The invention relates to a depth camera for an autonomous underwater robot. The depth camera comprises a sensor imaging module, a blue-green light source, a light source driving module, a power supply module, a lens matched with the light source, a processing and communication module, an external interface and a sealing shell. The depth camera is installed on the autonomous underwater robot, a blue-green light source of the depth camera emits a modulated blue or green light pulse, the modulated blue or green light pulse is reflected to a lens matched with the light source after being reflected by an underwater target and propagated by an underwater light field, and the lens can filter interference signals outside a light source wave band. The sensor imaging module receives light source modulation light reflected by a scene to generate original image data, the original image data are processed and corrected by the processing and communication module to generate a three-dimensional point cloud picture containing depth information, and the three-dimensional point cloud picture is sent to a control system of the autonomous underwater robot through an external interface so that the autonomous underwater robot can sense underwater environment information. The method has the advantages of large depth measurement range, low cost, high frame rate, convenience in use and the like.

    本发明涉及一种用于自主水下机器人的深度相机,包括传感器成像模块、蓝绿光源、光源驱动模块、电源模块、与光源匹配的镜头、处理与通信模块、对外接口、密封外壳。深度相机安装在自主水下机器人上,深度相机的蓝绿光源发射经调制的蓝色或绿色光脉冲,经水下目标的反射和水下光场传播后,反射到与光源匹配的镜头上,镜头可以滤除光源波段以外的干扰信号,传感器成像模块接收到场景反射回来的光源调制光生成原始图像数据,经处理与通信模块的处理和校正后,生成包含深度信息的三维点云图,通过外部接口并发送给自主水下机器人的控制系统,用于自主水下机器人感知水下环境信息。本发明具有深度测量范围大、低成本、帧率高、使用方便等优点。


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    Title :

    Depth camera for autonomous underwater robot


    Additional title:

    一种自主水下机器人用深度相机


    Contributors:
    SHI KAI (author) / ZHU BAOTONG (author) / CHEN HAO (author) / MA ZHENBO (author) / HE NING (author) / MA XIAO'OU (author)

    Publication date :

    2022-05-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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