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WO2023010766A1 - Dispositif de caméra sous-marine et robot sous-marin - Google Patents

Dispositif de caméra sous-marine et robot sous-marin Download PDF

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Publication number
WO2023010766A1
WO2023010766A1 PCT/CN2021/140021 CN2021140021W WO2023010766A1 WO 2023010766 A1 WO2023010766 A1 WO 2023010766A1 CN 2021140021 W CN2021140021 W CN 2021140021W WO 2023010766 A1 WO2023010766 A1 WO 2023010766A1
Authority
WO
WIPO (PCT)
Prior art keywords
underwater
housing
lens
cover plate
camera device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/140021
Other languages
English (en)
Chinese (zh)
Inventor
孙彩明
朱正佳
林静
陈露
石武
张爱东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Peng Cheng Laboratory
Original Assignee
Peng Cheng Laboratory
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Peng Cheng Laboratory filed Critical Peng Cheng Laboratory
Publication of WO2023010766A1 publication Critical patent/WO2023010766A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/08—Waterproof bodies or housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof

Definitions

  • the present application relates to the field of robots, in particular to an underwater camera device and an underwater robot.
  • an underwater robot can use an underwater camera to perform target detection and recognition underwater.
  • the image or video data collected by the underwater camera needs to be uploaded to the ground computer before subsequent processing can be performed to obtain 3D images of underwater targets and other data to help underwater target recognition, making underwater target recognition difficult to meet real-time requirements.
  • the main purpose of the present application is to provide an underwater camera device and an underwater robot, aiming at solving the technical problem in the prior art that it is difficult to perform real-time target recognition using an underwater camera.
  • an underwater camera device including:
  • the two cameras are arranged at one end of the housing and are spaced apart from each other, the cameras are used to collect two-dimensional images of the underwater environment;
  • a graphics processor is arranged in the housing and is connected to the camera for receiving the two two-dimensional images sent by the camera, based on corresponding points in the two two-dimensional images
  • the position deviation of the underwater environment is obtained to obtain the three-dimensional image information of the underwater environment, and based on the three-dimensional image information, the underwater target is identified.
  • it also includes:
  • the power supply is arranged in the housing;
  • a switch part passes through the housing and extends into the housing, and the switch part can be switched between a power supply position and a charging position, and in the power supply position, the switch part is connected to the a power supply and the graphics processor, and in the charging position, the switching element disconnects the connection between the power supply and the graphics processor.
  • it also includes:
  • the watertight connectors are arranged at the other end of the housing;
  • Air extraction bolts are arranged at the other end, and the air extraction bolts are arranged on one side of the watertight connector;
  • the switch element is arranged at the other end, and is spaced apart from the watertight connector and the air suction bolt.
  • the housing includes:
  • the first cover plate covers the opening
  • the first sealing member is disposed on the first cover plate to seal the opening;
  • the switch element, the watertight connector and the air extraction bolt are all pierced through the first cover plate.
  • the first cover plate is provided with a threaded hole, and the switch member is screwed into the threaded hole.
  • the housing further includes:
  • the second sub-housing is arranged at the other end of the first sub-housing, and the second sub-housing has a camera compartment;
  • the second cover plate covers the camera compartment, and the second cover plate is provided with two lens holes spaced from each other along the length direction of the second cover plate;
  • the second sealing member is arranged on the second cover plate to seal the camera compartment;
  • the two cameras are both arranged in the camera compartment and corresponding to the lens holes.
  • the housing further includes:
  • the lens is arranged in the lens hole
  • the third sealing member is arranged between the lens and the hole wall of the lens hole to seal the lens hole;
  • a lens stopper the lens stopper is detachably connected to the second cover plate, so as to press the lens into the lens hole.
  • the lens is a sapphire lens.
  • the lens limiting member is made of polytetrafluoroethylene.
  • the present application also provides an underwater robot, including the above-mentioned underwater camera device.
  • the application provides an underwater camera.
  • a graphics processor and two cameras are integrated in the housing of the underwater camera.
  • the cameras collect two-dimensional images of the underwater environment, and the graphics processor receives two images sent by the cameras.
  • the two-dimensional images obtain three-dimensional image information of the underwater environment based on positional deviations of corresponding points in the two two-dimensional images, and identify underwater targets based on the three-dimensional image information.
  • This application has efficient terminal computing capabilities in the underwater work process, can independently and real-time process underwater image and video data, and detect underwater 2D/3D targets in real time with high resolution, without using the collected underwater data , Images and videos are sent back to the ground computer for processing, which greatly guarantees the accuracy of underwater 2D/3D target detection and recognition.
  • Fig. 1 is the connection schematic diagram of graphic processor and two cameras in the underwater camera device embodiment that the application proposes;
  • FIG. 2 is a schematic diagram of an embodiment of an underwater camera device proposed by the present application, wherein two cameras are integrated;
  • Fig. 3 is an exploded schematic diagram of an embodiment of an underwater camera device proposed by the present application, wherein two cameras are integrated into one;
  • Fig. 4 is the explosion schematic diagram of the embodiment of the underwater camera device proposed by the present application.
