving the sensitivity of the movement.

[0020] 6. Through a simple control circuit design, the logic that the magnetic switch circuit will release the magnetic element only when the first water immersion switch is in contact with water and the second water immersion switch is not in contact with water is precisely realized. This circuit design realizes a reliable interlock condition with simple digital logic, effectively preventing malfunctions caused by only a single water immersion switch being triggered or by both switches being in contact with water / out of water at the same time, making the rotation trigger condition strict and accurate. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of a buoyancy-driven rotating binocular camera device for an amphibious robot provided in an embodiment of this application; Figure 2 yes Figure 1 Structural disassembly diagram; Figure 3 This is a structural disassembly diagram of the base assembly in a buoyancy-driven rotating binocular camera device for an amphibious robot, provided in an embodiment of this application. Figure 4 This application provides an embodiment of a buoyancy-driven rotating binocular camera device for amphibious robots, in which the base assembly is relative to... Figure 3 Another perspective on the structural disassembly diagram.

[0022] Figure 5 This is a schematic diagram of the limiting protrusion in a buoyancy-driven rotating binocular camera device for an amphibious robot, provided in an embodiment of this application. Figure 6 This is a structural disassembly diagram of a connecting component in a buoyancy-driven rotating binocular camera device for an amphibious robot, provided in an embodiment of this application. Figure 7 This is a schematic diagram of the structure of the first camera in a buoyancy-driven rotating binocular camera device for an amphibious robot provided in an embodiment of this application; Figure 8 This application provides a schematic diagram of the control circuit and truth representation of a buoyancy-driven rotating binocular camera device for an amphibious robot. Figure 9This is a schematic diagram of the cross-domain state of a buoyancy-driven rotating binocular camera device for an amphibious robot provided in an embodiment of this application; Figure 10 A camera image obtained by a buoyancy-driven rotating binocular camera device for an amphibious robot during a cross-domain process, as provided in an embodiment of this application; Figure 11 A simplified model and force diagram of a buoyancy-driven rotating binocular camera device for an amphibious robot provided in this application embodiment; Figure 12 A simplified model and force diagram of a buoyancy-driven rotating binocular camera device for an amphibious robot in cross-domain conditions, provided in the embodiments of this application; Figure 13 This application provides a curve showing the change in the height of the second camera above the water surface with the diving depth during a cross-domain process, and the corresponding cross-domain state of a buoyancy-driven rotating binocular camera device for an amphibious robot.

[0023] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 10. Base assembly; 11. Base shaft; 12. Fixing component; 13. Rotation control component; 14. Limiting assembly; 15. Bearing; 131. Magnetic switch; 132. Magnetic component; 141. Limiting flange; 142. Limiting protrusion; 311. Cover plate; 312. Watertight compartment; 313. Camera unit; 314. Inertial measurement unit; 315. Connecting plate; 20. Connecting components; 21. Linkage rods; 22. Counterweights; 23. Buoyancy components; 30. Camera assembly; 31. First camera; 301. First water immersion switch; 32. Second camera; 302. Second water immersion switch. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] like Figure 1 , Figure 2 and Figure 8 As shown in the figure, this application provides a buoyancy-driven rotating binocular camera device for amphibious robots, which includes a base assembly 10, a connecting assembly 20 and a camera assembly 30.

[0026] Combination Figure 3 and Figure 4As shown, the base assembly 10 includes a base shaft 11, a fixing member 12, and a rotation control member 13. The fixing member 12 is rotatably mounted on one end of the base shaft 11, and the rotation control member 13 is disposed between the base shaft 11 and the fixing member 12.

[0027] Combination Figure 6 As shown, the connecting assembly 20 includes a connecting rod 21 and counterweights 22 and buoyancy components 23 respectively installed at both ends of the connecting rod 21. The connecting rod 21 is fixedly connected to the fixing component 12.

[0028] The camera assembly 30 includes a first camera 31 located near the counterweight 22 and a second camera 32 located near the buoyancy member 23. The first camera 31 is equipped with a first water immersion switch 301, and the second camera 32 is equipped with a second water immersion switch 302. When the connecting rod 21 is horizontal, the height of the first water immersion switch 301 is lower than the height of the second water immersion switch 302.

[0029] The rotation control element 13 is configured to allow the linkage 21 to rotate when the first water immersion switch 301 is in contact with water and the second water immersion switch 302 is not in contact with water.

