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Autonomous detection method for complex underwater environment of underwater robot

A technology for underwater robots and underwater environments, which is applied to instruments, computer components, character and pattern recognition, etc. It can solve problems such as complex underwater structures and changing underwater environments, and achieve the effect of improving positioning accuracy

Active Publication Date: 2020-08-11
NANJING INST OF TECH
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  • Abstract
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Problems solved by technology

However, for facilities such as offshore drilling platforms, dams, ports, and offshore wind turbines, due to their complex underwater structures and changing underwater environments, the surveying, mapping, and inspection of these complex underwater environments are still performed by professional divers or remote controlled underwater robot

Method used

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  • Autonomous detection method for complex underwater environment of underwater robot
  • Autonomous detection method for complex underwater environment of underwater robot
  • Autonomous detection method for complex underwater environment of underwater robot

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Embodiment Construction

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0018] figure 1 It is a flow chart of an autonomous detection method for an underwater robot in a complex underwater environment according to an embodiment of the present invention.

[0019] Such as figure 1 As shown, the underwater robot complex underwater environment autonomous detection method of the embodiment of the present invention comprises the following steps:

[0020] S1. Obtain the scanning data of the current position of the underwater robot.

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Abstract

The invention provides an autonomous detection method for a complex underwater environment of an underwater robot. The method comprises the following steps: obtaining scanning data of a current position of the underwater robot; performing scanning registration according to the scanning data, and combining each piece of new scanning data with the previous scanning data; performing data sampling according to a scanning registration result to obtain candidate viewpoints; calculating the views of the candidate viewpoints by adopting an octree algorithm; obtaining an optimal candidate viewpoint according to the visibility graph by adopting probability analysis; and calculating the barrier-free path of the underwater robot moving from the current position to the optimal candidate viewpoint by adopting an RRT algorithm. According to the invention, path planning can be realized without a prior model so as to autonomously detect a complex underwater environment, and the positioning accuracy ofthe underwater robot and the consistency of complex underwater environment representation can be improved.

Description

technical field [0001] The invention relates to the technical field of automatic control of underwater robots, in particular to a method for autonomous detection of complex underwater environments by underwater robots. Background technique [0002] At present, underwater robots have been widely used in underwater environment detection and seabed mapping. Specifically, underwater robots mainly obtain data from sonar sensing methods or cameras, and then process the acquired data to generate 2D or 2.5D images. terrain map. However, for facilities such as offshore drilling platforms, dams, ports, and offshore wind turbines, due to their complex underwater structures and changing underwater environments, the surveying, mapping, and inspection of these complex underwater environments are still performed by professional divers or remote-controlled underwater robot. Contents of the invention [0003] The present invention aims to solve one of the technical problems in the above-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/10G06F18/2415
Inventor 陈国军陈丝雨陈巍
Owner NANJING INST OF TECH
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