  • Fig. 5 is a schematic diagram of an embodiment of an underwater robot proposed in this application.
  • connection and “fixation” should be interpreted in a broad sense, for example, “fixation” can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • fixing can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • the digital camera has two working modes: one is to convert the analog video signal generated by the video capture device into a digital signal, and then store it in the computer; the other is to directly capture the image, and then transmit it through the serial, parallel or USB interface. into the computer.
  • the video signal captured by the analog camera must be converted into a digital mode by a specific video capture card, and then compressed before it can be converted to the computer for use, so the analog camera is generally used with a video capture card or a USB video capture card Supporting the use of.
  • both cameras have the following disadvantages: lack of independent terminal computing capability, and cannot process real-time underwater images and video data in real time. And it can only observe the movement of the target in the two-dimensional plane. The detection accuracy of underwater 2D/3D dynamic targets is not high.
  • this application provides a solution.
  • the graphics processor By integrating the graphics processor into the housing of the underwater camera, the two-dimensional data collected by the camera can be processed in real time underwater, so as to obtain efficient and accurate target recognition and data underwater terminal real-time Acquisition and processing power.
  • the present application provides an underwater camera 100 .
  • the underwater camera 100 includes: a casing 110 , two cameras 120 and a GPU graphics processor 130 .
  • the housing 110 can be made of a metal anti-rust material with good rigidity or other pressure-resistant materials with considerable strength, and an installation space is provided inside it to install the camera 120 and the GPU graphics processor 130, so as to When used underwater, the internal camera 120 and GPU graphics processor 130 are protected from being damaged by underwater pressure.
  • the two cameras 120 are arranged at one end of the housing 110 and are spaced apart from each other.
  • the cameras 120 are used to collect two-dimensional images of the underwater environment.
  • the two cameras 120 can be arranged left and right, that is, a left camera and a right camera.
  • the two cameras 120 are both arranged at one end of the casing 110 and have the same orientation, but they are spaced apart from each other, so that the cameras 120 can acquire multiple images of the same detection target from different positions, so that one image captured by the two cameras 120 at the same time There is a positional deviation between corresponding points in the frame graph.
  • the cameras 120 may also be arranged up and down or in other ways, which is not limited in this embodiment.
  • the GPU graphics processor 130 is arranged in the housing 110 and connected to the camera 120 for receiving the two two-dimensional images sent by the camera 120, based on the two two-dimensional images
  • the three-dimensional image information of the underwater environment is obtained based on the position deviation of the corresponding point, and the underwater target is identified based on the three-dimensional image information.
  • the GPU graphics processor 130 uses the imaging device to obtain two images of the object under test from different positions, and obtains the three-dimensional geometric information of the object by calculating the position deviation between the corresponding points of the image based on the parallax principle, so that the underwater target can be accurately and real-time identified , with high resolution and high frame rate 3D video capture, supports 6-DOF position detection and target tracking capabilities, can obtain accurate position information of targets, and greatly guarantees the accuracy of underwater 2D/3D target detection and data collection and positioning accuracy.
  • this embodiment since the GPU graphics processor 130 is arranged in the casing 110, underwater image acquisition and image processing can be performed simultaneously. Compared with the existing image acquisition which is carried out underwater and image processing carried out on the water surface, this embodiment can more efficiently complete the calculation and processing of underwater complex video and image data, ensuring the accuracy of target detection, positioning accuracy and real-time To avoid data transmission between underwater and above water affecting the real-time performance, accuracy and real-time effectiveness of data processing.
  • the underwater camera also includes:
  • the power supply is arranged in the housing 110;
  • the switch part 140, the switch part 140 passes through the casing 110 and extends into the casing 110, and the switch part 140 can switch between a power supply position and a charging position, in the power supply position, the The switch element 140 connects the power supply and the graphics processor 130 , and in the charging position, the switch element 140 disconnects the power supply and the graphics processor 130 .
  • the power supply and the GPU graphics processor 130 are integrated in the casing 110 to support the GPU graphics processor 130 to process data underwater.
  • the power supply and the GPU graphics processor 130 are loaded in the well-sealed housing 110, which can ensure the smooth progress of long-term underwater image and data collection.
  • the power supply can be disposed between the other end of the casing and the GPU.
  • a movable switch 140 can be added.
  • the switch element 140 connects the power supply and the graphics processor 130 , so that the power supply supplies power to the GPU graphics processor 130 normally.
  • the switch element 140 disconnects the connection between the power supply and the graphics processor 130 . At this point, the power supply can be charged normally.
  • the switch part 140 passes through the housing 110 and extends into the housing 110, which can ensure that the switch part 140 always seals the housing 110, and the state of the switch part 140 can be operated from the outside of the housing 110, so as to Without affecting the sealing performance of the casing 110, the control of the power supply is realized.
  • the underwater camera also includes:
  • Air extraction bolt 150 the air extraction bolt 150 is arranged at the other end, and the air extraction bolt 150 is arranged on one side of the watertight connector 160;
