CN103029818B

CN103029818B - A kind of bionical benthic organism hauls robot

Info

Publication number: CN103029818B
Application number: CN201210553365.8A
Authority: CN
Inventors: 汤一平; 俞立; 孙明轩; 倪洪杰; 余世明
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2012-12-18
Filing date: 2012-12-18
Publication date: 2015-10-07
Anticipated expiration: 2032-12-18
Also published as: CN103029818A

Abstract

A bionic seabed biological fishing robot, including the body of the fishing robot, limbs based on artificial muscles with two functions of seabed walking and fishing seabed organisms, a pressure sensor for sensing water depth, and a digital compass for detecting the walking direction of the fishing robot. The binocular stereoscopic panoramic vision sensor used to obtain 360° panoramic stereoscopic video images around the fishing robot and used to control the limbs to coordinate seabed walking, identify and spatially locate fishing objects, autonomously navigate, control fishing actions, and communicate with surface mother ships The intelligent body for information interaction, the umbilical cord for communication with the surface mother ship and energy equipment to provide equipment connection. The invention provides a bionic seabed biological fishing robot with good natural compliance, simple mechanism, low control complexity, low manufacturing and maintenance costs and high fishing process efficiency.

Description

Bionic benthon fishing robot

Technical Field

The invention belongs to the application of a panoramic stereoscopic vision technology, a pneumatic servo control technology and an underwater robot technology in exploration and fishing of submarine biological resources, and is particularly suitable for fishing of submarine organisms such as sea cucumbers and the like.

Background

Deep sea organism fishing, namely fishing the deep sea organisms, and capturing the organisms from the deep sea to obtain water for scientific research or other commercial purposes. At present, a trawl capture technology is generally adopted, and the trawl capture technology is a towing capture mode by using ship navigation. The bottom trawl is a technology for capturing small organisms such as deep sea benthos. This bottom trawl technique causes catastrophic damage to the ecosystem and coral, sponge, fish and other animals will be killed thereby. Meanwhile, underwater ecosystems such as sea mountains and the like, which are habitats of a plurality of marine organisms, are seriously damaged. The fishing mode causes irreparable loss to the marine ecosystem. Due to the fact that the trawl technology is difficult to capture organisms in a targeted mode, the 'innocent killing' without bluish-red and soapy soap is caused, success rate is low, and resources are wasted.

In recent years, underwater robots are increasingly applied to exploration of deep sea resources by human beings. Among them, the search for deep-sea biological resources is also an extremely important part. The most intuitive advantage of the deep submergence vehicle is that scientists can remotely control the deep submergence vehicle, the pertinence is high, and the deep submergence vehicle cannot damage the deep sea environment. However, the current underwater robots are very expensive, and the benthos fishing applied to commercial use still has many problems.

The underwater robot is also called as an unmanned remote control submersible, and the working mode is that the working personnel on a mother ship on the water surface provides power through an umbilical cord connected with the submersible to operate or control the submersible, special equipment such as an underwater television, a sonar and the like is adopted for observation, and the manipulator carries out underwater operation. In deep sea creature capture, an underwater robot uses robotic handles to bring captured creatures into the collection chamber up to the surface. Among them, the underwater television system is one of the most promising viewing devices. For example, the woodz hall ocean institute in the united states developed a deep submersible robot named "global best-drifting person", equipped with a high-definition camera capable of working under water up to 3000 meters, and a scientist can operate remotely to deposit the organisms captured in the water in a collection chamber of the robot. However, the image obtained by the current underwater television system used in the underwater robot is still planar visual information, and depth information of the captured object cannot be obtained; and the visual range is very limited. Such underwater robots are extremely expensive to manufacture.

For the fishing of some small-sized deep sea creatures, researchers develop an ocean grab bucket like bivalve shells, which can be quickly closed when being impacted to the seabed so as to grab all samples into the bucket. In addition, researchers have also designed box samplers, gravity samplers, piston samplers, etc. which are lowered vertically to the sea floor and quickly and completely pick up the samples using special devices, so that the sediments can be studied layer by layer. The fishing mode has low operating efficiency and high manufacturing cost.

The design of the bionic benthos fishing manipulator is that if the nose of the elephant can easily pick off fruits on a tree, the grass on the ground can be pulled up with roots, water in a water tank can be sucked, and if the nose of the elephant is above the esophagus behind the nasal cavity, a special cartilage is arranged to play a role like a valve. When water is absorbed, the muscles of the throat part contract, the valve is closed, and water can smoothly enter the esophagus, so that the nose is as flexible as a human hand. Research shows that the elephant nose is composed of nearly 4 thousands of small elastic muscles, can flexibly stretch and retract, and can flexibly move. When the bionic benthos fishing robot is designed, the pipeline on the fishing robot is designed to be like the nose of a elephant, and the fishing process is simulated to be the process that the nasal cavity of the elephant sucks a fishing object. Some benthos use suction from the mouth to swallow the captured object when capturing food, with a similar function as the nose of an elephant.

For the process of fishing the benthos, firstly controlling a fishing pipeline like a elephant nose to be aligned with the fished benthos, then utilizing a negative pressure generating device in the fishing pipeline to generate vacuum pulse to suck the fished benthos, and finally automatically sliding the fished benthos to a collecting cabin of an underwater robot through the pipeline, thereby finishing the whole process of fishing the benthos; the fishing action of the benthos is completed instantly, so that the fishing speed can be effectively improved; because the vacuum pulse type suction of the benthos is adopted, the energy consumption in the fishing process can be effectively reduced, and targeted and efficient capture is realized.

An ideal bionic benthon fishing robot is designed to adopt an artificial muscle to realize the end effector which has flexibility and dexterity, wherein the artificial muscle technology for simulating the nose of the elephant is an optimal selection design scheme. The artificial muscle has the advantages of low cost, cleanness, simple and convenient installation and the like of the pneumatic transmission technology, and also has the advantages of high power/mass ratio, natural flexibility, mechanical properties similar to those of biological muscles and the like.