[0030] The base assembly 10 further includes a limiting assembly 14, which is disposed between the base shaft 11 and the fixing member 12 and is used to limit the maximum angle of rotation between the fixing member 12 and the base shaft 11. Preferably, the limiting assembly 14 limits the maximum angle of rotation between the fixing member 12 and the base shaft 11 to 90°.

[0031] In this application, the base shaft 11 and the fixing member 12 are rotatably connected via a bearing 15. Specifically, the base shaft 11 is fixedly connected to the inner ring of the bearing 15. The limiting assembly 14 includes a first limiting block fixed to the end of the base shaft 11 and a second limiting block fixed to the fixing member 12 and disposed opposite to the first limiting block. A semi-circular limiting flange 141 is formed at one end of the first limiting block near the second limiting block. A mounting hole is formed in the middle of the second limiting block for fixed connection with the outer ring of the bearing 15. A limiting protrusion 142 is provided on the end face of the second limiting block. Figure 5 As shown, the limiting protrusion 142 is a right-angled ring and cooperates with both ends of the limiting stop 141 for limiting.

[0032] In this application, the rotation control component 13 is implemented in the following manner: the rotation control component 13 includes a magnetic switch 131 disposed on the base shaft 11 and a magnetic member 132 disposed on the fixing member 12. The magnetic switch 131 attracts the magnetic member 132. The magnetic switch 131 is configured to release the magnetic member 132 when the first water immersion switch 301 is in contact with water and the second water immersion switch 302 is not in contact with water.

[0033] Specifically, the magnetic attractor 132 includes two metal plates, which are fan-shaped rings. The magnetic switch 131 is fixed to one side of the base shaft 11. The two metal plates are arranged circumferentially on the outside of the magnetic switch 131. The bisecting planes of the two metal plates have an included angle of 90°. When the fixing member 12 rotates to the extreme positions in two directions, the magnetic switch 131 corresponds to the two metal plates respectively.

[0034] The specific structure of each part is described below. The top of the base shaft 11 is the side closest to the fixing member 12. The top of the base shaft 11 is designed as a cylinder, and the rest is a cuboid.

[0035] A magnetic switch 131 is fixed on the outside of the cuboid of the base shaft 11 and a first limiting block is formed at the end. The magnetic switch 131 can be an electromagnet or other electromagnetic element. It has magnetism when it is energized and loses magnetism when it is de-energized. The magnetic switch 131 is attached to the base shaft 11 and the fixing member 12.

[0036] The first limiting block is specifically a cylinder with a central hole, and a semi-circular limiting flange 141 is formed on the outer side of the cylinder. The top of the base shaft 11 is fixedly connected to the inner ring of the bearing 15 by an interference fit.

[0037] The end of the fastener 12 near the connecting rod is a thin plate structure, which is designed as a square thin plate in this embodiment. The other end also forms a hollow cylinder, and a right-angled annular limiting protrusion 142 protrudes from the end of the cylinder. The outer ring of the bearing 15 is fixedly connected to the cylindrical shell at the bottom of the fastener 12 by interference fit.

[0038] By designing the limiting stop 141 as a semi-circular ring with a central angle of 180°, and the upper limit protrusion 142 of the fixing member 12 as a right-angled ring with a central angle of 90°, the fixing member 12 can only rotate within the range of 0 to 90 degrees relative to the base shaft 11, thereby limiting its rotation angle.

[0039] When the rotation angle of the fixing member 12 relative to the base shaft 11 is 0°, the connecting rod 21 is in a horizontal state; correspondingly, when the rotation angle of the fixing member 12 relative to the base shaft 11 is 90°, the connecting rod 21 is in a vertical state.

[0040] The center of gravity of the structure consisting of the connecting component 20 and the camera component 30 is located on the rotation axis of the fixing member 12. That is, the connecting rod 21 and its structure can remain horizontal by gravity alone when no external force is applied. This design can effectively prevent the connecting rod 21 from rotating again due to external disturbances after reaching a horizontal equilibrium state, thanks to the rotation limit and the determined center of gravity angle.

[0041] Both metal plates have fan-shaped end faces and their ends are connected to the thin plate structure of the fixing member 12. The included angle ∠a between the bisecting planes of the two metal plates is 90°. In this embodiment, the metal plates are preferably iron plates. When the magnetic switch 131 is energized, the iron plate is pulled out. When the power is off, the iron plate is released, thereby realizing the control of the rotation of the fixing member 12.

[0042] Specifically, the thin plate structure of the fastener 12 is provided with multiple mounting holes, which can be used to fix it to the connecting rod with screws.

