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Target positioning method for underwater robot search and exploration

An underwater robot and target positioning technology, which is applied in the field of underwater target search and detection, can solve the problems of fine location and low accuracy of underwater targets, and achieve the effect of facilitating fine detection and precise positioning

Pending Publication Date: 2020-11-24
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The refinement and accuracy of the underwater target position obtained by the existing underwater target search and detection method is not high, and the research on the underwater target search and detection and positioning method is the focus of scientific research for a long time now and even in the future

Method used

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  • Target positioning method for underwater robot search and exploration
  • Target positioning method for underwater robot search and exploration
  • Target positioning method for underwater robot search and exploration

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Embodiment Construction

[0059] This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.

[0060] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0061] In ...

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Abstract

The invention discloses a target positioning method for underwater robot search and exploration. The method comprises the steps of extracting and identifying A-KAZE feature points of an underwater target sonar image; measuring and calculating the two-dimensional orientation of the underwater target relative to the underwater robot; measuring and calculating the elevation angle of the target; measuring and calculating the three-dimensional orientation of the underwater target relative to the underwater robot; and correcting the elevation angle of the target, and then correcting the three-dimensional orientation of the underwater target point relative to the underwater robot. The invention discloses the target positioning method for underwater robot search and exploration. The method is based on forward-looking sonar data. A deep convolutional neural network is used to automatically extract and identify underwater target feature points; the underwater target is accurately positioned in combination with the posture of the underwater robot, search personnel can conveniently perform refined detection on the position of the underwater target, reliability, high efficiency and intelligenceof underwater search and exploration operation are realized, and the method is applied to the technical field of underwater target search and exploration.

Description

technical field [0001] The invention relates to the technical field of underwater target search and detection, in particular to a target positioning method for underwater robot search and detection. Background technique [0002] When conducting scientific research on the ocean, underwater robots are the most important research tools, used to replace humans for long-term underwater operations or work in harsh underwater environments. In complex underwater environments, the most reliable and effective detection method is underwater acoustic detection, which is also the most widely used underwater detection method for underwater robots. Comprehensively use modern sonar detection technology to carry out underwater search and exploration in the accident sea area, obtain the key feature points of the underwater search target, and combine the target feature points and the attitude information of the detection robot to achieve accurate positioning of the underwater target. [0003]...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/06G01S15/89G01S7/539G06K9/00G06K9/46G06K9/62G06N3/04G06N3/08
CPCG01S15/06G01S15/89G01S7/539G06N3/08G06V20/10G06V10/462G06V10/44G06N3/045G06F18/241
Inventor 马杰余逸飞尉浩然
Owner WUHAN UNIV OF TECH
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