145 results about "Underwater robotics" patented technology

The invention relates to the technical field of underwater robots, in particular to an underwater robot cluster path planning method and system based on a dung beetle algorithm, and the method comprises the steps: obtaining a coordinate division region to construct an environment model, calculating and extracting an obstacle distance to fuse ocean current interference to generate a dynamic obstacle avoidance strategy, and evaluating the path speed similarity to generate a candidate path. And acquiring an offset angle difference, normalizing environmental factors to generate a correction path, and calculating a curvature fusion collision probability to generate a global path control instruction. According to the method, a dynamic model is constructed based on Cartesian coordinate division, the spatial analysis precision is improved, a sonar distance and ocean current interference are fused to generate a dynamic obstacle avoidance strategy, the trajectory smoothness is enhanced, candidate paths are screened by using vector similarity and Monte Carlo simulation, the collaboration is optimized, disturbance is reduced through coordinate offset and ocean current correction, and the accuracy of the dynamic obstacle avoidance strategy is improved. The curvature and collision probability are combined to balance safe energy consumption, and multi-dimensional parameter fusion improves cluster adaptability, precision, efficiency and energy utilization rate.

The invention relates to the technical field of underwater robots, discloses an underwater autonomous flight control method and system for a submersible type unmanned aerial vehicle, and aims to solve the technical defects of rigid route planning, high energy consumption and poor task adaptability of an existing submersible type unmanned aerial vehicle in complex dynamic underwater environment flight control. The method comprises the steps of executing multi-modal underwater environment perception, constructing an environment state fusion model under a unified space-time reference, generating a predictive hydrodynamic field four-dimensional model, executing multi-target route optimization based on energy and risk cost, and implementing self-adaptive flight control based on feedforward compensation. By adopting the above technical scheme, the method can effectively reduce the energy consumption of the unmanned aerial vehicle, remarkably prolong the operation endurance time, improve the intelligence and task adaptability of route planning, and improve the flight stability and trajectory tracking precision. Therefore, the autonomy, the economy and the task success rate in an unknown, unstructured and strong dynamic underwater environment are enhanced.

The invention relates to a mechanical arm end effector for underwater salvage and a using method thereof, and belongs to the technical field of underwater robots. By integrating a hydraulic-driven rotary drilling assembly and an ejection anchoring mechanism, drilling is completed on an underwater target object at a time, and an anchoring part with a lifting point is implanted; a unique pressure compensation flow channel system is arranged inside, external seawater pressure is automatically balanced through oil pressure, sealing failure is prevented, and operation reliability in a large-depth environment is ensured. The drilling and hoisting device has the functions of drilling and hoisting, a plurality of hoisting points can be continuously established by rapidly replacing the drill bit assembly, and the underwater salvage process is greatly simplified.

The invention provides a flexible docking device and method for an underwater unmanned vehicle, and relates to the technical field of underwater robots, the flexible docking device comprises a base, a locking piece, a traction piece and at least three groups of adjustable supporting assemblies uniformly arranged on the base; the traction piece is connected with the base and the locking piece and used for pulling the locking piece to move towards the base. The adjustable supporting assembly comprises a supporting rod piece, a telescopic element and a rope driving device, the telescopic element is connected with the supporting rod piece and the base and used for driving the supporting rod piece to be unfolded or folded relative to the base so as to adjust the area of a butt-joint enveloping area formed by the tail end of the supporting rod piece, and the rope driving device comprises a driving assembly and a flexible rope. The driving assembly is arranged on the supporting rod piece and used for driving the flexible rope to drive the locking piece to move in the butt-joint enveloping area, and the locking piece is used for being in butt-joint locking with the unmanned underwater vehicle. The butt joint device can synchronously overcome the three technical problems that the rigid butt joint precision is harsh, the compensation range of a traditional funnel is insufficient, and the buffering performance is weak.