[0043] In this embodiment, the connecting rod 21 is a thin cuboid with holes at both ends and a groove in the middle. The groove is used to connect with the thin plate structure of the fixing member 12. In order to ensure gravity balance, the distances from the end with the counterweight 22 and the end with the buoyancy member 23 to the axis of rotation are not equal. The counterweight 22 and the buoyancy member 23 are directly fixed to the connecting rod 21 with strong glue.

[0044] In this embodiment, the counterweight 22 is selected from objects with a density greater than that of water, and the buoyancy component 23 is selected from objects with a density less than that of water, such as iron blocks or stones for the counterweight 22, and sponges or foam for the buoyancy component 23.

[0045] In this embodiment, to facilitate material procurement and ensure the imaging quality of the binocular camera while reducing the difficulty of image information analysis, the first camera 31 and the second camera 32 have the same structure. Figure 7 As shown, taking the first camera 31 as an example, it includes a cover plate 311, a watertight chamber 312, a camera unit 313, an inertial measurement unit 314, and a connecting plate 315.

[0046] The cover plate 311, watertight chamber 312, and connecting plate 315 cooperate to form a sealed body with an internal cavity. The watertight chamber 312 is hollow and has a cylindrical structure inside. The watertight chamber 312 is similar in shape to a hemispherical shape. Its bottom surface is sealed to the connecting plate 315, and its bottom corresponds to the cylindrical structure. The cover plate 311 is sealed to the top of the watertight chamber 312. The camera unit 313 and the inertial measurement unit 314 are installed in the sealed body. The camera unit 313 is set to correspond to the cylindrical structure. The cover plate 311 is a transparent plate, preferably designed not to affect the light path of the camera unit 313.

[0047] The connecting plate 315 is mounted on the connecting rod 21, the camera unit 313 and the inertial measurement unit 314 are mounted in the sealed body, and the first water immersion switch 301 and the second water immersion switch 302 are respectively disposed in the corresponding watertight chambers 312.

[0048] Preferably, after all the components of the first camera 31 and the second camera 32 are connected, they are sealed with epoxy resin to prevent water from entering the camera when the amphibious robot carries the binocular camera device across land and water.

[0049] In the embodiments of this application, with the connecting rod 21 in a horizontal state as a reference, the first water immersion switch 301 is located at the bottom of the first camera 31, and the second water immersion switch 302 is located on the lateral side or top of the second camera 32, thereby ensuring that the height of the first water immersion switch 301 is lower than the height of the second water immersion switch 302. The only difference between the first water immersion switch 301 and the second water immersion switch 302 on the corresponding camera is their installation position. Therefore, the second water immersion switch 302 is not specifically shown in the figure.

[0050] In this embodiment, the rotation control component 13 allows the connecting rod 21 to rotate when the first water immersion switch 301 is in contact with water and the second water immersion switch 302 is not in contact with water. This is implemented in the following way: the first water immersion switch 301, the second water immersion switch 302, the magnetic switch 131, and the NOT gate circuit constitute the control circuit of the magnetic switch 131. Specifically, the control circuit is as follows: the first water immersion switch 301 and the NOT gate circuit are connected in series to form a first control branch; the second water immersion switch 302 is connected in parallel with the first control branch as a second control branch to form an OR gate circuit; the magnetic switch 131 is connected in series with the OR gate circuit as a whole; when the first water immersion switch 301 is in contact with water, the first control branch is connected; when the second water immersion switch 302 is in contact with water, the second control branch is disconnected.

[0051] like Figure 8 As shown, the specific control process is as follows: When the amphibious robot carrying the binocular camera device moves on land, it is in state one. At this time, the first water immersion switch 301 and the second water immersion switch 302 are not in contact with water and are in an open circuit state. Since the first water immersion switch 301 is connected in series with the NOT gate circuit, the input terminal of the NOT gate circuit is at a low level (logic 0), and its output terminal will output a high level (logic 1) to the magnetic switch 131, causing the magnetic switch 131 to be energized and generate magnetism, attracting the iron piece corresponding to the horizontal position, and the connecting rod 21 cannot rotate.

[0052] When the device begins to cross the water surface, since the height of the first water immersion switch 301 is lower than the height of the second water immersion switch 302, the first water immersion switch 301 contacts the water first and becomes connected, and the device is in state two. The second water immersion switch 302 does not contact the water and remains open. The input of the NOT gate is at a high level (logic 1), and its output will output a low level (logic 0) to the magnetic switch 131, thereby making the input of the NOT gate at a low level (logic 0), and its output will output a high level (logic 1) to the magnetic switch 131, causing the electromagnetic property of the magnetic switch 131 to disappear, and the connecting rod 21 can rotate freely.