  • the switch member 140 is arranged at the other end, and is spaced apart from the watertight connector 160 and the air suction bolt 150 .
  • the watertight connector 109 can be used for communication to export data.
  • the air extraction bolt 110 is used for airtightness detection before the airtight cabin is launched into the water.
  • the watertight connector 109 , the exhaust bolt 110 and the switch part 140 are all arranged at the other end of the casing 110 to avoid affecting the normal operation of the camera 120 at the opposite end.
  • the housing includes:
  • the first cover plate 113 covers the opening
  • the first sealing element is arranged on the first cover plate 113 to seal the opening;
  • the switch part 140 , the watertight connector part 160 and the air extraction bolt 150 are all passed through the first cover plate 113 .
  • the first sub-housing 112 is a shell structure made of a metal anti-rust material with good rigidity and strength, and the first cover plate 113 is equipped with a watertight connector 160, a suction bolt 150, etc. .
  • the first cover plate 113 has a sealing ring groove on one side facing the first sub-housing, and the first cover plate 113 covers the opening so that the first sealing member in the sealing ring groove produces a desired deformation.
  • the first sealing member can be an o-ring, which is deformed due to pressure to prevent liquid outside the housing from entering the first sub-housing 112 to achieve a static sealing effect.
  • the first cover plate 113 is provided with a threaded hole, and the switch member 140 is screwed into the threaded hole.
  • the switch element 140 may be configured as an underwater rotary switch. Specifically: when the switch member 140 is rotated clockwise to the bottom, the power supplies power to the GPU graphics processor. When the knob-type waterproof switch is rotated counterclockwise, the power supply is disconnected, and at this time, an external charger can be connected to the power supply through the charging port reserved on the first cover plate 113 .
  • the switch member 140 can be configured as an underwater knob switch, and the switch of position and state can be realized through the operation of the knob, which is not only easy to operate but also can ensure the sealing performance of the casing, avoiding additional sealing structures.
  • the housing further includes:
  • the second sub-housing 111, the second sub-housing 111 is arranged at the other end of the first sub-housing 112, and the second sub-housing 111 has a camera compartment;
  • the second cover plate 114 covers the camera compartment, and the second cover plate 114 is provided with two lens holes spaced from each other along the length direction of the second cover plate 114;
  • the second sealing member is arranged on the second cover plate 114 to seal the camera compartment;
  • two cameras 120 are arranged in the camera compartment and corresponding to the lens holes.
  • the housing includes two parts, namely the first sub-housing 112 and the second sub-housing 111, wherein the first sub-housing 112 is the main part for protecting the GPU graphics processor inside it and power components.
  • the second sub-housing 111 is disposed on the other end of the first sub-housing 112 and protrudes, and the two are in communication.
  • the width of the second sub-housing 111 is wider than that of the first sub-housing 112 , so as to meet the spacing requirements of the cameras arranged at intervals from left to right. At this time, compared to integrating the camera and the GPU processor in the same housing, arranging them separately can reduce the width of the first sub-housing 112, thereby reducing the cost and providing the first sub-housing with the ability to resist pressure. And the height dimension of the second sub-housing is shortened, thereby reducing the cost and providing the compression resistance of the first sub-housing.
  • the second cover plate 114 has a sealing ring groove on the side facing the camera compartment, and the second cover plate 114 covers the camera compartment so that the second sealing member placed in the sealing ring groove produces expected deformation.
  • the second sealing member can be an o-ring, which produces a predetermined deformation due to pressure, and prevents the liquid outside the housing from entering the camera chamber to achieve a static sealing effect.
  • the second cover 114 is provided with two lens holes penetrating through the second cover 114 along the thickness direction.
  • the housing further includes:
  • the lens 116 is arranged in the lens hole.
  • the third sealing member is arranged between the lens and the hole wall of the lens hole to seal the lens hole;
  • the lens limiting member 115 is detachably connected to the second cover plate 114 to press the lens 116 into the lens hole.
  • a lens stopper 115 can be added to ensure the sealing effect of the camera compartment.
  • the lens stopper 115 can be made of polytetrafluoroethylene material, which has a certain toughness, and the lens 116 and the third sealing member are fixed on the second cover plate 114 through a screw group, and at the same time, the lens 116 and the third sealing member are fixed on the second cover plate 114.
  • the compressive force fractures the lens 116.
  • the lens 116 can be made of sapphire glass, which has better light transmission.
  • the lens limiting member 115 presses the lens 116 , and fixes and compresses the third sealing member in the sealing ring groove of the second cover plate 114 through the pressing force.
  • the third sealing member is an O-ring, which produces predetermined deformation in the sealing ring groove due to pressure and the tolerance of the sealing ring groove, so as to prevent the liquid outside the sealing chamber from entering the shell and achieve a static sealing effect.
  • the present application also proposes an underwater robot, which includes an underwater camera device 100.
  • an underwater robot which includes an underwater camera device 100.
  • the underwater camera device For the specific structure of the underwater camera device, refer to the above-mentioned embodiments. Since this underwater machine adopts all the technical solutions of all the above-mentioned embodiments, Therefore, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.
  • the underwater robot includes a frame on which a power propulsion device is arranged, and a frame structure is provided at the bottom of the frame to provide an installation space for installing the underwater camera device 100 .

