Bionic robot fish three-dimensional tracking method based on embedded visual guidance

A technology of visual guidance and tracking control, applied in the field of visual control

Inactive Publication Date: 2015-09-02
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, vision applications on bionic robotic fish are still in their infancy

Method used

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  • Bionic robot fish three-dimensional tracking method based on embedded visual guidance
  • Bionic robot fish three-dimensional tracking method based on embedded visual guidance
  • Bionic robot fish three-dimensional tracking method based on embedded visual guidance

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Embodiment Construction

[0063] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0064] Such as figure 1 As shown, the inertial coordinate system OXYZ is established by taking the initial position of the bionic robotic fish as the coordinate origin, in which the OY axis is perpendicular to the water surface downward, the OZ axis moves forward along the tail axis at the initial moment of the bionic robotic fish, and the OX axis is defined by The right hand rule is OK. The entire tracking control is divided into visual positioning, fixed depth control, and orientation control. First, the embedded vision system calculates the three-dimensional information of the target (shown as Entrance); then, under the guidance of the vision, the bionic robotic fish swims to the depth of the target (reaching point A)...

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Abstract

The invention discloses a bionic robot fish three-dimensional tracking method based on embedded visual guidance. The method comprises: step 1, setting an artificial landmark, an embedded visual system automatically identifying the artificial landmark, combing with dimension information of the artificial landmark, obtaining information of three-dimensional position where a target is in; step 2, obtaining depth of information of the three-dimensional position where a target is in, using a control method based on a fuzzy sliding mode, guiding a bionic robot fish to swim to target depth and the bionic robot fish keeping swimming on the target depth; step 3, and when the bionic robot fish keeping swimming at the target depth, through multistage orientation control, ensuring the bionic robot fish tracks the target. On the basis of flexible motion of the robotic fish, the method realizes accurate control tasks.

Description

technical field [0001] The invention relates to the field of vision control, in particular to a three-dimensional tracking control method for a bionic robot fish guided by embedded vision. Background technique [0002] Underwater autonomous tracking is an important task for autonomous underwater vehicles (AUVs), and has a wide range of application prospects, including marine resource exploration, marine map construction, and marine rescue. Although vision-based tracking is easily affected by uneven light in water and low image quality, vision-based tracking has the advantages of low cost and high accuracy, which still attracts widespread attention. [0003] Vision-based underwater tracking tasks, including underwater tracking with maps and underwater tracking without maps. The method of constructing maps is suitable for occasions where high precision is required and the environment is unknown, but map construction is a computationally complex and resource-intensive solution...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
Inventor 喻俊志孙飞虎徐德赵鹏
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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