As early as 1900, "REULEAUX, the father of institutionality, mentioned the principles of simulating biological muscles using rubber tubes in research on biomechanics. In 1913, WILKINS invented a cheap and reliable tubular diaphragm actuator; research on the application of artificial muscles in deed began in the 80's of the 20 th century; the Japanese Bridgestone company introduced a Rubbertuator driver based on the early McKibben type pneumatic muscle redesign, and applied to a multi-joint flexible arm Soft arm, attracted the attention of some researchers, so that the artificial muscle enters the practical application field, the potential value of the artificial muscle is gradually known, and the application and research work is vigorous. At present, the main research on artificial muscles is only limited to the aspects of flexible arms, flexible hands, flexible legs and the like, and the research on a bionic benthon fishing robot with a fishing function similar to a elephant nose is very rare.

Generally, the bionic benthos fishing robot mainly relates to three technical fields: 1) designing a body structure; 2) autonomous navigation of the underwater robot; 3) and positioning, identifying and catching the caught target. The invention mainly solves the problems of body structure design, positioning and identification of a fishing target and design of a fishing end effector.

The key technology for realizing the bionic benthos fishing robot is as follows: 1) the design of the benthos fishing pipeline, the fishing pipeline can realize the extension along the Z direction of the central shaft and the bending in any direction by controlling the pressure introduced into the cavity in the pipeline, so as to realize the action of aiming at the fishing object by the fishing pipeline; 2) when the fishing pipeline is aligned with the fishing object, vacuum pulse can be automatically generated to suck the fishing object; 3) the automatic identification technology of the caught object based on machine vision automatically finds the caught object in the walking process of the underwater robot; 4) the positioning technology of the fishing object based on the 3D panoramic stereo vision calculates the spatial position of the fishing object and the central point of the benthos fishing pipeline of the underwater robot after the underwater robot finds the fishing object, and provides spatial position information for the fishing pipeline to align the fishing object.

Disclosure of Invention

In order to overcome the defects of poor natural flexibility, complex mechanism, high control complexity, high manufacturing and maintenance cost, difficulty in realizing efficient targeted fishing and the like of the conventional benthos fishing device, the invention provides the bionic benthos fishing robot which has the advantages of good natural flexibility, simple mechanism, low control complexity, low manufacturing and maintenance cost and high efficiency in the fishing process.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a bionic benthos fishing robot comprises a fishing robot body, four limbs, a pressure sensor, a digital compass, a binocular stereoscopic panoramic vision sensor, an intelligent body and an Agent, wherein the four limbs are based on artificial muscles and have two functions of seabed walking and benthos fishing, the pressure sensor is used for sensing water depth, the digital compass is used for detecting the walking direction of the fishing robot, the binocular stereoscopic panoramic vision sensor is used for acquiring a 360-degree panoramic stereoscopic vision video image around the fishing robot, the intelligent body is used for controlling the four limbs to coordinate seabed walking, identifying and space positioning of a fishing object, autonomously navigating, controlling fishing action and carrying out information interaction with a mother ship on the water surface, the Agent is hereinafter referred to as Agent, and an umbilical cord is communicated with the mother ship on the water surface and connected with energy equipment providing equipment;

the interior of the fishing robot body is divided into three spaces, wherein one space is a collecting cabin and is positioned at the bottom of the body and used for storing a fishing object; one space is a control equipment instrument cabin which is positioned at the back of the body, the intelligent body, other control instruments and a standby power supply are arranged in the control equipment instrument cabin, and the umbilical cord is connected into the control equipment instrument cabin and is connected with the intelligent body communication interface and the standby power supply; the binocular stereoscopic panoramic vision sensor is provided with an annular LED light source for illuminating the fishing robot, is fixed on the back of the fishing robot body, is used for acquiring panoramic stereoscopic vision video images around the bionic benthos fishing robot, and is connected into an instrument and instrument cabin of the control equipment to be connected with a USB interface of the intelligent body; the pressure sensor is fixed on the back of the fishing robot body, is connected into a control equipment instrument and meter cabin and is connected with an A/D interface of the intelligent body, and is used for detecting the seawater pressure on the fishing robot body so as to calculate the depth of the fishing robot body from the pressure value; the digital compass is arranged in an instrument and instrument cabin of the control equipment, is connected with an I/O interface of the intelligent body, and is used for detecting the walking direction of the fishing robot and obtaining the walking track of the fishing robot on the seabed according to the walking control and walking direction of the fishing robot; one space is a buoyancy chamber, is positioned between the collection chamber and the control equipment instrument and meter chamber and is mainly used for controlling the stability and the lifting of the fishing robot during walking;

the buoyancy cabin is provided with two ports, one port is controlled to be opened and closed by an electromagnetic valve, the buoyancy cabin is communicated with the outside in the opened state, and the buoyancy cabin is isolated from the outside in the closed state; the other port is connected with the input port of the water pump, and when the water pump works, seawater in the buoyancy cabin is pumped out to form a certain vacuum in the buoyancy cabin, so that the fishing robot floats upwards; therefore, when the fishing robot is controlled to descend, the electromagnetic valve is controlled to open to allow seawater to enter the buoyancy cabin; when the fishing robot is controlled to ascend, the electromagnetic valve is controlled to be closed, then the water pump works to pump out the seawater in the buoyancy cabin, and the fishing robot has upward buoyancy;