The invention discloses an underwater explosive ordnance disposal control method and system based on an AI large model and a robot, and relates to the technical field of underwater robotics.Underwater optical images and sonar data are collected through a sensing module and input into a pre-trained AI large model for real-time analysis, potential threats are recognized, and a decision instruction containing a path planning and operation sequence is generated; when the analysis confidence coefficient is lower than a threshold value set based on historical data, interaction information containing multi-modal data abstracts, alternative schemes and risk assessment is automatically generated and sent to an operator, instructions are executed after being received, the system comprises a sensing module, an AI processing module, a communication module, a control execution module and a state monitoring module, and a robot body is integrated with a processor to solidify the method. The autonomous decision-making precision and efficiency of the robot in a complex environment are improved through an AI large model, the man-machine cooperation response speed is optimized by using an intelligent interaction mechanism, and the reliability and environmental adaptability of the system are significantly enhanced in combination with state monitoring and edge-cloud cooperative computing.

The application provides a kind of sub-body ROV accurate recovery method and device for sub-mother type AUV, it is related to underwater robot technical field, the method comprises: during the task execution of sub-body ROV in underwater, in response to sub-body recovery instruction, control parent body AUV stay in specified recovery position, and collect the optical image of sub-body ROV;Determine the orientation of sub-body ROV based on optical image;Determine the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the target heading angle of sub-body ROV based on orientation, the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the correction torque required when control cable-releasing mechanism pulls back sub-body ROV based on the heading angle of parent body AUV and the target heading angle of sub-body ROV;Determine the operating parameter of each propeller on sub-body ROV in combination with correction torque;Correspondingly control propeller operation based on operating parameter, to recover sub-body ROV.

The invention discloses an underwater robot depth and course control system, which relates to the technical field of underwater robots, and is characterized in that an equivalent strain energy anomaly index and a local maximum principal stress anomaly index are extracted through a structure-heat-fluid coupled three-dimensional finite element simulation model, and a failure risk prediction model is constructed by using a machine learning model; taking the comprehensive feature vector as input, and outputting a sealing structure failure prediction coefficient as a basis for dynamically adjusting a control strategy; the system limits or optimizes the propeller power, buoyancy adjusting frequency and course angle change rate in real time according to the failure prediction coefficient of the sealing structure so as to reduce the structural load and delay the fatigue process, a prediction model is continuously optimized through an error sample driven incremental learning mode, closed-loop self-learning and self-adaptive evolution of the control system are achieved, and the system reliability is improved. Therefore, the operation safety and the task execution stability of the underwater robot in the complex deep sea environment are improved.

The invention discloses a bionic stingray type underwater patrol robot based on annular fin propulsion, and belongs to the technical field of underwater robots, the bionic stingray type underwater patrol robot comprises a waterproof shell, an annular flexible fin and an annular fin propulsion mechanism; the annular fin propelling mechanism comprises an annular mounting plate, a plurality of first steering engines are uniformly arranged on the annular mounting plate in the circumferential direction, fin rays extending in the radial direction of the annular mounting plate are arranged at the output ends of the first steering engines, and the fin rays are fixedly connected with the annular flexible fins; the fin ray comprises a connecting base connected with the output end of the first steering engine, and a clamping jaw used for clamping the annular flexible fin is rotationally matched with the connecting base. A traditional propeller is replaced with bionic fluctuating propulsion of the annular flexible fins, the winding risk is fundamentally avoided, the bionic fluctuating fin propulsion mode is small in water flow disturbance and low in noise, the bionic fluctuating fin propulsion device is suitable for the environment sensitive to water flow or needing hidden operation, and interference to sea grass or surrounding ecology is avoided.

