Intelligent underwater robot, system thereof and object tracking method

Abstract

The invention discloses an intelligent underwater robot. The intelligent underwater robot comprises a communication module, an image obtaining module, an object identification module, a control module, a space construction module and an execution module; the communication module receives a control command of a remote control terminal; the image obtaining module obtains an underwater environment image; the object identification module identifies underwater objects and barriers from the underwater environment image on the basis of a first deep neural network model; according to identified underwater objects, the control module determines whether there is a target object, and if YES, a pixel coordinate of the target object is obtained; the space construction module processes the underwater environment image on the basis of a second deep neural network model, constructs an underwater environment 3D space of the present position of the underwater robot, and determines position information of the target object; the control module further plans a movement path for tracking the target object of the underwater robot according to the constructed 3D space as well as a preset tracking mode; and the execution module controls the underwater robot to move underwater according to the planned movement path. Thus, the target object is tracked and the barriers are avoided.

Description

technical field [0001] The invention relates to the field of robots, in particular to an intelligent underwater robot, a system thereof, and an object tracking method. Background technique [0002] Underwater robots are also called unmanned remote control submersibles. Underwater robots can replace manual long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility. Underwater robots are generally equipped with sonar systems, cameras, and lighting. And devices such as robotic arms can provide real-time video, sonar images, etc. Underwater robots are widely used in safety search and rescue, pipeline inspection, scientific research and teaching, underwater entertainment, energy industry, archaeology, fishery and other fields. [0003] Since the current underwater robots can only perform image matching algorithms to identify specific objects, they cannot intelligently identify different types of underwater objects. Th...

AI Technical Summary

Problems solved by technology

[0005] The invention provides an intelligent underwater robot, its system, and object tracking method, which overcomes the shortcomings of current underwater robots that cannot identify different types of underwater objects and creatures, optimizes the effect of image depth calculation, and improves the three-dimensional The speed of reconstruction enables the underwater robot to avoid obstacles accurately in real time and plan the movement path more intelligently

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