The invention discloses an autonomous line patrol underwater robot system based on image recognition, the autonomous line patrol underwater robot system comprises a robot body and a control system for controlling the robot to move along an underwater guide lamp strip, the guide lamp strip is provided with letter boards, and the letter boards are connected with the robot body. The control system comprises an underwater propulsion module, an image detection module, a power supply module, a motion sensor module and a drive control module. According to image information provided by the image detection module and robot pose information provided by the motion sensor module, calculation and analysis are carried out through the driving control module, and an instruction is sent to the underwater propulsion module to realize the autonomous underwater line patrol function of the underwater robot. According to the invention, on the basis of a traditional contour delimiting line patrol method, the Hough straight line fitting algorithm is introduced, and the structural characteristics of the double cameras are matched, so that the image recognition capability and the line patrol accuracy of the underwater robot are improved.
本发明公开了一种基于图像识别的自主巡线水下机器人系统,所述自主巡线水下机器人包括机器人本体,以及控制机器人沿着水底导向灯带运动的控制系统,所述导向灯带上设有字母牌,所述控制系统包括:水下推进模块、图像检测模块、供电模块、运动传感器模块以及驱动控制模块;根据图像检测模块提供的图像信息与运动传感器模块提供的机器人位姿信息,通过驱动控制模块计算分析,发送指令至水下推进模块实现水下机器人的自主水下巡线功能。本发明在传统划定轮廓巡线方法的基础上,引入了Hough直线拟合算法,配合双摄像头的结构特点,从而提高水下机器人的图像识别能力以及巡线的准确率。
Autonomous line patrol underwater robot system based on image recognition
一种基于图像识别的自主巡线水下机器人系统
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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