Image processing method for processing plurality of camera images of ship cleaning robot to generate one image, computer readable recording medium, computer program, and robot control method using same
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Solution Overview
Problem
Existing ship cleaning robots face challenges in efficiently identifying and cleaning the hull surface due to limited identification distances and the need for manual control of multiple cameras, leading to operator fatigue and increased cleaning time.
Innovation Solution
An image processing method that merges images from multiple cameras into a single wide top-view image using perspective transformation and correction techniques, along with artificial intelligence for controlling the robot's speed and brush rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If one camera is used to cover the entire hull surface, then device complexity is reduced, but identification distance becomes insufficient and cleaning efficiency decreases
Solution Approach 1:
The hull surface is divided into multiple regions, each monitored by a dedicated camera. The first camera monitors the first region, the second camera monitors the second region, and so on. This segmentation allows each camera to focus on a specific area, ensuring sufficient identification distance for each region without requiring an excessive number of cameras system-wide.
2Measurement precision
If multiple cameras are placed at intervals to improve identification distance, then measurement precision improves, but device complexity and operator fatigue increase
Solution Approach 1:
The monitoring system is segmented into multiple independent camera units, each responsible for a specific region. This allows the system to achieve comprehensive coverage with appropriate identification distances without requiring a single complex multi-camera assembly, thereby reducing overall device complexity while maintaining measurement precision.
Solution Approach 2:
The patent transitions from a single-dimensional view (one camera looking at the entire hull) to a multi-dimensional distributed monitoring system. By placing cameras at different positions along the hull, the system creates a spatial distribution of monitoring points, effectively using the longitudinal dimension of the hull to reduce the number of cameras needed while maintaining identification distance.
3Measurement precision
If multiple cameras are used to cover the entire hull surface, then identification distance improves, but operator fatigue increases due to controlling multiple cameras
Solution Approach 1:
Multiple camera feeds are merged into a single integrated display system. The processor combines the image data from the first camera, second camera, and subsequent cameras into a unified visual representation that the operator can control with a single interface. This merging eliminates the need for the operator to switch between or manually control multiple separate camera views, significantly reducing operator fatigue while maintaining the identification distance benefits of multiple cameras.
4Measurement precision
If the cleaning boundary line is positioned near the center camera, then identification distance is sufficient, but cleaning time increases significantly
Solution Approach 1:
The cleaning process is segmented into multiple parallel operations, with each camera region having its own cleaning boundary line and associated cleaning brush. This allows simultaneous cleaning of multiple hull regions, drastically reducing total cleaning time while each individual camera maintains sufficient identification distance for its assigned region.
Solution Approach 2:
The system dynamically coordinates the movement of multiple cleaning brushes with the monitoring of multiple cameras. As the robot moves along the hull, the cleaning boundary lines and brush positions are dynamically adjusted to match the camera coverage regions, enabling continuous and efficient cleaning without the time loss associated with repositioning a single central camera and brush.
Data Source
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AI summary
Disclosed is an image processing method of processing a plurality of images into a single image, including: obtaining at least a left image, a center image, and a right image from a plurality of cameras arranged in a row; generating a left top-view image, a center top-view image, and a right top-view image based on the left image, the center image, and the right image, respectively; generating one wide top-view image by merging the left top-view image, the center top-view image, and the right top-view image; and generating and outputting the wide top-view image as a final wide image. Thus, the images from the plurality of cameras are merged into a single image, thereby reducing fatigue of a robot operator.