System and method for underwater submersible control based on binocular fisheye panoramic vision

Abstract

The invention provides a system and a method for underwater submersible control based on binocular fisheye panoramic vision. The system comprises an underwater submersible, a ground signal station and a terminal device, wherein the underwater submersible is connected with the ground signal station through a cable; the ground signal station is connected with the terminal device through a wireless network; the underwater submersible comprises wide-angle fisheye cameras on left and right sides of a submersible body and are used for acquiring the surrounding images; the wide-angle fisheye cameras are calibrated before the assembling; after the left and right distortion correction through the wide-angle fisheye cameras, the frames are transmitted to the ground signal station in real time by the cable and then are transmitted to the terminal device by the ground signal station in the form of a wireless signal; the terminal device is used for processing the signal, displaying the images and processing and sending a control signal. According to the invention, the control mode is fused into a fused panoramic image, a brand new control mode is developed, the underwater panoramic visual field is supplied, and meanwhile, the control on the underwater submersible is optimized and simplified and the operation efficiency of the underwater submersible is increased.

Description

technical field [0001] The invention relates to a method for controlling an underwater submersible based on panoramic vision, in particular to a system and method for controlling an underwater submersible based on binocular fisheye panoramic vision, belonging to the field of environmental perception and control of underwater submersibles. Background technique [0002] Underwater submersible is a small-scale unmanned underwater detection platform that has emerged in recent years. It is equipped with sensing equipment such as cameras, inertial navigation, and sonar, and is connected to signal and power transmission lines to realize underwater fish detection and underwater detection. Underwater environment detection such as underwater archaeology and underwater photography and other tasks, and can realize functions such as short-distance autonomous navigation, autonomous obstacle avoidance, and autonomous tracking. In order to realize the above-mentioned various functions, the ...

AI Technical Summary

Problems solved by technology

However, due to the limited field of view of the monocular camera, it cannot provide the environmental status around the underwater submersible at the same time, and the operating efficiency is low; there are already multi-eye panoramic underwater submersibles. Although they provide panoramic vision, they do not integrate the operation control method into the panoramic vision. , failed to fully exploit the advantages of panoramic vision

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