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)

Abstract

La présente demande se rapporte au domaine des robots, et se rapporte à un dispositif de caméra sous-marine et à un robot sous-marin. Le dispositif de caméra sous-marine comprend : un boîtier ; deux caméras disposées à une extrémité du boîtier et espacées l'une de l'autre, les caméras étant configurées pour acquérir des images bidimensionnelles d'un environnement sous-marin ; et un processeur graphique disposé dans le boîtier et connecté aux caméras, et configuré pour recevoir les deux images bidimensionnelles envoyées par les caméras, obtenir des informations d'images tridimensionnelles de l'environnement sous-marin sur la base d'écarts de position de points correspondants dans les deux images bidimensionnelles, et identifier une cible sous-marine sur la base des informations d'images tridimensionnelles.
PCT/CN2021/140021 2021-08-05 2021-12-21 Dispositif de caméra sous-marine et robot sous-marin Ceased WO2023010766A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110900567.4 2021-08-05
CN202110900567.4A CN113784022B (zh) 2021-08-05 2021-08-05 水下摄像装置及水下机器人

Publications (1)

Publication Number Publication Date
WO2023010766A1 true WO2023010766A1 (fr) 2023-02-09

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CN (1) CN113784022B (fr)
WO (1) WO2023010766A1 (fr)

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CN113784022B (zh) * 2021-08-05 2023-05-26 鹏城实验室 水下摄像装置及水下机器人
CN114859631B (zh) * 2022-05-07 2023-04-11 广东智能无人系统研究院(南沙) 一种水下双目相机结构
CN117022585A (zh) * 2023-10-09 2023-11-10 天津瀚海蓝帆海洋科技有限公司 用于清洗船舶的机器人

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