Method and device for spot hovering of underwater device

An underwater device and matching algorithm technology, applied in underwater operation equipment, transportation and packaging, image data processing and other directions, can solve the problems of poor accuracy of inertial navigation devices, difficult to use cost, difficult to hover at fixed points, etc., and achieve accurate positioning Hover, low cost, high precision effects

Inactive Publication Date: 2020-02-21
BOYA GONGDAO BEIJING ROBOT TECH CO LTD
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is that the price of high-precision inertial navigation devices and current meters in the prior art is very high, and many underwater mobile platforms with lower costs are difficult to use, while the accuracy of inertial navigation devices with lower prices is poor. It is difficult to achieve precise fixed-point hovering, and a method and device for underwater device fixed-point hovering are provided

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  • Method and device for spot hovering of underwater device
  • Method and device for spot hovering of underwater device
  • Method and device for spot hovering of underwater device

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Embodiment Construction

[0053] The principles and features of the present invention will be described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0054] Such as figure 1 As shown, a method for fixed-point hovering of an underwater device provided by an embodiment of the present invention, the method includes: S1, collecting an environmental image through a camera installed on the underwater device; collecting an environmental image through a binocular camera .

[0055] S2. Select a preset number of pixel blocks to be matched in the environment image according to a preset selection rule, perform a matching operation on the preset number of pixel blocks to be matched according to a preset matching algorithm and a reference image, and obtain the pixel block of each pixel block to be matched. Optical flow vector; the preset selection rules, considering that ...

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Abstract

The invention discloses a method and device for spot hovering of an underwater device, and relates to the field of spot hovering of underwater mobile platforms. The method comprises the following steps: acquiring an environment image of an underwater device; selecting a plurality of typical pixel blocks from the environment image according to a preset rule, and performing matching operation on theplurality of typical pixel blocks in the reference frame according to a preset matching algorithm to obtain a matching result; calculating optical flow vectors of the plurality of typical pixel blocks according to a matching result; obtaining a camera optical flow vector matrix according to the optical flow vectors of the plurality of typical pixel blocks; solving motion vector parameters of thecamera according to the optical flow vector matrix, and calculating motion parameters of the underwater device according to the motion vector parameters of the camera; enabling the preset controller to correct the motion deviation of the underwater device according to the motion parameters of the underwater device. By means of the method, the underwater device can correct the motion deviation of the underwater device in real time, and accurate spot hovering is achieved.

Description

technical field [0001] The invention relates to the field of fixed-point hovering of underwater mobile platforms, in particular to a method and device for fixed-point hovering of underwater devices. Background technique [0002] Fixed-point hovering capability is one of the important performances of underwater mobile platforms (ROV, AUV). When the underwater mobile platform performs underwater fixed-point observation tasks, it often encounters the influence of waves and ocean currents, which makes it difficult for the underwater mobile platform to maintain stable observation. The existing technical solutions mainly use the inertial navigation devices (IMU, electronic compass, etc.) and current meter carried by the underwater mobile platform to measure the motion parameters of the platform, and then control the power system to correct the deviation, so as to achieve stable observation. Purpose. Due to the high price of high-precision inertial navigation devices and current ...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/269B63C11/52
CPCB63C11/52G06T7/248G06T7/269
Inventor 熊明磊王文斌
Owner BOYA GONGDAO BEIJING ROBOT TECH CO LTD
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