The invention discloses an underwater capturing device, method and device, an underwater robot and a storage medium. The underwater capturing device comprises a capturing device, a controller and a controller, a power device; a sonar device; a visual sensing device; the navigation device stores a sound wave data model and an image data model; the navigation device converts the received sound wave signal into a first navigation coordinate signal through a sound wave data model and outputs the first navigation coordinate signal to the power device; the navigation device converts the received image signal into a second navigation coordinate signal through an image data model and outputs the second navigation coordinate signal to the power device; and the navigation device is used for outputting a capturing signal to the capturing device when the first navigation coordinate signal or the second navigation coordinate signal meets a preset capturing condition so as to capture the underwater target. The underwater capturing equipment disclosed by the invention can solve the technical problems that the current mode of capturing the underwater target depending on visual guidance can only complete identification, positioning and capturing of a short-distance target, cannot be applied to a long-distance target and is relatively large in limitation.

    本发明公开了一种水下抓捕设备、方法、装置、水下机器人及存储介质,该水下抓捕设备包括:抓捕装置;动力装置;声呐装置;视觉传感装置;导航装置,存储有声波数据模型和图像数据模型;导航装置通过声波数据模型将接收到的声波信号转换为第一导航坐标信号并输出至动力装置;导航装置通过图像数据模型将接收到的图像信号转换为第二导航坐标信号并输出至动力装置;导航装置用于当第一导航坐标信号或第二导航坐标信号满足预设抓捕条件时输出抓捕信号至抓捕装置,以对水下目标进行抓捕。本发明公开的水下抓捕设备可解决目前依靠视觉引导进行水下目标抓取的方式仅能完成近距离目标的识别定位及抓取,无法应用于远距离目标,局限性较大的技术问题。


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    Title :

    Underwater capturing equipment, method and device, underwater robot and storage medium


    Additional title:

    水下抓捕设备、方法、装置、水下机器人及存储介质


    Contributors:
    YANG RENYOU (author) / YANG LIANG (author) / ZHENG KAIJIAN (author) / QIN HAO (author) / LI RIFU (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / A01K ANIMAL HUSBANDRY , Tierzucht / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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