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Intelligent underwater robot autonomous butting method based on bi-sight-vision guiding

An underwater robot and vision-guided technology, applied in instruments, image data processing, computing, etc., can solve problems such as low accuracy, poor reliability, and small operating distance, and achieve high accuracy, high reliability, and noise suppression. Effect

Active Publication Date: 2015-07-08
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of low accuracy, poor reliability, and short working distance of the existing optical vision guidance method, which can guide the intelligent underwater robot to realize accurate and reliable autonomous docking based on binocular vision. Autonomous Docking Method for Guided Intelligent Underwater Robots

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  • Intelligent underwater robot autonomous butting method based on bi-sight-vision guiding
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  • Intelligent underwater robot autonomous butting method based on bi-sight-vision guiding

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Embodiment Construction

[0036] The present invention will be described in further detail below with examples in conjunction with the accompanying drawings.

[0037] The intelligent underwater robot has a typical underactuated form of rudder-wing joint control. A binocular vision system is installed on its bow, and an image acquisition module, an optical vision processing computer and a motion control computer are installed in its sealed instrument cabin. The docking device has Conical guide cover and butt joint form structure, and the guide light source is installed on the outer edge of the conical guide cover.

[0038] The purpose of the present invention is to provide an autonomous docking method for an intelligent underwater robot based on binocular vision guidance. This method aims at the shortcomings of the existing optical vision guidance method, such as low accuracy, poor reliability, and small operating distance. Binocular vision guides the intelligent underwater robot to obtain the precise p...

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Abstract

The invention relates to an intelligent underwater robot autonomous butting method based on bi-sight-vision guiding. The intelligent underwater robot autonomous butting method comprises the steps that firstly, three-dimensional calibration is conducted on a bi-sight-vision system; secondly, an image collecting module collects bi-sight-vision images, and the bi-sight-vision images are transmitted to a light vision processing computer through a bus; thirdly, whether an intelligent underwater robot achieves butting successfully or not is judged, if not, the second step is executed, and if yes, the procedure is stopped. According to the intelligent underwater robot autonomous butting method, gauss downsampling and nonlinear transforming are conducted on the collected left view and the collected right view of the bi-sight-vision system, noise in the images is effectively restrained, the calculation consumption is reduced, and the real-time performance and the robustness of the autonomous butting method are guaranteed.

Description

technical field [0001] The invention relates to an autonomous docking method of an intelligent underwater robot based on binocular vision guidance. Background technique [0002] In recent years, intelligent underwater robot technology has developed rapidly and is becoming more and more mature under the circumstances of extensive attention from all countries in the world and a large amount of resources invested in research and development. Compared with underwater operation equipment such as cable remote-controlled underwater robots and manned submersibles, it has significant advantages such as high operating efficiency, high level of intelligence, low production cost, and no need for special mother ship support. It has been used in marine ecological research, marine Geological science, seabed sunken object search, oil and gas pipeline detection and other fields have been more and more widely used. However, under the current technical conditions, the applicability of intelli...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 王博李晔曹建姜言清李一鸣苏玉民
Owner HARBIN ENG UNIV
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