The invention belongs to the technical field of underwater robot intelligent control, and particularly relates to an intelligent control method of an underwater robot for autonomous suction and fishing of benthos. The intelligent control method is mainly used for completing detection and recognition of a target organism in a complex underwater environment, guiding the robot to operate and accurately suck a specified target. According to the intelligent control method of the underwater robot for autonomous suction and fishing of the benthos, during operation, the suction robot firstly recognizes and tracks an operation target through an underwater vision and reinforcement learning algorithm, then derives and optimizes fuzzy rules through pose feedback adjustment of the suction robot and anintelligent control system of platform movement of the robot, and guides autonomous suction and fishing operation of the benthos to be completed; and according to the intelligent control method of theunderwater robot for autonomous suction and fishing of the benthos, based on advanced achievements in the aspect of artificial intelligence research, continuous and stable tracking and autonomous suction of the target can be achieved, the intelligent control method has the advantages of being accurate in recognition, high in intelligent degree, high in fishing efficiency, low in operation cost and the like, and the intelligent control method is practically applied to underwater robot system design and has important significance in efficient autonomous suction and fishing of marine organisms.
本发明属于水下机器人智能控制技术领域,具体涉及一种海底生物自主吸取捕捞的水下机器人智能控制方法。本发明提供了主要用于在复杂水下环境中完成对目标生物的检测识别并引导机器人作业并实现准确吸取指定目标。本发明在作业时,吸取机器人首先通过水下视觉与强化学习算法识别和跟踪作业目标,继而通过自身的位姿反馈调节和机器人的平台运动的智能控制系统推导和优化模糊规则,指导完成海底生物的自主吸取捕捞作业。本发明基于人工智能研究方面的先进成果,能够实现对目标的连续稳定跟踪和自主吸取,具有识别准确、智能程度高、捕捞效率高、作业成本低等优点,本发明实际应用于水下机器人系统设计,对于海生物的高效自主吸取捕捞具有重要意义。
Intelligent control method of underwater robot for autonomous suction and fishing of benthos
一种海底生物自主吸取捕捞的水下机器人智能控制方法
2020-12-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
Intelligent autonomous navigation underwater detection robot
Europäisches Patentamt | 2021
|Online Contents | 1995