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Light vision guiding method for docking and recycling of AUV

An optical vision, recycling tube technology, applied in instruments, underwater operation equipment, measuring devices, etc., to achieve the effect of ensuring matching accuracy, good reliability and high precision

Active Publication Date: 2021-07-13
HARBIN ENG UNIV
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Problems solved by technology

[0004] The publication date is July 08, 2015, the publication number is CN104766312A, and the patent application title is "A method for autonomous docking of intelligent underwater robots based on binocular vision guidance". To achieve the same purpose, but the method adopted in the light source identification, light source matching and calculation of light source position is completely different from the invention

Method used

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  • Light vision guiding method for docking and recycling of AUV
  • Light vision guiding method for docking and recycling of AUV
  • Light vision guiding method for docking and recycling of AUV

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Embodiment 1

[0094] figure 1 The system flow of the present invention has been expressed, and the specific implementation steps are as follows:

[0095] Step (1): Input the left and right image pairs: when the AUV is docking at close range, use the equipped stereo camera to collect the image pairs of the light source array of the base station, and continuously input them into the optical vision guidance program to enter step (2);

[0096] Step (2): Light source identification: Carry out adaptive binarization and false light source removal on the left and right images respectively, obtain the positions of all light sources in the image, and proceed to step (3);

[0097] Step (3): light source matching: get the light source set {Sl i} and {Sr i}, extract the light source features respectively, then compare the consistency of the light source features in the left and right images for pairing, and judge whether the matching is correct through epipolar search, and then enter step (4);

[009...

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Abstract

The invention belongs to the technical field of docking and recycling of underwater vehicles, and particularly relates to a light vision guiding method for docking and recycling of an AUV. The method comprises the steps of light source identification, light source matching and three-dimensional distance measurement, and the light source identification is to identify correct light source imaging in an image through an adaptive identification algorithm and a pseudo light source discrimination algorithm; light source matching is that light sources identified in left and right images of a stereo image are paired through defined light source features, and the pairing accuracy is ensured by using an epipolar search algorithm; the three-dimensional distance measurement is to calculate the three-dimensional coordinates of the registered light source by using a triangulation method, and optimize the position of the light source by using a least square method. The method is good in reliability and high in precision, a base station light source can be accurately recognized in the underwater environment with interference, and the accurate base station position is obtained.

Description

technical field [0001] The invention belongs to the technical field of docking recovery of underwater vehicles, and in particular relates to an optical vision guidance method for AUV docking recovery. Background technique [0002] When the AUV performs specific tasks underwater, in order to ensure work efficiency, it needs to complete the autonomous docking with the base station underwater to charge the AUV power supply, download data, and upload a new mission plan to execute the next mission. Compared with surface mother ship recovery, underwater docking recovery has the advantages of good concealment, high degree of autonomy, and uninterrupted operation. As one of the key technologies for AUV docking and recovery, underwater guidance technology can be divided into acoustic guidance, electromagnetic guidance and optical vision guidance. Acoustic guidance usually utilizes ultra-short baseline positioning to provide the AUV with the approximate location of the underwater bas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16B63C11/52
CPCG01S5/16B63C11/52
Inventor 徐硕姜言清李晔刘善昌马东张文君
Owner HARBIN ENG UNIV
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