The invention provides an underwater environment reconstruction method and device and an underwater robot, and solves the problem that a video image returned by the underwater robot is blurred and is seriously deformed. In the first aspect, the underwater environment reconstruction method comprises the following steps: acquiring underwater information; converting the coordinate system of the image acquisition device into a base coordinate system; converting underwater information based on the base coordinate system; and obtaining an underwater environment point cloud based on the converted underwater information. In the second aspect, the underwater environment reconstruction device comprises an acquisition module used for acquiring underwater information; the conversion module is used for converting the coordinate system of the image acquisition device into a base coordinate system; converting underwater information based on the base coordinate system; and the construction module is used for obtaining an underwater environment point cloud based on the converted underwater information. In the third aspect, the underwater robot comprises an underwater environment reconstruction device; a base; one end of the mechanical arm is fixed on the base; and the image acquisition device is arranged at the other end of the mechanical arm and is electrically connected with the underwater environment reconstruction device.

    本发明提供了一种水下环境重建方法及装置、水下机器人,解决了水下机器人传回来的视频图像模糊且变形严重的问题。第一方面,一种水下环境重建方法包括:获取水下信息;将图像采集装置坐标系转换成基座坐标系;基于基座坐标系转换水下信息;基于转换后的水下信息得到水下环境点云。第二方面,一种水下环境重建装置包括:获取模块,用于获取水下信息;转换模块,用于将图像采集装置坐标系转换成基座坐标系;基于基座坐标系转换水下信息;构建模块,用于基于转换后的水下信息得到水下环境点云。第三方面,一种水下机器人,包括:水下环境重建装置;基座;机械臂,一端固定于基座上;图像采集装置,设置在机械臂的另一端,与水下环境重建装置电连接。


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    Title :

    Underwater environment reconstruction method and device and underwater robot


    Additional title:

    一种水下环境重建方法及装置、水下机器人


    Contributors:
    LIU KEAN (author) / SHANG JING (author) / HUANG ZHONG (author) / LIU HAOPING (author) / ZHANG DINGHUA (author)

    Publication date :

    2024-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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