Hull Imager Layout for Accurate Water Surface Object Mapping
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Solution Overview
Problem
Conventional water area object detection systems with imagers aligned side by side on a hull suffer from low positional accuracy due to small angular dispersion of epipolar lines, which affects the accuracy of the surrounding map creation.
Innovation Solution
The system employs a first imager and a second imager with non-overlapping upward-downward directions, where the second imager is deviated upward and forward from the first imager, and both image the rear side of the hull, with the first imager positioned below and behind the second imager, to increase the angular dispersion of epipolar lines and improve positional accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the plurality of imagers are provided side by side on the hull, then the device complexity is reduced and ease of manufacture is improved, but the angular dispersion of epipolar lines becomes small and positional accuracy of the surrounding map decreases
Solution Approach 1:
The patent transitions from a two-dimensional side-by-side arrangement of imagers to a three-dimensional configuration where imagers are positioned at different heights and angles. Specifically, the first imager is mounted on the hull surface while the second imager is positioned above and forward of the first imager, creating spatial separation in multiple dimensions. This dimensional change increases the angular dispersion of epipolar lines, thereby improving positional accuracy while maintaining manufacturing feasibility through standardized mounting structures.
2Measurement precision
If the second imager is positioned directly above the first imager in the upward-downward direction, then the angular dispersion of epipolar lines is maximized and positional accuracy is improved, but the imaging range of the second imager is restricted by the first imager
Solution Approach 1:
The patent employs asymmetric positioning of the two imagers rather than a symmetric vertical alignment. The second imager is positioned both above and forward of the first imager, creating an asymmetric spatial relationship. This asymmetric configuration achieves adequate angular dispersion for improved positional accuracy while preventing the first imager from blocking the second imager's field of view, thus maintaining a sufficient imaging range.
3Measurement precision
If the first imager and second imager are deviated in the imaging direction, then the angular dispersion of epipolar lines increases and positional accuracy is improved, but the device complexity increases due to non-overlapping imaging directions
Solution Approach 1:
The patent implements a dynamic adjustment mechanism where the imaging directions of the two imagers can be independently adjusted and optimized. The first imager and second imager are positioned with deviations in both the upward-downward direction and the imaging direction, creating flexible epipolar line configurations. This dynamic positioning capability allows the system to achieve high angular dispersion and positional accuracy while managing device complexity through programmable control of imager orientations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances the positional accuracy of the water area map by increasing the angular dispersion of epipolar lines, allowing for precise distance measurement and improved object detection, enabling accurate automatic docking and obstacle avoidance.
Implementation Method 1
a first imager (1a) configured to be provided on a hull (101) and configured to image an object (O) around the hull (101), a second imager (1b) configured to be provided on the hull (101) such that an imaging direction of the second imager (1b) is same as an imaging direction of the first imager (1a) and configured to image the object (O) around the hull (101)
Data Source
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AI summary
A water area object detection system (103) includes a first imager (1a) configured to image an object around a hull (101), a second imager (1b) configured to be provided on the hull such that an imaging direction of the second imager (1b) is same as an imaging direction of the first imager (1a) and configured to image the object around the hull, and a controller (3) configured or programmed to perform a control to create a water area map around the hull based on images captured by the first imager (1a) and the second imager (1b). The second imager (1b) is configured to be deviated in an upward-downward direction (Z) of the hull from the first imager (1a), and the first imager (1a) is configured to be deviated in the imaging directions from the second imager (1b) so as to not overlap the second imager (1b) in the upward-downward direction perpendicular to the imaging directions.