The utility model discloses an ROV main body frame, and belongs to the technical field of underwater robots. The ROV body frame comprises a bearing frame and an auxiliary frame. The bearing frame comprises a first layer frame, a second layer frame and a third layer frame which are connected in sequence, and the first layer frame, the second layer frame and the third layer frame are connected through vertical frames. The auxiliary frame is connected with the bearing frame, the auxiliary frame comprises a fourth shelf and a fifth shelf which are connected, and the fourth shelf and the fifth shelf are connected through a plurality of first rod pieces. Wherein the beams of the second shelf are connected with the beams of the fourth shelf in an inserted mode, and the beams of the third shelf are connected with the beams of the fifth shelf in an inserted mode, so that the bearing frame is located in the auxiliary frame. According to the ROV main body frame provided by the utility model, the load-bearing frame and the auxiliary frame can be made of different alloy materials according to load-bearing requirements, so that the overall mass is obviously reduced on the premise of ensuring reliable supporting force.

The application belongs to the technical field of underwater robots, and particularly relates to an underground water underwater video detection robot. In view of the problem that the communication cable length of a general underwater video detection robot is fixed, and a knot is generated due to improper winding, misplacement and the like when the cable is reeled in and out, the following scheme is proposed, which comprises a rack, opposite two side inner walls of the rack are fixedly connected with a same bottom plate, two mounting holes one and a plurality of mutually symmetrical mounting holes two are formed in the rack, a propeller one is arranged in each of the two mounting holes one, a propeller two is arranged in each of the plurality of mounting holes two, and a wire winding module and a sampling module are arranged on the bottom plate. The underground water underwater video detection robot has the beneficial effect that the cable length can be automatically adjusted according to the requirement of the robot body, winding and the like caused by excessively long cable is avoided, the winding position is standardized when the cable is reeled in and out, a knot caused by winding misplacement is avoided, and the use effect of the device is improved.

The application discloses an underwater robotic fish driven by high-order vibration of soft beam, and belongs to the technical field of underwater bionic robotic fish. The underwater robotic fish comprises a machine shell, a rudder, a rudder push rod and a soft coupling fish tail assembly. The rudder is arranged in the machine shell. The output end of the rudder is connected to the rudder push rod, and the rudder push rod is connected to the soft coupling fish tail assembly. The rudder drives the rudder push rod to apply excitation to the soft coupling fish tail assembly so that the soft coupling fish tail assembly generates vibration, thereby enabling the underwater robotic fish to complete forward movement and turning. The fish tail is designed and manufactured by using soft material, and the flexible beam is excited by using the rudder, so that the flexible beam and the soft rubber tail fin generate vibration. The reaction force of water on the fish tail pushes the robotic fish forward during the vibration process. The flexible fish tail is more stable, faster and more in line with the movement of real fish than the rigid fish tail. Moreover, the flexible fish tail occupies a small volume, can pass through narrow water areas, has better movement effect, and can be used for underwater rescue and underwater narrow space exploration.

The invention relates to the technical field of underwater robots, provides an ESP32-based offshore wind power underwater operation robot magnetic load rejection device, and solves the problems of high energy consumption and difficulty in supporting long-time operation when a traditional underwater operation robot dives and passes through surface layer strong disturbance water flow. The robot comprises a control module installed on a robot main body frame; the electromagnet is mounted at the bottom of the robot and comprises a power-losing electromagnet and a power cable, one end of the power cable is connected with the power-losing electromagnet, and the other end of the power cable is connected with the control module; the magnetic key is used for being inserted into a preset position of a shell of the control module, and a strong magnet arranged in the magnetic key can enable the reed switch to be conducted so as to start the control module; the disposable load is used for being adsorbed on the power-losing type electromagnet before operation; according to the invention, the robot can dive by means of gravity by mounting the one-time load, so that the most energy-consuming link in the operation of the underwater robot is omitted, and the operation time is effectively prolonged.