one end of each limb is fixed in front of and behind two sides of the collecting cabin of the fishing robot body, is very similar to the limbs of the sea turtles and is made of artificial muscles; the shape of the four limbs is in a tube three-degree-of-freedom muscle shape, the inside of the tube is divided into three fan-shaped columnar cavities which form an angle of 120 degrees with each other, and the extension in the Z direction of the central shaft and the bending in any one direction are realized by respectively controlling the water pressure of the three cavities, so that the control of three degrees of freedom is realized; when the fishing robot walks, the four limbs support the fishing robot body, as shown in the attached figure 4; when the fishing robot catches, the front ends of the four limbs are aligned with a fishing object to realize suction fishing of the fishing object; when the front ends of the four limbs are aligned with a fishing object, pulse type negative pressure is generated in the fishing pipeline, the fishing object is sucked into the fishing pipeline, and then enters the fishing cabin along with the fishing pipeline, as shown in the attached figure 5; therefore, the four limbs have two functions, one function is to realize walking of the fishing robot on the seabed, and the other function is to realize suction fishing of a fishing object; in order to distinguish from the function aspect, the walking function is defined as the four limbs based on the artificial muscles, and the fishing function is defined as the fishing pipeline based on the artificial muscles;

the four ports are arranged at the positions where the four limbs are arranged on the collecting cabin, the switches of the four ports are controlled by four collecting cabin electromagnetic valves, and the fishing pipeline is communicated with the collecting cabin when the collecting cabin electromagnetic valves are in an open state; when the fishing robot walks or goes up and down, the electromagnetic valve of the collecting cabin is in a closed state, so that the fishing object can not flow back to the sea, and the pressure maintaining of the fishing object is realized; only when the front ends of the four limbs are aligned with the fishing object, the electromagnetic valve of the collecting cabin is in an opening state; the collecting cabin is fixed at the bottom of the fishing robot body, and the bottom of the fishing robot body is separable from the body; when the fishing robot floats to the sea surface and is recovered to a mother ship after finishing the fishing operation, an operator unloads the bottom of the fishing robot body from the body, replaces a collecting cabin full of the fishing objects with an empty collecting cabin, connects the bottom of the fishing robot body to the body again, and then puts the fishing robot into the sea to continue fishing; the electromagnetic valve of the collecting cabin full of the caught objects is in a closed state, so that the collecting cabin is still in a pressure maintaining state, the caught objects in the collecting cabin keep the pressure when the seabed lives, and the survival rate of the caught organisms is improved;

the umbilical cord mainly comprises a single-mode optical fiber line and a cell line, and the single-mode optical fiber line is mainly used for meeting the requirement of transmitting information about 3000 meters; the electric core wire and the single-mode optical cable are both provided with a single inner coating; the outside of the wires is molded or filled with soft and durable molding resin or fiber, and the outer surface of the umbilical cord is covered with a wear-resistant material layer; using a tinned copper wire as an electrical core wire; polyethylene or polypropylene is used as a material of the inner coating of the electric core wire; kevlar fiber or carbon resin is used as mould pressing resin, and polyethylene or polypropylene is used as a material of the wear-resistant outer coating; using the teflon as a material of an inner coating of the single-mode optical fiber wire; the single-mode optical fiber line provides a channel for information interaction between the mother ship on the water surface and the intelligent body, and the electric core line provides a power supply for the fishing robot;

the three-freedom-degree action device for controlling the limbs comprises: the pressure generator is used for leading in the inner cavities of the fishing pipelines in the four limbs, the pressure proportional control valves are used for controlling the pressure led in the inner cavities of the fishing pipelines, the pressure sensors are used for detecting the pressure led in the inner cavities of the fishing pipelines, the pressure proportional controllers are used for coordinately controlling the pressure proportional control valves, the pulse type negative pressure generating module is used for sucking a fishing object, the fishing control module is used for controlling the execution of the fishing action, and the walking control module is used for controlling the walking action;

the walking control module is subordinate to the Agent and used for controlling the limbs based on the artificial muscles to finish coordination actions with three degrees of freedom, so that the fishing robot can move forwards, backwards, leftwards and rightwards;

the fishing control module is subordinate to the Agent and used for controlling the actions of three degrees of freedom of the fishing pipeline based on the artificial muscle, so that the fishing port is aligned with a fishing object; when the fishing port is aligned with the fishing object, the pulse type negative pressure generating module is controlled to act to generate pulse type negative pressure so as to suck the fishing object into the fishing pipeline;

the Agent also comprises a panoramic stereo image acquisition unit, an autonomous navigation module, an intelligent video analysis module, a mother ship information interaction module and a task planning behavior module;

the panoramic stereo image acquisition unit is used for acquiring initialization information and a panoramic stereo video image;

the autonomous navigation module is used for analyzing the regional environment around the bionic benthos fishing robot from the panoramic stereoscopic vision video image acquired by the binocular stereoscopic panoramic vision sensor to complete path planning and obstacle avoidance tasks;

the intelligent video analysis module is used for analyzing a caught object, the size of the caught object and the spatial position of the caught object from a panoramic stereoscopic vision video image obtained by the binocular stereoscopic panoramic vision sensor, and providing spatial position information of a catching port for targeted catching;

the information interaction module with the mother ship is used for transmitting the panoramic stereo video image around the fishing robot to the mother ship and receiving a control instruction sent by the mother ship; the following interactive behaviors are included: 1) requesting intervention interaction, namely requesting intervention of a fishing manager when the fishing robot has an emergency, the collecting cabin of the fishing robot is full and the like; 2) receiving the interactive behavior of the fishing scheduling instruction, transferring the fishing task to the task planning behavior module after a fishing manager issues the fishing task, and feeding back the traversal path planning to a manager on the mother ship after the task planning behavior module plans the traversal path; 3) the negotiated interactive behavior can provide proper help and suggestions for managers on the mother ship through reasoning on self knowledge according to the self-perception condition of the Agent; 4) providing an interactive behavior of the information of the fishing site, responding to an uploading information instruction from a fishing manager, and uploading panoramic video information sensed by the Agent, the walking direction and depth information of the fishing robot and state information obtained by analysis to the fishing manager;

