An energy-saving underwater robot detection method and system based on slam architecture

A technology for underwater robots and detection methods, applied in control/adjustment systems, instruments, measuring devices, etc., can solve the problems of short navigation time of robots and insufficient smoothness of cruise curves, achieve finer and more effective scanning and composition, and reduce return to the base station The number of times, the effect of increasing carbon sink capacity

Active Publication Date: 2022-04-19
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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  • An energy-saving underwater robot detection method and system based on slam architecture
  • An energy-saving underwater robot detection method and system based on slam architecture
  • An energy-saving underwater robot detection method and system based on slam architecture

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Embodiment Construction

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

[0038]The present invention provides an energy-saving underwater robot detection method based on the SLAM architecture, which performs active identification and detection on objects for positioning and composition in special underwater environments, and then calculates a reasonable cruising route and self-energy supply, such as figure 1 As shown, it specifically includes the following steps:

[0039] Step 1: While the underwater robot uses the attitude sensor to obtain its own positioning, it collects 3D data in the scene and constructs the scene.

[0040] The visual sensor of the underwater robot is used to detect the environment, and the perceived real-time picture is transmitted to the central processing unit. The processor uses the imported real-time data to initially construct the three-dimensional scene. The constructed 3D scene is projected, constrain...

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Abstract

The invention discloses an energy-saving underwater robot detection method and system based on a SLAM architecture, including three-dimensional scene scanning based on a time-varying direction field, segmenting and reconstructing a target scene; and interacting with a mechanical arm for key identification targets , to further collect information; under the guidance of the value function of object recognition and the loop detection module, the underwater robot can ensure the rationality of route planning while performing object-guided scanning; finally, the way of collecting solar energy and converting it into electrical energy can be Realize the remote cruise of the robot. The method of the present invention replaces the vector field with a time-varying direction field, which effectively reduces the interference of the singular point of the navigation boundary line, and makes the attitude adjustment of the aircraft more smooth; the value function based on object recognition and the closed-loop detection module can enable the robot to perform object-guided scanning When collecting navigation data and regularly correcting the navigation trajectory, the 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 in particular relates to an energy-saving underwater robot detection method and system based on SLAM architecture. Background technique [0002] Due to the development and utilization of the ocean, the demand for underwater robots has also greatly increased. As people's detection needs continue to increase, robots also generally have problems such as insufficient image processing, immature navigation technology, accumulated navigation errors cannot be well eliminated, and underwater navigation time cannot meet mission requirements. [0003] There are many automatic navigation methods for robots based on vector fields today, and their shortcomings are more prominent in the field of underwater navigation today: (1) Because of the orientation of the vector field, the robot will have ambiguity in the route, and More singular points will be generated, too many singular poi...

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Application Information

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Patent Type & Authority Patents(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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