Underwater positioning method of underwater sampling robot based on sonar image processing

Abstract

The invention provides an underwater positioning method for an underwater sampling robot according to sonar image processing, and belongs to the technical field of underwater robot real-time positioning, and the method comprises the following steps: collecting a right orientation contour of the underwater sampling robot in advance, obtaining a coding contour line map source, continuously collecting submarine images by using sonar, and obtaining a coding contour line map source; and carrying out contour processing on the acquired image, comparing a seabed pattern contour line diagram with a contour line diagram source to find whether the contour of the underwater sampling robot exists, determining the orientation of the underwater sampling robot, and tracking the underwater sampling robot in real time. According to the method, the omnibearing contour of the underwater sampling robot is collected in advance, then a contrast image source is obtained, and when the image is collected, the closed-loop contour is subjected to polar coordinate processing, and the similarity of the image is obtained according to two discrete Fourier and inverse Fourier changes, so that the whole calculation process is simpler, the processing speed is higher, and the calculation efficiency is improved. The calculated amount is smaller, and real-time positioning and tracking are realized.

Description

technical field [0001] The invention relates to the technical field of real-time positioning of underwater robots, in particular to an underwater positioning method of an underwater sampling robot based on sonar image processing. Background technique [0002] The underwater sampling robot is a device used to detect the underwater world, but because it is submerged in deep water, it is often unable to communicate directly with the water surface, and it is impossible to locate it in real time. With the development of sonar technology, image sonar has become the main equipment and technical means to search for robots on the bottom of lakes. First, compared with optical images, acoustic imaging has a rough structure, poor precision, low target contrast, and inconspicuous features, which are the fatal flaws of sonar images. Professionally trained personnel often need to carefully interpret sonar images to identify robots; secondly, sonar images are generally It has a search fiel...

AI Technical Summary

Problems solved by technology

Generally speaking, the current robot detection method requires very professional sonar image interpretation personnel to complete the work. Due to the inevitable changes in personnel and positions, it often requires a lot of energy and cost in personnel training, and the interpretation of image sonar It is difficult to replicate professional knowledge and experience, and it is difficult to cope with the sharp increase in workload in a short period of time. There are problems such as high cost and low efficiency. On the other hand, the level and accuracy of personnel's interpretation of sonar images are not only directly related to knowledge and experience, but also to It is also related to non-quantifiable factors such as physical state, mental and emotional conditions at work, and it is easy to randomly lead to misjudgment and misjudgment. There are problems such as high randomness and uncontrollable errors; There are problems such as repeated labor and low efficiency

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