further, the fishing pipeline based on artificial muscles is in a three-degree-of-freedom muscle shape, and is divided into three fan-shaped cylindrical cavities which form 120 degrees with each other in the pipeline, as shown in the attached drawing 1; the extension along the Z direction of the central shaft and the bending along any direction are realized by respectively controlling the pressure of the three cavities, so that the control of three degrees of freedom is realized; aromatic polyamide reinforced fibers are clamped in the rubber matrix of the inner and outer pipe walls of the artificial muscle-based fishing pipeline, the fiber direction and the axial direction of the muscle form an included angle alpha, and the included angle alpha is designed to be 70-80 degrees in consideration of the flexibility of the artificial muscle-based fishing pipeline; thus, due to the influence of the unidirectional fiber reinforcing effect, the deformation along the direction vertical to the fiber direction is much easier than the deformation along the fiber direction;

dividing the fishing pipeline based on the artificial muscle into a plurality of parts, wherein the parts comprise a pipeline terminal, a pipeline terminal sealing body, a pipeline connecting sealing body, a pipeline connecting flange and a liquid through pipe; the assembling process comprises the following steps: firstly, inserting the pipeline terminal sealing body into one end of the pipeline body, then covering the pipeline terminal sealing body with the pipeline terminal, and fixing the pipeline terminal sealing body and one end of the pipeline body together by using a self-tapping screw; inserting the pipeline connecting sealing body into the other end of the pipeline body, aligning and covering the three holes of the pipeline connecting flange with the three holes of the pipeline connecting sealing body, then fixedly connecting the pipeline connecting sealing body and the other end of the pipeline body together, and finally respectively inserting the three liquid through pipes into the three holes of the pipeline connecting flange; the assembled fishing channel in the fishing pipeline based on the artificial muscle is communicated up and down; the fishing channel is communicated with the fishing cabin; three cavities in the fishing pipeline based on the artificial muscle are respectively and correspondingly communicated with the three liquid through pipes, and the cavities and the outside are kept in a sealed state; the fishing robot is connected with the body of the fishing robot through the pipeline connecting flange; the inlet of the fishing pipeline terminal based on the artificial muscle is in a horn shape, as shown in the attached figure 6;

the catching channel of the catching pipeline based on the artificial muscles is designed according to different catching object sizes, and the fact that the smallest caliber in the catching channel can be effectively supported to be slightly larger than the largest diameter of the catching object is considered, and the smallest caliber is phi_rminThe design calculation method is expressed by formula (1),

40mm>φ_rmin-φ_omax≥20mm （1）

in the formula, phi_rminIs the minimum diameter phi of the fishing channel_omaxThe maximum diameter of the fishing object;

the pulse type negative pressure generating module is used for emitting pulse type vacuum liquid flow to realize negative pressure absorption fishing of a fishing object, then sucking the fishing object through the fishing pipeline based on artificial muscle, collecting the fishing object into the fishing object collecting cabin along the fishing pipeline, and completing the whole fishing action by matching with fingers of a robot; the pulse type negative pressure generating module comprises a two-position three-way valve, a high-pressure water source and a nozzle, wherein the high-pressure water source is connected with the nozzle through the two-position three-way valve through a pipeline, the direction of the nozzle faces to the fishing object collecting cabin, when the two-position three-way valve is electrified, the high-pressure water source provides high-pressure liquid for the nozzle, and vacuum negative pressure is formed in the fishing pipeline according to an injection principle; a pulse type vacuum liquid flow is generated in the fishing pipeline by controlling the opening and closing of the two-position three-way hydraulic valve;

the catching control module needs to establish a mapping relation between the spatial position of the caught object after the binocular stereoscopic panoramic vision sensor and the intelligent video analysis module identify and position and the spatial position of the catching object aligned with the catching port controlled by the catching control module; the view point of the next panoramic vision sensor in the binocular stereo panoramic vision sensor is used as the origin of the vision coordinate system, and X is established_v、Y_vAnd Z_vA three-dimensional panoramic visual coordinate system is formed; taking the center of the fixing position of the fishing pipeline based on the artificial muscle and the walking part of the fishing robot as the origin of coordinates of the fishing manipulator, and establishing X_a、Y_aAnd Z_aA three-dimensional manipulator motion coordinate system is formed; because the binocular stereoscopic panoramic vision sensor and the artificial muscle-based fishing pipeline are both fixed on the walking part of the fishing robot, the geometric relation between a three-dimensional panoramic vision coordinate system and a three-dimensional fishing manipulator motion coordinate system is established by using a formula (2);

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

in the formula, X_a、Y_aAnd Z_aRespectively representing the motion coordinate system, X, of the three-dimensional fishing manipulator_v、Y_vAnd Z_vRespectively representing a three-dimensional panoramic visual coordinate system, and x, y and z respectively representing the projection distance between the two coordinate system origins on three-dimensional coordinates.

The fishing control module respectively controls the pressure (p) of three cavities in the fishing pipeline based on the artificial muscle₁，p₂,p₃) To realize the extension and contraction along the Z direction of the central shaft and the bending in any direction; for each set of control pressure values (p)₁,p₂,p₃) The catching end of the catching pipeline based on the artificial muscle has corresponding spatial position coordinate value (x)_a,y_a,z_a) (ii) a Accordingly, pressure values (p) of three cavities in the artificial muscle based fishing pipe are established experimentally₁,p₂,p₃) And the spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The process is called as a calibration process; after establishing the mapping relation through calibration, for a certain desired spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The control pressure values (p) of the three cavities of a group of the artificial muscle based catching pipeline can be conveniently calculated to obtain the required control pressure values₁,p₂,p₃) (ii) a Because the mapping relationship established by the experimental method is discrete, the coordinate value (x) of the spatial position_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) Is a continuous variable and therefore a set of controls required in the calculationPressure value (p)₁，p₂,p₃) An interpolation mode is needed, the spatial position of the catching end of the catching pipeline based on the artificial muscle is divided into a plurality of spatial grids, if the spatial position coordinate value of the front end of a certain expected catching pipeline based on the artificial muscle is not located in the center of a certain spatial grid, interpolation operation needs to be carried out on the spatial grid where the spatial position coordinate value is located and three adjacent spatial grids, and accurate control pressure values of three cavities are obtained; or adopting neural network technology to realize the spatial position coordinate value (x)_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) The mapping relationship of (2).

