Ship Cleaning Robot Multi-Camera Top-View Image Merging
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Solution Overview
Problem
Ship cleaning robots face challenges in efficiently cleaning ship hulls due to limited identification distances and the need for multiple camera control, leading to increased operator fatigue.
Innovation Solution
An image processing method that merges images from multiple cameras into a single top-view image, using perspective transformation and correction techniques to enhance brightness and saturation, thereby reducing operator fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple cameras are placed at intervals of 20 to 40 cm to extend identification distance, then the identification distance is improved, but the device complexity and operator fatigue increase due to needing to control several cameras
Solution Approach 1:
The patent merges images from multiple cameras (left, center, right cameras arranged in a row) into a single wide top-view image. This combining approach extends the effective identification distance while presenting a unified view to the operator, eliminating the need to switch between multiple camera views and reducing operational complexity.
2Measurement precision
If multiple cameras are placed at intervals of 20 to 40 cm to extend identification distance, then the identification distance is improved, but the ease of operation deteriorates due to increased operator fatigue from controlling multiple cameras
Solution Approach 1:
The patent combines multiple camera images into a single wide top-view image that provides an extended field of view. The operator controls one unified image rather than switching between multiple camera feeds, significantly reducing mental fatigue while maintaining the extended identification distance capability.
Solution Approach 2:
The patent transforms multiple perspective-view images from cameras arranged in a row into a single top-view image. This dimensional transformation consolidates the viewing experience into a single plane that represents the entire workspace, making operation easier while maintaining extended coverage.
3Device complexity
If a single wide-angle or fisheye lens camera is used, then the device complexity is reduced, but the identification distance remains limited to about 40 to 100 cm
Solution Approach 1:
The patent divides the viewing task across multiple cameras (left, center, right) positioned at intervals, with each camera responsible for a specific angular sector. This segmentation allows each camera to use simpler optics while the combined system achieves extended identification distance coverage.
Solution Approach 2:
The patent transforms the segmented perspective-view images from multiple cameras into a unified top-view image. This dimensional transformation consolidates the segmented views into a single coherent workspace representation, extending effective identification distance while maintaining simple camera optics.
4Measurement precision
If the cleaning boundary line is positioned near the center camera, then the identification distance is maximized, but the productivity decreases as cleaning time more than doubles compared to positioning near the brush ends
Solution Approach 1:
The patent transforms the camera arrangement and viewing angle by creating a top-view image from multiple perspective views. This allows the cleaning boundary to be positioned near the brush ends (optimizing productivity) while the top-view visualization maintains clear identification of the entire workspace, resolving the conflict between identification distance and cleaning efficiency.
Data Source
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.