The invention discloses an underwater robot navigation device with a trackball, which relates to the technical field of robot positioning and navigation and comprises the trackball, a lens module, an optical sensor module, a laser transmitting module, a digital signal processing module and a power management module. The invention further discloses an underwater robot, the underwater robot navigation device with the trackball is installed at the bottom of the underwater robot and is in communication connection with the underwater robot, and displacement and speed information of the underwater robot navigation device is received and responded; the invention further discloses an underwater robot navigation method. The method comprises the steps of S100, underwater robot navigation device installation, S200, underwater robot starting, S300, image array collection, S400, displacement and speed calculation, S500, navigation information sending and S600, navigation information response. The navigation device has more fault tolerance on the material and flatness of the contact plane at the bottom of the pool, the trackball can play a role in isolating a light path from the pool environment, the waterproof difficulty is small, and the reliability of the navigation device is higher.

    本发明公开了一种带轨迹球的水下机器人导航装置,涉及机器人定位导航技术领域,包括轨迹球、透镜模块、光学传感器模块、激光发射模块、数字信号处理模块和电源管理模块;本发明还公开了一种水下机器人,带轨迹球的水下机器人导航装置安装在水下机器人底部并通信连接,接收并响应水下机器人导航装置的位移和速度信息;本发明还公开了一种水下机器人导航方法,包括:S100、水下机器人导航装置安装,S200、水下机器人启动,S300、图像阵列采集,S400、位移和速度计算,S500、导航信息发送,S600、导航信息响应。本发明对水池底部接触平面的材质和平整程度更有容错性,并且轨迹球能够起到隔绝光路与水池环境的作用,防水难度小,导航装置的可靠性更高。


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    Title :

    Underwater robot navigation device with trackball and method


    Additional title:

    一种带轨迹球的水下机器人导航装置及方法


    Contributors:
    PI GUANGZHAO (author) / WEI BIN (author) / YANG GENKE (author) / CHU JIAN (author) / PAN ZAISHENG (author) / ZENG WEIYI (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes



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