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A Light Vision Guidance Method for AUV Docking and Recycling

A technology of optical vision and recycling tubes, which is applied in the direction of instruments, underwater operation equipment, measuring devices, etc., to achieve the effect of ensuring the accuracy of matching, good reliability and high precision

Active Publication Date: 2022-08-02
HARBIN ENG UNIV
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  • Description
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Problems solved by technology

[0004] The publication date is July 08, 2015, the publication number is CN104766312A, and the patent application title is "A method for autonomous docking of intelligent underwater robots based on binocular vision guidance". To achieve the same purpose, but the method adopted in the light source identification, light source matching and calculation of light source position is completely different from the invention

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  • A Light Vision Guidance Method for AUV Docking and Recycling
  • A Light Vision Guidance Method for AUV Docking and Recycling
  • A Light Vision Guidance Method for AUV Docking and Recycling

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Embodiment 1

[0094] figure 1 The system flow of the present invention is described, and the specific implementation steps are as follows:

[0095] Step (1): Input the left and right image pairs: when the AUV is docked at close range, use the mounted stereo camera to collect the image pairs of the base station light source array, and continuously input them into the optical vision guidance program, enter step (2);

[0096] Step (2): light source identification: adaptive binarization and false light source elimination are performed on the left and right images, respectively, to obtain the positions of all light sources in the image, and enter step (3);

[0097] Step (3): light source matching: obtain the light source set {Sl of the left and right images through step (2) i } and {Sr i } After that, extract the light source features respectively, and then compare the light source features in the left and right images for matching, and determine whether the matching is correct through epipola...

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Abstract

The invention belongs to the technical field of docking and recovery of underwater vehicles, in particular to an optical vision guidance method for docking and recovery of AUVs. The steps of the invention include light source identification, light source matching and stereo ranging. The light source identification is to identify the correct light source imaging in the image through an adaptive identification algorithm and a pseudo light source identification algorithm; the light source matching is to identify the left and right images of the stereo image. The light source is paired according to the defined light source characteristics, and the polar search algorithm is used to ensure the pairing accuracy; the stereo ranging is to use the triangulation method to calculate the three-dimensional coordinates of the registered light source, and optimize the light source position by the least square method. The invention has good reliability and high precision, can accurately identify the light source of the base station in the underwater environment with interference, and obtain the precise position of the base station.

Description

technical field [0001] The invention belongs to the technical field of docking and recovery of underwater vehicles, and in particular relates to an optical vision guidance method for docking and recovery of AUVs. Background technique [0002] When the AUV performs a specific task underwater, in order to ensure work efficiency, it needs to complete the autonomous docking with the base station underwater, so as to charge the AUV power supply, download data, and upload a new task plan to execute the next task. Compared with the recovery of the surface mother ship, the underwater docking recovery has the advantages of good concealment, high degree of autonomy, and uninterrupted operation. As one of the key technologies for AUV docking and recovery, underwater guidance technology can be divided into acoustic guidance, electromagnetic guidance and optical vision guidance. Acoustic guidance usually utilizes ultra-short baseline positioning to provide the AUV with the approximate l...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/16B63C11/52
CPCG01S5/16B63C11/52
Inventor 徐硕姜言清李晔刘善昌马东张文君
Owner HARBIN ENG UNIV
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