Robot recognition and target tracking system for underwater robot

Abstract

The invention provides a robot recognition and target tracking system for an underwater robot, and belongs to the technical field of underwater robots. The system comprises an image collection module, an image processing module, a target recognition module, a target tracking module, a communication module, and a movement control module. The output end of the image collection module is connected with the input end of the image processing module. The image processing module enables the image feature information to be transmitted to the target recognition module and the target tracking module for the processing of an information instruction, and transmits the image feature information to the movement control module for the adjustment of the posture of the underwater robot through the communication module. The beneficial effects of the invention are that the system employs the technology of image recognition and tracking, can achieve the precise search, recognition, positioning and tracking of a target region, improves the controllability and environment adaptability of the underwater robot, reduces the working difficulty of an operator, and enables a miniature underwater robot to be carry out the precise observation and operation in a complex environment.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an image recognition and target tracking system for underwater robots. Background technique [0002] At present, the operator of a small cable-controlled underwater vehicle (ROV) operates remotely through a handle on the water surface, and observes through a camera installed on the ROV. This method is monotonous and time-consuming to operate, and is likely to cause operator fatigue and error-prone. In addition, due to factors such as uneven underwater illumination, low contrast, turbid water quality, and ROV's vulnerability to water flow, resulting in unstable motion, it is more difficult for operators. [0003] At the same time, due to the small mass and weak power of the small ROV, it is easy to be affected by external interference during underwater observation and operation, especially the impact of water flow, resulting in motion instability, which makes the hoveri...

AI Technical Summary

Problems solved by technology

This method is monotonous and time-consuming, which is easy to cause operator fatigue and error-prone

In addition, due to factors such as uneven underwater illumination, low contrast, turbid water quality, and ROV's vulnerability to water flow, resulting in unstable motion, it is more difficult for operators.

[0003] At the same time, due to the small mass and weak power of the small ROV, it is easy to be affected by external interference during underwater observation and operation, especially the impact of water flow, resulting in motion instability, which makes the hovering and heading angle lock of the ROV, etc. Motion control becomes more difficult, and the angle of view of the optical or acoustic image acquisition equipment is small, it is easy for the target to escape the detection image, making it difficult for the operator to control and detect, and the operator must undergo long-term training to stably to operate

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