This invention relates to the field of underwater robot technology, specifically to an autonomous recovery method and system for underwater robots based on binocular vision and multi-source fusion. The system includes an AUV and a recovery platform. The AUV is equipped with a binocular camera, IMU, DVL, and USBL. The recovery platform is equipped with a guide light array, an auxiliary light source, a pressure sensor array, and a recovery cage. The method includes four stages: long-distance repositioning, high-precision visual guidance, multi-source fusion control in the visual failure zone, docking determination, and fixation. In the visual failure zone, the system activates the bottom auxiliary light source and constructs a multi-source fusion framework. It deeply fuses the two-dimensional deflection angle of the auxiliary vision, the high-frequency attitude of the IMU, the three-dimensional velocity of the DVL, and the absolute position of the USBL, and outputs the six-degree-of-freedom pose of the AUV in real time. This ensures end-effector attitude stability, improves system robustness and environmental adaptability, and solves the problems of not being able to provide complete attitude information and poor anti-disturbance capability in the near-range visual failure zone.

This invention discloses a method and system for visual enhancement of underwater robots in turbid waters, relating to the fields of machine vision and image restoration technology. The method includes: acquiring a sequence of original color images collected in real-time by the underwater robot; mapping the pixel intensity of the original color image sequence to a complex space to construct a complex domain analytic signal; extracting the multi-directional spatial gradient tensor of the original color image, and calculating pseudo-polarization information and environmental characterization parameters accordingly; constructing a virtual phase compensation operator using the pseudo-polarization information and the environmental characterization parameters; wherein the pseudo-polarization information drives the compensation intensity of the virtual phase compensation operator, and the environmental characterization parameters are used to locally weight the compensation intensity. Its beneficial effects include: correcting edge blurring and texture obfuscation caused by wavefront phase disturbances, and significantly improving the edge steepness of structural contours in the image.

The application relates to the technical field of underwater robots, in particular to a module connecting device of a modular AUV, which belongs to the technical field of modular underwater robots, and has the advantages of simple structure, reasonable design, convenient use, standard specification and the like, realizes sealing and electrical connection at the same time in structural connection, realizes mechanical module replacement and electronic function module replacement between two modules quickly by using few connecting screws, the installation and dismounting processes are very convenient, the standardization of the split modular AUV interface is realized, and the serialization and standardization application of the AUV become reality.

The application provides a ROV recovery device and a use method thereof, relates to the technical field of underwater robots, and comprises a remote control unit for receiving control instructions and displaying system state information; a cable arranging and executing unit arranged on a base and used for guiding the orderly arrangement of a cable; a power transmission unit arranged on the base and used for providing the cable arranging and executing unit with power for winding and unwinding the cable and realizing synchronous transmission; and an intelligent sensing and control unit in signal connection with the remote control unit, the cable arranging and executing unit and the power transmission unit, used for acquiring position information and cable state information of the underwater robot and controlling the operation of the power transmission unit. The application can realize the automation and intelligentization of the ROV recovery process, effectively solves the technical problems of low efficiency, high risk and easy winding of the traditional recovery mode, and significantly improves the operation safety and multi-scene adaptability.

The application discloses a kind of underwater self-explosion barrier robots in the technical field of underwater robot, including fuselage, propeller, mechanical arm, attachment mechanism, observation instrument and charging mechanism;The propeller includes horizontal propeller and vertical propeller, the horizontal propeller and vertical propeller are symmetrically installed in the left and right sides of fuselage, the observation instrument is installed in the grabbing surface of fuselage, the attachment mechanism is installed in one end of horizontal propeller, and with the grabbing surface same direction;The mechanical arm is symmetrically installed in the upper and lower sides of fuselage, the mechanical arm has at least three degrees of freedom, the free end of the mechanical arm is provided with mechanical claw, the mechanical arm can be gripped with pincer type;The charging mechanism is installed in the non-grabbing surface of fuselage.The underwater self-explosion barrier robot provided by the application can be closely adsorbed on the surface of barrier, suitable for a variety of complex shape barriers, high applicability range and high stability, high barrier efficiency and low manufacturing cost.

