Depth camera for autonomous underwater robot

Abstract

The invention relates to a depth camera for an autonomous underwater robot. The depth camera comprises a sensor imaging module, a blue-green light source, a light source driving module, a power supply module, a lens matched with the light source, a processing and communication module, an external interface and a sealing shell. The depth camera is installed on the autonomous underwater robot, a blue-green light source of the depth camera emits a modulated blue or green light pulse, the modulated blue or green light pulse is reflected to a lens matched with the light source after being reflected by an underwater target and propagated by an underwater light field, and the lens can filter interference signals outside a light source wave band. The sensor imaging module receives light source modulation light reflected by a scene to generate original image data, the original image data are processed and corrected by the processing and communication module to generate a three-dimensional point cloud picture containing depth information, and the three-dimensional point cloud picture is sent to a control system of the autonomous underwater robot through an external interface so that the autonomous underwater robot can sense underwater environment information. The method has the advantages of large depth measurement range, low cost, high frame rate, convenience in use and the like.

Description

technical field [0001] The invention relates to the field of underwater depth cameras, in particular to a depth camera and a method for autonomous underwater robots. Background technique [0002] Autonomous underwater robots are unmanned underwater robots that carry their own energy and propulsion devices, do not require manual intervention, autonomous navigation control, and autonomously perform operational tasks. With the increasing frequency and urgency of people's exploration of the ocean, underwater robots have been widely used as an important tool. [0003] Due to its rich image information, high resolution and low cost, cameras have been widely used in the field of target detection, recognition, tracking, and navigation and positioning of autonomous underwater robots. However, the two-dimensional images obtained by traditional cameras can only provide the pose information of 2 degrees of freedom in the plane, and lack exact depth measurement information. At present,...

AI Technical Summary

Problems solved by technology

However, if the existing ToF camera is directly used in the underwater environment, it still faces problems such as seawater scattering, light absorption, and image distortion, resulting in a too small effective range and poor imaging and depth measurement results.

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