The fishing pipeline based on the artificial muscle is realized by adopting a hydraulic proportional pressure control technology for stretching along the Z direction of the central shaft and controlling the bending in any direction; the high-pressure water source is respectively connected with three cavities of the artificial muscle-based fishing pipeline through three proportional pressure valves, three pressure sensors are used for detecting the liquid pressure in the three cavities of the artificial muscle-based fishing pipeline, the pressure sensors are connected with a calculating and controlling device through an A/D converter, and the calculating and controlling device is connected with the proportional pressure valves through a D/A and a power amplifier; when the control pressure of a certain cavity is obtained through calculation, the calculation and control equipment outputs a voltage quantity to control the opening size of the proportional pressure valve through the D/A so as to adjust the liquid pressure in the cavity, meanwhile, the pressure sensor detects the liquid pressure in the cavity, and if the liquid pressure in the cavity is constant within a desired control pressure range, the proportional pressure valve is controlled to be closed so as to keep the liquid pressure in the cavity within a desired value; therefore, the control of the artificial muscle based fishing pipeline is decomposed into the proportional control of the liquid pressure in the three cavities.

When the catching end of the catching pipeline based on the artificial muscles is aligned with a catching object, the Agent triggers the pulse type negative pressure generating module through the I/O interface to send out pulse type negative pressure to realize negative pressure suction catching of the catching object, and the catching object collects the catching object into the catching object collecting cabin along the catching pipeline based on the artificial muscles.

The invention has the following beneficial effects: 1. the fishing robot is realized by adopting an artificial muscle technology, so that the structure is simple, the flexibility and the flexibility are good, the fishing object is not damaged in the fishing process, and the ecological environment of the sea bottom is not damaged; 2. the negative pressure suction fishing of the fishing object is realized by adopting pulse type negative pressure, so that the targeted fishing in the fishing process is ensured, and a better energy-saving effect is achieved; 3. four catching pipelines (catching robots) are arranged on the catching robot at the same time, so that omnibearing parallel catching operation can be realized, and the catching efficiency can be effectively improved; 4. the design methods of the fishing robot and the robot hand both adopt a bionic design technology, so that the design is completely suitable for the natural marine environment and the degree of the design can be close to perfect; 5. the environment condition of the caught object collecting cabin is always kept the same as the seabed pressure, so that the survival rate of the caught objects is improved; 6. the fishing robot carries out real-time information interaction with the mother ship, and workers on the mother ship can see the stereoscopic panoramic video image of the seabed in real time, so that a new method is provided for benthos investigation.

Drawings

FIG. 1 is a schematic view of a fishing robot using artificial muscle technology;

FIG. 2 is a schematic view of an artificial muscle manufacturing and assembling technique, wherein 1 is a pipeline terminal, 2 is a pipeline terminal sealing body, 3 is a pipeline body, 4 is a pipeline connecting sealing body, 5 is a pipeline connecting flange, and 6 is a high-pressure liquid pipe;

FIG. 3 is a schematic diagram of artificial muscle technology to achieve bending in either direction;

fig. 4 is an explanatory view of a walking state of the bionic benthon fishing robot, wherein 21 is a body, 22 is four limbs, 23 is a collection chamber, 24 is a buoyancy chamber, 25 is a control device instrument chamber, and 26 is a binocular stereoscopic panoramic vision sensor;

fig. 5 is an explanatory view of a fishing state of the biomimetic benthon fishing robot, wherein 21 is a body, 23 is a collection chamber, 24 is a buoyancy chamber, 25 is a control device instrument chamber, 26 is a binocular stereoscopic panoramic vision sensor, 27 is a fishing pipeline, and 28 is benthon such as sea cucumber;

FIG. 6 is a cross-sectional view of an artificial muscle based fishing conduit fishing port;

FIG. 7 is a block diagram of the control of the limb movement and the control of the fishing action of a biomimetic benthon fishing robot;

fig. 8(a) is a design drawing of a binocular stereoscopic panoramic vision sensor, fig. 8(b) is a spherical calculation model of the binocular stereoscopic panoramic vision sensor, and fig. 8(c) is a model of the binocular stereoscopic panoramic vision sensor of a volume structure type and fixed single viewpoint;

fig. 9 is a schematic diagram of ODVS imaging without dead angle, in which 29 is a camera, 30 is a primary catadioptric mirror, 31 is a protective cover, 32 is an SVP, 33 is a first imaging point, 34 is a secondary catadioptric mirror, and 35 is a wide-angle lens;

FIG. 10 is a schematic diagram of the distance measurement and the spatial location of the object to be captured of the panoramic stereo vision sensor;