[0053] During the descent, the robot is buoyed, causing the second camera 32 to swing upwards and the first camera 31 to swing downwards until it changes from a horizontal to a vertical position.

[0054] If the robot continues to dive, overcoming buoyancy, it will move the second camera 32 into the water. The second water immersion switch 302 will then come into contact with the water and connect, entering state three. The magnetic switch 131 will receive a high level (logic 1), causing it to be energized and generate magnetism, attracting the iron piece corresponding to the vertical position. The connecting rod 21 will be unable to rotate, and the first camera 31 and the second camera 32 will all enter the water with the robot, forming a binocular camera system with the camera positioned vertically.

[0055] Based on the above control process, combined with Figure 9 As shown, the working process of the binocular camera device in this embodiment is as follows: (1) When the water-land cross-domain robot of the device moves on land, corresponding to state one, the linkage 21 is stably kept horizontal under the joint action of the rotation control component 13 and the limiting component 14. The first camera 31 and the second camera 32 form a binocular camera to perceive the environment. Since the linkage 21 cannot rotate at this time, even if it is bumped when moving on land, the linkage 21 can be stably kept horizontal. The first camera 31 and the second camera 32 are always on the same horizontal line, and the normal operation of the environmental perception function is not affected.

[0056] (2) When the device begins to enter the underwater environment from the land-based cross-domain, corresponding to state two, the magnetic switch 131 releases the iron plate, and the connecting rod 21 can rotate. Due to the large buoyancy, the buoyancy of the buoyancy component 23 on the connecting rod 21 breaks the horizontal state of the connecting rod 21, and it begins to rotate slowly as the device dives deeper. The height of the first camera 31 relative to the rotation axis decreases and it is submerged in the water, while the height of the second camera 32 relative to the rotation axis increases and it rises above the water surface. The inertial measurement unit 314 senses the change in the relative position of the two cameras, which can then be used to adjust the machine perception algorithm. The first camera 31 senses the underwater environment, and the second camera 32 senses the surface environment. Within a certain range, as the diving depth of the land-sea cross-domain unmanned system increases, the rotation angle of the connecting rod 21 increases. The second camera 32 is always located on the water surface; when diving to the critical depth, the rotation angle of the connecting rod 21 is 90°, and the connecting rod 21 is in a vertical state.

[0057] (3) After diving to a depth exceeding the critical depth, corresponding to state three, the connecting rod 21 is restricted by the limiting component 14 and can no longer rotate. The height of the second camera 32 above the water surface begins to decrease until the second water immersion switch 302 contacts the water. At this time, the magnetic switch 131 is energized and generates magnetism, attracting the iron piece corresponding to the vertical position, and the connecting rod 21 cannot rotate. The first camera 31 and the second camera 32 both sense the underwater environment to form an underwater vertical binocular camera. And because the connecting rod 21 can no longer rotate, even if the water-land cross-domain machine is disturbed by water flow when moving underwater, the rod of the device of the present invention remains stably in a vertical position, and the normal operation of sensing the environment is not affected.

[0058] Figure 10 Examples of camera images obtained by the binocular camera device in three states during cross-domain processes are shown. Specifically, in state one, both the first camera 31 and the second camera 32 observe the land environment; in state two, the first camera 31 observes the underwater environment, and the second camera 32 observes the surface environment; in state one, both the first camera 31 and the second camera 32 observe the underwater environment.

[0059] It is understood that the above control method is only a preferred control method in the embodiments of this application, and does not mean that the control method is unique or optional. At least the following two control methods can also be used.

[0060] A voltage comparator chip can be used as the core. Two water immersion switches are used as variable-resistance sensing elements, connected to two independent voltage divider circuits. By setting a reference voltage, a water immersion threshold resistor, and a non-water immersion threshold resistor, the voltage comparator will only output a low-level signal to disconnect the magnetic switch 131 when the resistance of the first water immersion switch 301 drops to the water immersion threshold and the resistance of the second water immersion switch 302 is higher than the non-water immersion threshold. Alternatively, a low-cost microcontroller (such as a microcontroller) can be used as the control unit. The signals of the two water immersion switches are used as digital input pins, and their status is continuously monitored by the microcontroller's internal program. When the program logic determines that the condition of the first water immersion switch 301 being high and the second switch being low is met, the microcontroller will control an output pin to drive the magnetic switch 131 to turn off.

