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Energy-saving underwater robot detection method and system based on SLAM architecture

A technology for underwater robots and detection methods, applied in the direction of control/regulation systems, instruments, measuring devices, etc., can solve the problems of insufficient cruising curve and short navigation time of robots, achieve finer and more effective scanning and composition, and reduce return to the base station The number of times, the effect of increasing efficiency

Active Publication Date: 2021-06-29
HOHAI UNIV
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Problems solved by technology

[0009] Purpose of the invention: In order to solve the problem that the robot’s navigation time is short and the cruising curve is not smooth enough, and at the same time achieve the purpose of object-guided scanning, energy saving and emission reduction, and protection of the water surface and underwater environment, the present invention provides an energy-saving robot based on SLAM architecture. Underwater Robot System and Exploration Method

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  • Energy-saving underwater robot detection method and system based on SLAM architecture
  • Energy-saving underwater robot detection method and system based on SLAM architecture
  • Energy-saving underwater robot detection method and system based on SLAM architecture

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Embodiment Construction

[0037] The present invention will be further described in detail below with reference to the accompanying drawings.

[0038]The present invention provides a method of detecting a SLAM architecture based on the semaphorer in the water-specific environment, active identification of objects, and then calculates a reasonable cruise route, and self-energy supply, such as figure 1 As shown, specifically includes the following steps:

[0039] Step 1: Underwater robots use the posture sensor to obtain their own positioning, the three-dimensional data in the scene is collected and the scene is built.

[0040] Calling underwater robots detecting the environment and transmits perceived real-time screen to the central processor, using the processor to utilize the real-time data of the imported real-time data, initially constructed for the three-dimensional scenes. Projection of the constructed three-dimensional scenes is projected to projection boundary as constraints, calculate the segmentat...

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Abstract

The invention discloses an energy-saving underwater robot detection method and system based on an SLAM architecture. The method comprises steps that three-dimensional scene scanning is carried out based on a time-varying direction field, and segmentation and reconstruction of a target scene are carried out; for a key identification target, a mechanical arm is used for interaction, and the information is further collected; under the guidance of a value function of object recognition and a loop detection module, reasonability of route planning can be ensured while the underwater robot performs object guided scanning; and finally, solar energy is collected and converted into electric energy, so remote cruise of the robot can be realized. According to the method, a vector field is replaced by a time-varying direction field, so the interference of singular points of a navigation boundary line is effectively reduced, and attitude adjustment of the vehicle is smoother; based on the value function of object recognition and the closed-loop detection module, the robot can collect navigation data and regularly correct the navigation trajectory when performing object guided scanning, and accuracy of object recognition can be greatly improved.

Description

Technical field [0001] The invention belongs to the field of artificial intelligence and path planning, and specifically, a method and system for energy-saving underwater robot based on SLAM architecture. Background technique [0002] Because of the development and utilization situation of the ocean, the demand of underwater robots is also increased. As people's detection demand continues to increase, the robot is also universal, the image processing is not clear enough. Navigation technology is not mature, and the sailing cumulative error cannot be eliminated. Underwater navigation time cannot meet questions such as task needs. [0003] There are many automatic navigation methods based on vector field-based robots, and the shortcomings are highlighted in today's underwater navigation: (1) Because of the vector field comes, the robot will generate erliness in the travel route. There will be more singular points, too many singular points will make the scanning scenes unable to for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06G01D21/02
CPCG05D1/0692G01D21/02
Inventor 黄浩乾李凯王冰
Owner HOHAI UNIV
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