The invention relates to the technical field of underwater robots, and discloses an underwater jacket detection system and method based on a flexible robot, the flexible robot is formed by alternately connecting a plurality of rigid modules and a plurality of flexible modules in series, and the shuttling flexibility of the flexible robot in gaps of complex components of the underwater jacket is effectively improved. Furthermore, the optical image, the acoustic image and the ultrasonic signal are synchronously acquired through the detection module, and the preprocessing of the control module and the transmission of the communication module are combined, so that the problem of insufficient information of the traditional single detection mode is avoided. Furthermore, the shore-based control platform generates an inspection path based on the target CAD model and controls the flexible robot to move, and receives processing data and generates a detection report, so that automation and precision of the detection process are realized, comprehensiveness and efficiency of underwater jacket detection are improved, and the detection efficiency of the underwater jacket is improved. The problem that a traditional ROV is limited by an umbilical cable and is difficult to move between narrow jacket structures for multi-angle fine detection is solved.

The invention relates to the technical field of underwater robots, in particular to a pipeline steering and driving underwater robot which comprises two frames, a control module is fixedly arranged between the two frames, driving mechanisms are arranged in the frames, steering mechanisms are arranged on the four sides of the side faces of the driving mechanisms, and auxiliary mechanisms are arranged on the lower sides of the driving mechanisms. The driving mechanism comprises a shell, a rotating frame, an electromagnetic coil and a fan blade block, and connecting pipes are arranged on the two sides of the shell in a mirror image mode. Driving, steering and buoyancy adjusting functions are highly integrated in an innovative pipeline system, the overall performance is remarkably improved, the core is that a hollow propeller is combined with a universal adjusting pipeline nozzle to serve as a power and course adjusting mechanism, the winding risk of underwater sundries is fundamentally avoided, and the overall performance is improved. And through cooperative operation of all the mechanisms, the robot is endowed with unprecedented omnidirectional maneuvering capability, rapid submerging and surfacing response and stable wall attachment detection performance, the structure is compact, and control is efficient.

The invention relates to an underwater robot based on autonomous navigation and a use method thereof, and belongs to the technical field of underwater robots. According to the autonomous navigation-based underwater robot and the use method thereof, the autonomous navigation-based underwater robot comprises a robot shell, a control end head is fixedly connected to the end part of the robot shell, a plurality of through holes are formed in the surface of the control end head, and the plurality of through holes are annularly and uniformly distributed along the surface of the control end head; the noise reduction propelling mechanism is installed in the robot shell, and the surface of the noise reduction propelling mechanism extends to the outer side of the robot shell; according to the device, the end, close to the robot shell, of the arranged propelling assembly continuously moves up and down in a reciprocating mode, a good forward moving effect can be formed in cooperation with the fluid assembly, obvious noise generated when propelling equipment works is avoided, in the process that the robot collects marine organism data, the situation that marine organisms are disturbed is reduced, and the service life of the robot is prolonged. And the accuracy of marine organism data collection is ensured.

A networked system architecture including hardware and software elements permits data transmission between underwater systems. The network architecture includes data transmission between underwater computers, instruments, robotic vehicles, human-occupied underwater habitats, and / or worn sensor devices. Data is transmitted over wired communication channels, wireless communication channels, or a combination thereof. The network is established independent of surface connectivity (e.g., a topside connection) and creates a Local Area Network (LAN) or Wide Area Network (WAN) specific to an underwater environment. A system administrator, such as a diver, operates an underwater and waterproof computer to control and operate an underwater and waterproof device (e.g., a robotic vehicle) over the LAN / WAN. The underwater device may be a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, a moored sensor, or the like.

The invention discloses a multi-underwater robot cooperative formation control method, and belongs to the technical field of underwater robots. According to the method, the state quantity of the optimal nonlinear state space model of each AUV is determined by adopting a Hungary method, so that the problems of track intersection and collision between different AUVs in the formation transformation process can be avoided. Besides, under the condition that thrust is limited, a formation control objective function including a relative pose error term and a safety constraint penalty term is adopted, the distance between different AUVs is dynamically adjusted, and active avoidance and safe formation transformation are achieved.