FIG. 11 is an experimental curve of the spatial positioning accuracy between the observation point and the fishing point;

fig. 12 is a diagram showing functional modules of the agent and the relationship between the functions in the biomimetic benthon fishing robot.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 12, a bionic benthos fishing robot comprises a body of a fishing robot with an external shape similar to a turtle, four limbs having two functions of walking on the seabed and fishing benthos based on artificial muscles, a pressure sensor for sensing water depth, a digital compass for detecting the walking direction of the fishing robot, a binocular stereoscopic panoramic vision sensor for acquiring a 360-degree panoramic stereoscopic vision video image around the fishing robot, and an Agent for controlling the four limbs to coordinate the walking on the seabed, identifying and spatially positioning a fishing object, autonomously navigating, controlling fishing action and performing information interaction with a surface mother ship, hereinafter referred to as Agent, an umbilical cord for communicating with the surface mother ship and connecting energy equipment;

the fishing robot body is very similar to a turtle in appearance, the bottom of the fishing robot body is flat, the back of the fishing robot body is raised, and the fishing robot body is oval in plan view, as shown in the attached drawing 1; the interior of the fishing robot body is divided into three spaces, one space is a collecting cabin and is positioned at the bottom of the body and used for storing the fishing objects; one space is a control equipment instrument cabin which is positioned at the back of the body, the intelligent body, other control instruments and a standby power supply are arranged in the control equipment instrument cabin, and the umbilical cord is connected into the control equipment instrument cabin and is connected with the intelligent body communication interface and the standby power supply; the binocular stereoscopic panoramic vision sensor is provided with an annular LED light source for illuminating the fishing robot, is fixed on the back of the fishing robot body, is used for acquiring panoramic stereoscopic vision video images around the bionic benthos fishing robot, and is connected into an instrument and instrument cabin of the control equipment to be connected with a USB interface of the intelligent body; the pressure sensor is fixed on the back of the fishing robot body, is connected into a control equipment instrument and meter cabin and is connected with an A/D interface of the intelligent body, and is used for detecting the seawater pressure on the fishing robot body so as to calculate the depth of the fishing robot body from the pressure value; the digital compass is arranged in an instrument and instrument cabin of the control equipment, is connected with an I/O interface of the intelligent body, and is used for detecting the walking direction of the fishing robot and obtaining the walking track of the fishing robot on the seabed according to the walking control and walking direction of the fishing robot; one space is a buoyancy chamber, is positioned between the collection chamber and the control equipment instrument and meter chamber and is mainly used for controlling the stability and the lifting of the fishing robot during walking;

40mm>φ_rmin-φ_omax≥20mm （1）

in the formula，φ_rminIs the minimum diameter phi of the fishing channel_omaxThe maximum diameter of the fishing object;

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

The fishing control module respectively controls the pressure (p) of three cavities in the fishing pipeline based on the artificial muscle₁，p₂,p₃) To realize the extension and contraction along the Z direction of the central shaft and the bending in any direction; for each set of control pressure values (p)₁,p₂,p₃) The catching end of the catching pipeline based on the artificial muscle has corresponding spatial position coordinate value (x)_a,y_a,z_a) (ii) a Accordingly, pressure values (p) of three cavities in the artificial muscle based fishing pipe are established experimentally₁,p₂,p₃) And the spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The process is called as a calibration process; after establishing the mapping relation through calibration, for a certain desired spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The control pressure values (p) of the three cavities of a group of the artificial muscle based catching pipeline can be conveniently calculated to obtain the required control pressure values₁,p₂,p₃) (ii) a Because the mapping relationship established by the experimental method is discrete, the coordinate value (x) of the spatial position_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) Is a continuous variable and therefore calculates a set of control pressure values (p) required₁，p₂,p₃) An interpolation mode is needed, the spatial position of the catching end of the catching pipeline based on the artificial muscle is divided into a plurality of spatial grids, if the spatial position coordinate value of the front end of a certain expected catching pipeline based on the artificial muscle is not located in the center of a certain spatial grid, interpolation operation needs to be carried out on the spatial grid where the spatial position coordinate value is located and three adjacent spatial grids, and accurate control pressure values of three cavities are obtained; or adopting neural network technology to realize the spatial position coordinate value (x)_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) The mapping relationship of (2).

Technical schemes such as man-machine cooperative operation between each bionic benthon fishing robot and a mother ship and the like are disclosed in other patent documents in the future.

Claims

1. The utility model provides a robot is catched to bionical benthos which characterized in that: the fishing robot comprises a body of the fishing robot, four limbs which are based on artificial muscles and have two functions of seabed walking and benthos fishing, a pressure sensor for sensing water depth, a digital compass for detecting the walking direction of the fishing robot, a binocular stereoscopic panoramic vision sensor for acquiring a 360-degree panoramic stereoscopic vision video image around the fishing robot, an intelligent body for controlling four limbs to coordinate seabed walking, identifying and space positioning a fishing object, autonomous navigation, fishing action control and information interaction with a surface mother ship, and an umbilical cord which is communicated with the surface mother ship and is connected with energy equipment providing equipment;

the interior of the body of the fishing robot is divided into three spaces, one space is a collecting cabin and is positioned at the bottom of the body and used for storing the fishing objects; one space is a control equipment instrument cabin which is positioned at the back of the body, the intelligent body, other control instruments and a standby power supply are arranged in the control equipment instrument cabin, and the umbilical cord is connected into the control equipment instrument cabin and is connected with the intelligent body communication interface and the standby power supply; one space is a buoyancy chamber, is positioned between the collection chamber and the control equipment instrument and meter chamber and is mainly used for controlling the stability and the lifting of the fishing robot during walking;

the binocular stereoscopic panoramic vision sensor is provided with an annular LED light source for illuminating the fishing robot, is fixed on the back of the fishing robot body, is used for acquiring panoramic stereoscopic vision video images around the bionic benthos fishing robot, and is connected into an instrument and instrument cabin of the control equipment to be connected with a USB interface of the intelligent body;

the pressure sensor is fixed on the back of the fishing robot body, is connected into a control equipment instrument and meter cabin and is connected with an A/D interface of the intelligent body, and is used for detecting the seawater pressure on the fishing robot body so as to calculate the depth of the fishing robot body from the pressure value;

the digital compass is arranged in an instrument and instrument cabin of the control equipment, is connected with an I/O interface of the intelligent body and is used for detecting the walking direction of the fishing robot and obtaining the walking track of the fishing robot on the seabed according to the walking control and walking direction of the fishing robot;

the intelligent agent comprises a panoramic stereo image acquisition unit, a mother ship information interaction module, a lifting control module, an autonomous navigation module, a walking control module, an intelligent video analysis module and a fishing control module; wherein,

the information interaction module with the mother ship is used for transmitting the panoramic stereo video image around the fishing robot to the mother ship and receiving a control instruction sent by the mother ship;

the lifting control module is used for controlling the vacuum amount in the buoyancy cabin of the fishing robot so as to realize the lifting of the fishing robot;

the walking control module is used for controlling the coordinated action of the four limbs of the fishing robot so as to realize the walking of the fishing robot on the seabed;

the fishing control module is used for controlling the actions of three degrees of freedom of the fishing pipeline based on the limbs of the artificial muscles, so that the fishing port is aligned with a fishing object; when the catching port is aligned with the catching object, the pulse type negative pressure generating module is controlled to act to generate pulse type negative pressure to suck the catching object into the catching pipeline.