[0061] To more intuitively understand the relationship between diving depth and the rotation angle of connecting rod 21 in this application, the embodiments of the present invention have conducted quantitative analysis and discussion on it.

[0062] like Figure 11 As shown, this is a simplified model and force diagram of the binocular camera device in an embodiment of the present invention on land. The dashed circle represents the projection circle of the cylinder of the base shaft 11, and the solid triangle represents the center of mass of the system composed of the connecting rod 21, the first camera 31, the second camera 32, the counterweight 22, and the buoyancy component 23.

[0063] Assume the gravity of the first camera 31 is The volume is The distance from the first camera 31 to the base axis is The weight of counterweight 22 is The distance from the counterweight 22 to the base shaft 11 is The weight of buoyancy component 23 is The distance from the buoyancy component 23 to the base shaft 11 is The gravity of the second camera 32 is The volume is The distance from the second camera 32 to the base axis 11 is .

[0064] For ease of calculation, this simplified model neglects the rotational friction of bearing 15 and the gravity of connecting rod 21, first water immersion switch 301, and second water immersion switch 302 in the force analysis. Therefore, the equilibrium equations of the above model are: (1) Furthermore, to enable the device to automatically return to a horizontal state when the unmanned water-land cross-domain system moves from water to land, the center of gravity of the system consisting of link 21, first camera 31, second camera 32, counterweight 22, and buoyancy component 23 is calculated: (2) From (1), we can obtain that =0, which indicates that the weight of counterweight 22 can be adjusted. and the distance to the base axis 11 If (1) is satisfied, then the center of mass of the system consisting of connecting rod 21, first camera 31, second camera 32, counterweight 22, and buoyancy component 23 is directly below the cylinder of base shaft 11. When connecting rod 21 tilts due to environmental bumps, it can return to a horizontal position under the action of the restoring torque provided by gravity, thus having the ability to maintain a stable horizontal position.

[0065] Figure 12 This is a simplified model and force diagram of the device of the present invention in an underwater environment. Assume the angle of rotation of connecting rod 21 is... The first camera 31 is subject to buoyancy. The buoyancy component 23 is subjected to buoyancy. The distance from the line of action of buoyancy to the base axis 11 is Then the equilibrium equation in the underwater environment is: (3) in , , The volume of buoyancy component 23 submerged in water. This is the density of water.

[0066] Substituting (1) into (3) yields: (4) Preferably, the cross-sectional area is selected. A certain buoyancy element 23 allows the binocular camera device to dive to a certain depth. Then we have: (5) (6) Furthermore, we can obtain: (7) because Therefore, the applicable range of (7) is the diving depth. This indicates the diving depth of the cross-land and water unmanned system in the underwater environment. At that time, the sine of the rotation angle of the linkage of the binocular camera device is proportional to the diving depth, and further, it makes... The current diving depth is hour, The rod 201 is in a vertical position, and the first camera 31 and the second camera 32 are on the same vertical line.

[0067] Furthermore, let the height of the second camera 32 above the water surface be... ,but: (8) Right now (9) Equation (9) indicates that at the diving depth At this point, the height of the second camera 32 above the water surface is directly proportional to the diving depth of the amphibious unmanned system. Beyond this diving depth, the height of the second camera 32 above the water surface begins to decrease, at which point the connecting rod stops rotating due to the action of the limiting assembly 14.

[0068] Figure 13 This is a graph showing the change in the height of the second camera 32 above the water surface with the diving depth during the cross-domain process of the device of the present invention, and the corresponding cross-domain state. As shown in the figure, in a preferred embodiment, the parameter values ​​selected in this embodiment are as follows: Then it is easy to obtain the height of the second camera 32 above the water surface. With diving depth The changes are as follows: (10) In summary, this embodiment of the application achieves fully automatic and adaptive switching of the working state of the binocular camera device through a clever buoyancy-driven and water immersion switch linkage mechanism. The entire switching process requires no motor drive, is simple and reliable in structure, energy-saving, and adaptable to harsh environments, significantly improving the amphibious robot's environmental perception autonomy and the overall system's environmental adaptability.

