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The tracking method of underwater robot target following system based on monocular vision

An underwater robot and monocular vision technology, applied in control/regulation systems, instruments, image analysis, etc., can solve the problems of underwater robot target following, improve intelligence and autonomous operation ability, and solve expensive effects

Active Publication Date: 2020-03-10
OCEAN UNIV OF CHINA
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Problems solved by technology

[0003] This application solves the technical problem of underwater robot target following by providing a monocular vision-based underwater robot target following system tracking method

Method used

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  • The tracking method of underwater robot target following system based on monocular vision
  • The tracking method of underwater robot target following system based on monocular vision

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Embodiment

[0033] A target following system for underwater robots based on monocular vision, such as figure 1 As shown, it includes an image acquisition unit, a target tracking unit, a distance measurement unit, a motion state comparison unit and a motion control unit, the output of the image acquisition unit is connected to the input of the target tracking unit and the input of the distance measurement unit end, the output end of the target tracking unit is connected to the input end of the distance measurement unit and the input end of the motion state comparison unit, the output end of the distance measurement unit is connected to the input end of the motion state comparison unit, and The output end of the motion state comparison unit is connected to the input end of the motion control unit, wherein the image acquisition unit adopts a monocular camera for taking underwater video images, and selects a frame of image I wherein 0 , and transmit it to the target tracking unit and the dist...

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Abstract

The invention provides a monocular-vision-based underwater robot target following system and a method thereof. An image acquisition unit is used for shooting an underwater video image, selecting one frame of image I0 and transmitting the image to a target tracking unit and a distance measuring unit; the target tracking unit inputs a target area into the distance measuring unit and inputs a centroid position P of the target area into a motion state comparing unit; the distance measuring unit inputs a distance d between a target and an underwater robot into the motion state comparing unit; and amotion control unit controls the underwater robot based on a first control signal s and a second control signal a inputted by the motion state comparing unit to realize target tracking of the underwater robot. According to the invention, underwater ranging and target following of the underwater robot are realized under the condition of only having a monocular camera, so that the intelligence andautonomous working ability of the underwater robot are improved substantially.

Description

technical field [0001] The invention relates to the technical field of underwater robots and image processing, in particular to a tracking method of an underwater robot target following system based on monocular vision. Background technique [0002] The underwater world contains abundant resources and has very high research value. Underwater robots play a huge role in underwater detection and underwater operations. As an important function of underwater robots, target following is of great significance for the realization of path planning and autonomous navigation of underwater robots. However, due to traditional ranging methods, such as infrared ranging, they cannot be used underwater and sonar The cost of ranging and other problems greatly limit the development of underwater robot target following technology. Therefore, an effective underwater robot target following system and its method need to be proposed urgently. Contents of the invention [0003] The present applic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06G06T7/66
CPCG05D1/0692G06T7/66G06T2207/10016
Inventor 王楠宋晓辉徐建康杜辉王晓宇
Owner OCEAN UNIV OF CHINA
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