The application discloses an underwater robot system with an extended peripheral cascade interface, which is constructed with a core interface and a modular extension, and comprises three modules of an optical-electric hybrid modular interface, a dynamic energy management system and a self-adaptive cascade mechanism; the optical-electric hybrid interface adopts a customized OceanLink-12M watertight connector, integrates two 10Gbps single-mode optical fiber channels, selects a commercial underwater 10Gbps SFP+ optical module, is suitable for a water depth of 6000 meters, and integrates four 12-48VDC wide-voltage power channels and six traditional electric signal channels; the dynamic energy management system is split into a main power module and an auxiliary power module, and through a wide-voltage input module, a dynamic power distribution unit and a multi-level protection mechanism, 5-48V continuous adjustable power supply is realized; the self-adaptive cascade mechanism adopts a three-level structure of a main cabin, an extension cabin and peripherals, supports a maximum of five cascades, automatically completes address allocation and parameter synchronization, the delay of core control instructions is less than 5ms, and the delay of large-bandwidth data is less than 10ms.

The invention discloses an underwater robot docking capture control method and system, and the system comprises two docking robots which comprise a first docking robot and a second docking robot, the two docking robots are used for carrying out the docking capture of a target device at the same time, and the first docking robot and the second docking robot are used for carrying out the docking capture of the target device. The target equipment is provided with two butt joint ports, the top ends, away from openings, of the butt joint ports are provided with positioning protrusions, and the butt joint robot is provided with butt joint pins; the underwater robot docking capture control system further comprises a motion control device, and the motion control device is used for controlling motion of the first docking robot and the second docking robot according to the relative distance and orientation of the first docking robot and the second docking robot. And enabling the relative distance between the first docking robot and the second docking robot to be matched with the distance between the two docking ports of the target equipment, and keeping the relative distance unchanged.

This underwater intelligent cable system, equipped with morphological perception and remotely operated capabilities, belongs to the fields of underwater robotics, marine inspection, and engineering measurement and control. In this system, one end of the intelligent cable is fixed to a mother ship, while the other end connects to an ROV (Remotely Operated Vehicle) for flexible deployment via towing. A three-core fiber optic grating sensor is integrated within the cable to acquire strain distribution along its length. Multiple sealed measurement boxes are deployed along the cable to collect environmental data and transmit it back to the mother ship. The mother ship is equipped with an FBG demodulator and a data processing and storage system to calculate curvature or deflection based on strain and reconstruct the cable's three-dimensional morphology. To suppress long-distance integral drift, some measurement boxes integrate IMU (Integrated Mutor Unit) outputs attitude data and calculates tangent vectors, which are then fused with FBG continuous curvature constraints for optimized filtering. Environmental measurements are mapped to corresponding spatial coordinates on the morphological curve according to the calibrated positions of each node along the cable length, forming a spatial registration dataset that is visualized, stored, and queried, improving the efficiency and accuracy of large-scale underwater detection.

The utility model provides an underwater robot capable of being used for bridge detection, which belongs to the technical field of underwater robots and comprises a top layer plate, an interlayer plate, a bottom layer plate, a left side plate, a right side plate, a multi-beam imaging sonar, a laser range finder, an electronic sealing buoyancy providing cabin, a water link DVL and a sonar altimeter. The left side plate and the right side plate are partially hollowed out in appearance and are divided into a combined frame type structure, the side face of the robot utilizes the stability of triangles, a plurality of triangular hollows are adopted, and it is guaranteed that the robot keeps stable under strong water flow impact; the electronic sealing buoyancy providing cabin is arranged, the electronic sealing buoyancy providing cabin serves as a waterproof device for protecting the circuit board and also serves as a buoyancy device to replace a traditional buoyancy device, and the operation resistance of the robot in water can be effectively reduced in combination with the semicircular spherical cover.

