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Underwater robot cable three-dimensional shape estimation method

An underwater robot, three-dimensional shape technology, applied in instruments, computing, image data processing, etc., can solve problems such as complex calculation and difficult real-time estimation

Pending Publication Date: 2021-06-04
NANJING INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the deficiencies in the prior art, the present invention provides a method for estimating the three-dimensional shape of an underwater robot cable, which solves the problem that the existing cable shape estimation method is complicated in calculation and difficult to estimate in real time

Method used

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  • Underwater robot cable three-dimensional shape estimation method
  • Underwater robot cable three-dimensional shape estimation method
  • Underwater robot cable three-dimensional shape estimation method

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0052] Such as figure 1 As shown, a method for estimating the three-dimensional shape of an underwater robot cable includes steps:

[0053] Step 1, obtain the picture of the cable of the underwater robot, identify the cable through the image segmentation method, and obtain the cable segmentation map;

[0054] The pixels of the cable are identified using the HSV space segmentation method. Underwater image backgrounds are mostly blue due to color absorption. So choose the color of the cable as orange so that it is away from the main blue tones of the space. Such as figure 2 as shown, figure 2 (Left) is the source image of the underwater robot connected to the cable (grayscaled), figure 2...

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Abstract

The invention discloses an underwater robot cable three-dimensional shape estimation method which is characterized by comprising the following steps: collecting an underwater robot cable picture to obtain a cable segmentation map; using a catenary model to obtain a projection equation of a catenary in the cable segmentation map based on the cable segmentation map; and based on the projection equation of the catenary in the image and the detection points in the cable segmentation image, obtaining three-dimensional shape parameters of the cable through a least square fitting method, and further estimating the three-dimensional shape of the cable. The three-dimensional shape of the underwater robot cable can be estimated in real time, and the accuracy is high.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a method for estimating the three-dimensional shape of an underwater robot cable. Background technique [0002] In recent years, remotely operated underwater vehicles (ROVs) have played an important role in various underwater operations. However, due to the difficulty of underwater communication, ROV often needs to connect a cable for data transmission between underwater robots and surface unmanned vehicles or between other underwater robots, and can also be used to provide power for ROV underwater operations . Real-time monitoring of the 3D shape of the cables can help ROV exploration and intervention missions to be safer, avoiding collisions and entanglement with the underwater environment, especially if the ROV is equipped with a robotic arm that could get stuck on the cables. [0003] Among the existing schemes, such as lumped mass method, finite element met...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/60G06T7/136
CPCG06T7/0004G06T7/60G06T7/136G06T2207/30108G06T2207/10004
Inventor 陈巍金俊郭铁铮陈国军高天宇郝笑尹伊琳王杰许鑫郑亦峰贺晨煜杨刚
Owner NANJING INST OF TECH