2. The biomimetic benthon fishing robot of claim 1, wherein: one end of each limb is fixed at the front and the back of two sides of the collecting cabin of the fishing robot body, is similar to the limbs of the sea turtles and is made of artificial muscles; the shape of the four limbs is in a tube three-degree-of-freedom muscle shape, the inside of the tube is divided into three fan-shaped columnar cavities which form an angle of 120 degrees with each other, and the extension in the Z direction of the central shaft and the bending in any one direction are realized by respectively controlling the water pressure of the three cavities, so that the control of three degrees of freedom is realized; when the fishing robot walks, the four limbs support the fishing robot body; when the fishing robot catches, the front ends of the four limbs are aligned with a fishing object to realize suction fishing of the fishing object; the four limbs are provided with catching pipelines, which are called artificial muscle-based catching pipelines for short, when the front ends of the four limbs are aligned with a catching object, pulse type negative pressure is generated in the catching pipelines, the catching object is sucked into the catching pipelines, and then enters the catching cabin along with the catching pipelines.

3. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the collecting cabin is provided with four ports at the positions where the four limbs are installed, the opening and closing of valves of the four ports are controlled by four collecting cabin electromagnetic valves, and the fishing pipeline is communicated with the collecting cabin when the collecting cabin electromagnetic valves are in an open state; when the fishing robot walks or goes up and down, the electromagnetic valve of the collecting cabin is in a closed state, so that the fishing object can not flow back to the sea, and the pressure maintaining of the fishing object is realized; only when the front ends of the four limbs are aligned with the fishing object, the electromagnetic valve of the collecting cabin is in an opening state; the collecting cabin is fixed at the bottom of the fishing robot body, and the bottom of the fishing robot body is separable from the body; when the fishing robot floats to the sea surface and is recovered to the mother ship after finishing the fishing operation, an operator unloads the bottom of the fishing robot body from the body, replaces the collecting cabin filled with the fishing objects with the hollow collecting cabin, connects the bottom of the fishing robot body to the body again, and then puts the fishing robot into the sea for continuous fishing.

4. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the buoyancy cabin is provided with two openings, one opening is controlled to be opened and closed by a buoyancy cabin electromagnetic valve, the buoyancy cabin is communicated with the outside when the buoyancy cabin electromagnetic valve is in an opened state, and the buoyancy cabin is isolated from the outside when the buoyancy cabin electromagnetic valve is in a closed state; the other port is connected with the input port of the water pump, and when the water pump works, the seawater in the buoyancy cabin is pumped out to form a certain vacuum in the buoyancy cabin, so that the fishing robot floats upwards; therefore, when the fishing robot is controlled to descend, the electromagnetic valve of the buoyancy cabin is controlled to be opened to allow seawater to enter the buoyancy cabin; when the fishing robot is controlled to ascend, the electromagnetic valve of the buoyancy cabin is controlled to be closed, then the water pump works to pump out the seawater in the buoyancy cabin, and the fishing robot has upward buoyancy.

5. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the appearance of the fishing pipeline based on the artificial muscle is in a three-degree-of-freedom muscle shape, and the inside of the fishing pipeline is divided into three fan-shaped columnar cavities which form an angle of 120 degrees with each other; the extension along the Z direction of the central shaft and the bending along any direction are realized by respectively controlling the pressure of the three cavities, so that the control of three degrees of freedom is realized; aromatic polyamide reinforced fibers are clamped in the rubber matrix of the inner and outer pipe walls of the artificial muscle-based fishing pipeline, the fiber direction and the axial direction of the muscle form an included angle alpha, and the included angle alpha is designed to be 70-80 degrees in consideration of the flexibility of the artificial muscle-based fishing pipeline;

dividing the fishing pipeline based on the artificial muscle into a pipeline terminal, a pipeline terminal sealing body, a pipeline connecting sealing body, a pipeline connecting flange and a liquid through pipe; the assembling process comprises the following steps: firstly, inserting the pipeline terminal sealing body into one end of the pipeline body, then covering the pipeline terminal sealing body with the pipeline terminal, and fixing the pipeline terminal sealing body and one end of the pipeline body together by using a self-tapping screw; inserting the pipeline connecting sealing body into the other end of the pipeline body, aligning and covering the three holes of the pipeline connecting flange with the three holes of the pipeline connecting sealing body, then fixedly connecting the pipeline connecting sealing body and the other end of the pipeline body together, and finally respectively inserting the three liquid through pipes into the three holes of the pipeline connecting flange; the assembled fishing channel in the fishing pipeline based on the artificial muscle is communicated up and down; the fishing channel is communicated with the fishing cabin; three cavities in the fishing pipeline based on the artificial muscle are respectively and correspondingly communicated with the three liquid through pipes, and the cavities and the outside are kept in a sealed state; the fishing robot is connected with the body of the fishing robot through the pipeline connecting flange; the inlet of the fishing pipeline terminal based on the artificial muscle is in a horn shape;

40mm>φ_rmin-φ_omax≥20mm (1)

in the formula, phi_rminIs the minimum diameter phi of the fishing channel_omaxThe maximum diameter of the fishing object.

6. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the four limbs and the fishing pipeline based on the artificial muscles are stretched along the Z direction of the central shaft and are bent in any direction by adopting a hydraulic proportional pressure control technology; the high-pressure water source is respectively connected with three cavities of the artificial muscle-based fishing pipeline through three proportional pressure valves, three pressure sensors are used for detecting the liquid pressure in the three cavities of the artificial muscle-based fishing pipeline, the pressure sensors are connected with a calculating and controlling device through an A/D converter, and the calculating and controlling device is connected with the proportional pressure valves through a D/A and a power amplifier; when the control pressure of a certain cavity is obtained through calculation, the calculation and control equipment outputs a voltage quantity to control the opening size of the proportional pressure valve through the D/A so as to adjust the liquid pressure in the cavity, meanwhile, the pressure sensor detects the liquid pressure in the cavity, and if the liquid pressure in the cavity is constant within a desired control pressure range, the proportional pressure valve is controlled to be closed so as to keep the liquid pressure in the cavity within a desired value; therefore, the control of the artificial muscle based fishing pipeline is decomposed into the proportional control of the liquid pressure in the three cavities.

7. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the pulse type negative pressure generating module is used for emitting pulse type vacuum liquid flow to realize negative pressure absorption fishing of a fishing object, then sucking the fishing object through the fishing pipeline based on artificial muscle, collecting the fishing object into the fishing object collecting cabin along the fishing pipeline, and completing the whole fishing action by matching with fingers of a robot; the pulse type negative pressure generating module comprises a two-position three-way valve, a high-pressure water source and a nozzle, wherein the high-pressure water source is connected with the nozzle through the two-position three-way valve through a pipeline, the direction of the nozzle faces to the fishing object collecting cabin, when the two-position three-way valve is electrified, the high-pressure water source provides high-pressure liquid for the nozzle, and vacuum negative pressure is formed in the fishing pipeline according to an injection principle; by controlling the opening and closing of the two-position three-way hydraulic valve, pulse type vacuum negative pressure is generated in the fishing pipeline.

8. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the catching control module needs to establish a mapping relation between the spatial position of the caught object after the binocular stereoscopic panoramic vision sensor and the intelligent video analysis module identify and position and the spatial position of the catching object aligned with the catching port controlled by the catching control module; the view point of the next panoramic vision sensor in the binocular stereo panoramic vision sensor is used as the origin of the vision coordinate system, and X is established_v、Y_vAnd Z_vA three-dimensional panoramic visual coordinate system is formed; catching the artificial muscleThe center of the fixed part of the pipeline and the walking part of the fishing robot is used as the origin of coordinates of the fishing manipulator, and an X is established_a、Y_aAnd Z_aA three-dimensional manipulator motion coordinate system is formed; because the binocular stereoscopic panoramic vision sensor and the artificial muscle-based fishing pipeline are both fixed on the walking part of the fishing robot, the geometric relation between a three-dimensional panoramic vision coordinate system and a three-dimensional fishing manipulator motion coordinate system is established by using a formula (2);

\{\begin{matrix} X_{a} = X_{v} + x \\ Y_{a} = Y_{v} + y \\ Z_{a} = Z_{v} + z \end{matrix} - - - (2)

9. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the fishing control module respectively controls the pressure (p) of three cavities in the fishing pipeline based on the artificial muscle₁,p₂,p₃) To realize the extension and contraction along the Z direction of the central shaft and the bending in any direction; for each set of control pressure values (p)₁,p₂,p₃) The catching end of the catching pipeline based on the artificial muscle has corresponding spatial position coordinate value (x)_a,y_a,z_a) (ii) a Accordingly, pressure values (p) of three cavities in the artificial muscle based fishing pipe are established experimentally₁,p₂,p₃) And the spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The process is called a calibration process; after establishing the mapping relation through calibration, for a certain desired spatial position coordinate value (x) of the catching end of the catching pipeline based on the artificial muscle_a,y_a,z_a) The control pressure values (p) of the three cavities of a group of the artificial muscle based catching pipeline can be conveniently calculated to obtain the required control pressure values₁,p₂,p₃) (ii) a Because the mapping relationship established by the experimental method is discrete, the coordinate value (x) of the spatial position_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) Is a continuous variable and therefore calculates a set of control pressure values (p) required₁,p₂,p₃) An interpolation mode is needed, the spatial position of the catching end of the catching pipeline based on the artificial muscle is divided into a plurality of spatial grids, if the spatial position coordinate value of the front end of a certain expected catching pipeline based on the artificial muscle is not located in the center of a certain spatial grid, interpolation operation needs to be carried out on the spatial grid where the spatial position coordinate value is located and three adjacent spatial grids, and accurate control pressure values of three cavities are obtained; or by using neural network techniquesSpatial position coordinate value (x)_a,y_a,z_a) And the control pressure value (p) of the cavity₁,p₂,p₃) The mapping relationship of (2).

10. The biomimetic benthon fishing robot of claim 1 or 2, wherein: the umbilical cord mainly comprises a single-mode optical fiber line and a battery cell line, one end of the umbilical cord is connected with the mother ship, and the other end of the umbilical cord is connected with the bionic benthon fishing robot; the electric core wire and the single-mode optical cable are both provided with a single inner coating; the outside of the wires is molded or filled with soft and durable molding resin or fiber, and the outer surface of the umbilical cord is covered with a wear-resistant material layer; using a tinned copper wire as an electrical core wire; polyethylene or polypropylene is used as a material of the inner coating of the electric core wire; kevlar fiber or carbon resin is used as mould pressing resin, and polyethylene or polypropylene is used as a material of the wear-resistant outer coating; using the teflon as a material of an inner coating of the single-mode optical fiber wire; the single mode fiber line provides the channel of information interaction for between the mother ship of surface of water and the intelligent body, electric core line for the fishing robot provide the power.