Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Underwater terminal docking system and method based on light vision guidance

An optical vision and terminal technology, applied in underwater operation equipment, control/adjustment system, image enhancement, etc., can solve problems such as unfavorable docking, low docking success rate, high collision risk, etc., to improve accuracy and robustness , the effect of reducing difficulty

Active Publication Date: 2021-10-22
HUAZHONG UNIV OF SCI & TECH
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Pure visual guidance has high requirements on water quality, relatively short guiding distance, and poor environmental adaptability; at the same time, since the docking station does not have an active guiding light source, it is difficult for underwater robots to capture docking station targets
Since the single-eye and single-light guidance cannot obtain distance information, it can only be guided by horizontal deflection angle and vertical deflection angle. It cannot guarantee that the orientation of the robot when it docks is consistent with the orientation of the opening of the docking station. The risk of collision is relatively high, and the success rate of docking is relatively low.
In addition, in the existing single-eye multi-light guidance scheme, the guide light sources are basically arranged on the same plane as the opening of the docking station. Due to the limited field of view of the camera, when the distance is very close (within about 1-2 meters), the camera The guiding light source will be lost, making it impossible to correct the deviation in the final stage, which is not conducive to docking
However, the binocular system itself is relatively complex, and the poor underwater imaging quality leads to low accuracy in solving the disparity map, which also has certain application limitations.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Underwater terminal docking system and method based on light vision guidance
  • Underwater terminal docking system and method based on light vision guidance
  • Underwater terminal docking system and method based on light vision guidance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further explained in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the invention.

[0040] In order to achieve the above object, according to one aspect of the present invention, a set of underwater terminal docking recovery system based on optical vision guidance is provided, including: a specially designed underwater docking station equipped with a three-dimensional guiding light array, an autonomous underwater robot .

[0041] Such as figure 1 As shown, the underwater docking station adopts a frame design, and six artificially marked light sources are installed at specific positions to construct a three-dimensional guiding light array, and five light sources are distributed on the fro...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an underwater terminal autonomous docking system and method based on light vision guidance. The system comprises an underwater docking station and an autonomous underwater robot used for docking. The underwater docking station adopts a frame type configuration, and six identification light sources are mounted at specific positions of the underwater docking station to construct a three-dimensional guide lamp array; the underwater robot is provided with an underwater camera and an image processing unit in addition to the capability of autonomous navigation, and the underwater camera and the image processing unit are used for collecting and processing underwater images. The underwater terminal autonomous docking method comprises an underwater image processing method and a staged docking control method. According to the image processing method, the relative pose amount of the robot and the docking station is calculated according to image information collected by the camera, and the position tracking deviation of the robot is calculated according to the relative pose amount. Based on different results obtained by shooting a guide lamp array by a camera at different distances, a long-distance and short-distance staged docking control method is designed, and docking control of the robot is realized by adopting different docking control strategies.

Description

technical field [0001] The present invention relates to the field of marine engineering and technology, to the field of autonomous docking and recovery of autonomous underwater robots, and more specifically, to an underwater terminal docking system and method based on optical vision guidance. Background technique [0002] Autonomous underwater vehicle (AUV) has the characteristics of high degree of automation, good flexibility, and long working time, but it also faces many practical problems during use. These highly automated equipment usually carry limited energy, and there is a need for energy supplementation after the mission is completed or even during the mission. In addition, data interaction and equipment maintenance are required in a timely manner. Recycle. Among them, underwater autonomous docking and recovery technology is a hotspot of current research. [0003] The autonomous docking and recovery of underwater robots is generally divided into two stages: 1) AUV ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52G05D1/06G06T5/00G06T7/66G06T7/70G06T7/80
CPCG05D1/0692B63C11/52G06T7/66G06T7/70G06T7/80G06T5/80G06T5/70
Inventor 向先波苏翔肖咏昕杨少龙张琴
Owner HUAZHONG UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products