The invention relates to the technical field of underwater robots, and discloses a water conservancy and hydropower building crack high-precision detection robot which comprises a robot body, a transparent cover is fixedly connected to the surface of the robot body, a support is fixedly connected to the outer circumference of the robot body, a propeller is fixedly connected to the inner wall of the support, and a multi-angle detection device is arranged on the inner wall of the robot body. The multi-angle detection device comprises a gear ring, the gear ring is rotationally connected with the inner wall of the machine body, the maximum rotation angle of the gear ring is 270 degrees, one side of the gear ring is fixedly connected with an installation ring, and the surface of the installation ring is fixedly connected with a fixing frame. According to the invention, the detection auxiliary device is arranged, so that the equipment can clean a to-be-detected area during detection, and meanwhile, sewage generated by cleaning can be effectively restrained and pumped, so that the interference of sewage dissipation on a probe picture is reduced, and the image acquisition quality of the robot is further improved.

The invention relates to the technical field of underwater robots, in particular to a magnetic control variable-stiffness robotic fish simulating swimming bladder snorkeling. The magnetic-control variable-stiffness robotic fish comprises a magnetic-control variable-stiffness tail fin module, a demagnetization module, a bionic swimming bladder module and a shell outer covering skin, wherein the shell outer covering skin covers a fish body of the magnetic-control variable-stiffness robotic fish and is used for achieving overall sealing of the robotic fish; the bionic swimming bladder module comprises four bionic swimming bladder units; the magnetic control variable stiffness tail fin module comprises a flexible tail fin, a third electromagnet and a passive tail fin, the demagnetization module comprises a power source, a DC-AC converter and a coil, variable stiffness and flexible swing of the tail fin can be effectively achieved, and compared with a gravity center adjusting mechanism, the swimming bladder snorkeling simulating mechanism has the advantages of being small in size, light in weight and the like; good movement performance is realized.

This invention discloses a method for aquatic organism identification and matching based on image processing and neural network fusion, belonging to the fields of underwater robotics and marine resource development. In the underwater environment, due to the attenuation of the red light channel, images captured by camera equipment generally have a greenish tint, and identification of various aquatic organisms is difficult and slow. Existing algorithms directly identify organisms based on the acquired underwater images, resulting in poor accuracy and slow processing speed due to depth estimation applied to the entire image. This invention performs red light channel compensation on the original underwater image, and image preprocessing achieves underwater image restoration. Then, a dedicated DarkNet neural network is used to identify and classify various aquatic organisms. Finally, based on a binocular camera, targets that meet threshold requirements are identified using DBNet for ORB matching to obtain matching features, facilitating subsequent depth calculation by the binocular camera. Compared with existing algorithms, this method is easier to use, and improves the quality of the restored image, the underwater organism identification rate, the depth estimation accuracy, and the processing speed.

The invention relates to the technical field of underwater robots, in particular to a caterpillar band unit, a four-wheel-drive caterpillar band advancing chassis and an underwater operation robot. Wherein the track unit comprises a track consisting of an annular chain formed by connecting a plurality of chain bars end to end; each chain piece is provided with a track shoe; at least one track tooth is arranged on the outer surface of the track shoe; transition parts matched with each other in shape are respectively arranged between the adjacent track shoes; the suspension is arranged in the chain; the driving wheel is rotationally arranged on one side of the suspension frame, supports the chain from the inner side and is meshed with the chain; the driving source is connected with the driving wheel and used for driving the driving wheel to rotate; the guide wheel is rotationally arranged on the other side of the suspension frame, supports the chain from the inner side and is meshed with the chain; the inducer is arranged in the middle of the suspension and connected with the guide wheel through the tensioning unit. Grounding area and traction force are increased, and meanwhile, dynamic adjustment of the tensioning unit is matched to ensure that the crawler teeth always keep reasonable ground gripping force under different terrains.