[0069] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0070] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0072] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0073] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A buoyancy-driven rotating binocular camera device for an amphibious robot, characterized by, The base assembly (10), the connecting assembly (20) and the camera assembly (30); The base assembly (10) comprises a base shaft (11), a fixed part (12) and a rotation control part (13), the fixed part (12) is rotatably mounted on one end of the base shaft (11), and the rotation control part (13) is arranged between the base shaft (11) and the fixed part (12); The connecting assembly (20) comprises a connecting rod (21) and a counterweight (22) and a buoyancy part (23) respectively mounted on two ends of the connecting rod (21), and the connecting rod (21) is fixedly connected with the fixed part (12); The camera assembly (30) comprises a first camera (31) arranged near the counterweight (22) and a second camera (32) arranged near the buoyancy part (23), the first camera (31) is provided with a first water immersion switch (301), and the second camera (32) is provided with a second water immersion switch (302), when the connecting rod (21) is horizontal, the height of the first water immersion switch (301) is lower than that of the second water immersion switch (302); The rotation control part (13) is configured to allow the connecting rod (21) to rotate when the first water immersion switch (301) contacts water and the second water immersion switch (302) does not contact water.

2. The binocular camera device of claim 1, wherein, The base assembly (10) further comprises a limiting assembly (14) arranged between the base shaft (11) and the fixed part (12), for limiting the maximum angle of rotation between the fixed part (12) and the base shaft (11).

3. The binocular camera device of claim 2, wherein, The limiting assembly (14) limits the maximum angle of rotation between the fixed part (12) and the base shaft (11) to 90°.

4. The binocular camera device of claim 3, wherein, The base assembly (10) further comprises a bearing (15), the base shaft (11) is fixedly connected with the inner ring of the bearing (15), the limiting assembly (14) comprises a first limiting block fixed to the end of the base shaft (11) and a second limiting block fixed to the fixed part (12) and arranged opposite to the first limiting block, one end of the first limiting block near the second limiting block forms a semicircular annular limiting stop edge (141), the middle part of the second limiting block forms a mounting hole fixedly connected with the outer ring of the bearing (15), and the end face of the second limiting block is provided with a limiting protrusion (142), the limiting protrusion (142) is a right angle ring and cooperates with both ends of the limiting stop edge (141) to limit.

5. The binocular camera device of claim 3, wherein, The rotation control part (13) comprises a magnetic attraction switch (131) arranged on the base shaft (11) and a magnetic attraction part (132) arranged on the fixed part (12), the magnetic attraction switch (131) attracts the magnetic attraction part (132), and the magnetic attraction switch (131) is configured to release the magnetic attraction part (132) when the first water immersion switch (301) contacts water and the second water immersion switch (302) does not contact water.

6. The binocular camera device of claim 5, wherein, The magnetic attraction piece (132) comprises two metal sheets which are fan ring-shaped, the magnetic attraction switch (131) is fixed on one side of the base shaft (11), the two metal sheets are arranged on the outer side of the magnetic attraction switch (131) in the circumferential direction, the bisecting planes of the two metal sheets are 90°, and the magnetic attraction switch (131) corresponds to the two metal sheets respectively when the fixing piece (12) rotates to the limit positions in two directions.

7. The binocular camera device of claim 5, wherein, The first water immersion switch (301), the second water immersion switch (302), the magnetic attraction switch (131) and the NOT gate circuit constitute a control circuit of the magnetic attraction switch (131), and the control circuit is specifically: the first water immersion switch (301) and the NOT gate circuit are connected in series to constitute a first control branch, the second water immersion switch (302) is connected in parallel with the first control branch to constitute an OR gate circuit, and the magnetic attraction switch (131) is connected in series with the OR gate circuit as a whole; when the first water immersion switch (301) contacts water, the first control branch is connected; and when the second water immersion switch (302) contacts water, the second control branch is disconnected.

8. The binocular camera device of claim 5, wherein, When the fixing piece (12) rotates to the limit positions on both sides, the connecting rod (21) is in a horizontal state and a vertical state respectively.

9. The binocular camera device of claim 5, wherein, The gravity center of the structure composed of the connecting assembly (20) and the camera assembly (30) is located on the rotation axis of the fixing piece (12).

10. The binocular camera device of claim 1, wherein, The first camera (31) and the second camera (32) each comprise a cover plate (311), a watertight cabin (312), a camera unit (313), an inertial measurement unit (314) and a connecting plate (315), the cover plate (311), the watertight cabin (312) and the connecting plate (315) cooperate to form a sealed body with an accommodation cavity inside, the connecting plate (315) is installed on the connecting rod (21), the camera unit (313) and the inertial measurement unit (314) are installed in the sealed body, and the first water immersion switch (301) and the second water immersion switch (302) are arranged in the corresponding watertight cabins (312) respectively.

Images