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Obstacle detection system and method for underwater robot

A technology of underwater robots and detection systems, applied in radio wave measurement systems, instruments, measurement devices, etc., can solve problems such as inability to observe, and achieve the effect of improving obstacle avoidance capabilities

Active Publication Date: 2018-10-23
CITIC HIC KAICHENG INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But multibeam sonar can't make detailed observations of the surface of underwater objects

Method used

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  • Obstacle detection system and method for underwater robot
  • Obstacle detection system and method for underwater robot
  • Obstacle detection system and method for underwater robot

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Embodiment Construction

[0020] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0021] like figure 1 , figure 2 As shown, an obstacle detection system for an underwater robot is composed of a robot body (1), a ground control box (2) and an umbilical cable (3). The robot body (1) is equipped with a multi-beam image sonar (4), high-definition camera (5), adjustable lighting (6), motion controller (7), pressure sensor (8), temperature sensor (9), attitude indicator compass (10) and UDSL converter (11) .

[0022] The ground control box (2) includes: an image processing unit (12) and a motion control command generator (13); the lower part of the robot body (1) is provided with a multi-beam image sonar (4) for detecting the size of obstacles in front of the robot When installing the multi-beam image sonar (4), ensure that it is installed parallel to the robot body (1), so that the field of view of the multi-beam image sonar (4) is directly...

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Abstract

The invention provides an obstacle detection system and method for an underwater robot, and the system is composed of a robot body, a ground control box and an umbilical cable. The robot body is provided with a multi-beam image sonar, a high-definition camera, an adjustable illumination lamp, a motion controller, a pressure sensor, a temperature sensor, an attitude compass and a UDSL converter. The ground control box comprises an image processing unit and a motion control instruction generator. The system introduces an underwater sonar system, a camera system and an image processing device forintelligently recognizing obstacles in front of the underwater robot, and can process the sonar image and the camera image in real time, detect and calculate the size and distance of underwater obstacles, facilitates the improvement of the obstacle avoidance ability of the underwater robot and reduces the damage to the robot.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to an obstacle detection system and detection method for underwater robots. Background technique [0002] Underwater robot is a kind of extreme operation robot working underwater. Underwater robot can replace manual long-time underwater work in highly dangerous environment, polluted environment and zero-visibility waters. Underwater robot is generally equipped with sonar system, camera Devices such as lighting, lighting and robotic arms can provide real-time video and sonar images, and can use the robotic arm to grab heavy objects. Underwater robots are widely used in safety search and rescue, pipeline inspection, fishery and other fields. Due to the particularity of the working environment of underwater robots, accidents of collisions with obstacles are prone to occur during the operation of underwater robots. In the event of a collision, damage may be caused to the structure of t...

Claims

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Application Information

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IPC IPC(8): G01S15/93G01S15/89G01S15/08G01S15/06G01C17/00G01B17/06G01B11/24G06T5/00G06T7/00
CPCG06T7/0004G01B11/24G01B17/06G01C17/00G01S15/06G01S15/08G01S15/89G01S15/93G06T5/70
Inventor 郭映言申龙陈金山姚春清饶毅
Owner CITIC HIC KAICHENG INTELLIGENT EQUIP CO LTD
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