The invention provides an underwater target grabbing method and device and an underwater robot, and solves the problems that a video image uploaded by an underwater camera is distorted and deformed due to the refraction effect of water on light, the position of a target obtained by an operator through the deformed image is inaccurate, and the target cannot be grabbed. Therefore, an operator is difficult to accurately and remotely control the tail end of the underwater mechanical arm to a target position, the target grabbing failure rate of the underwater mechanical arm is high, and the operation efficiency is low. The underwater target capturing method comprises the following steps: calibrating an image acquisition device, and obtaining an internal reference matrix of the image acquisition device; acquiring a two-dimensional code image and depth information on the target object; establishing a coordinate system, wherein the coordinate system comprises a mechanical arm base coordinate system; based on the two-dimensional code image, the depth information and an internal reference matrix of the image acquisition device, obtaining position coordinates of the target object relative to a mechanical arm base coordinate system; and underwater target grabbing is carried out based on the position coordinates of the target object relative to the mechanical arm base coordinate system.

    本发明提供了一种水下目标抓取的方法、装置及水下机器人,解决了由于水对光线的折射作用,使得水下相机传上的视频图像存在扭曲变形,操作员通过有变形的图像获取的目标位置不准确,导致操作员难以精确遥控水下机械臂末端到目标位置,导致水下机械臂目标抓取失败率高,作业效低下的问题。该水下目标抓取的方法包括:对图像采集装置进行标定,获取图像采集装置的内参矩阵;采集目标物体上的二维码图像及深度信息;建立坐标系,坐标系包括:机械臂基座坐标系;基于二维码图像、深度信息以及图像采集装置的内参矩阵,获得目标物相对于机械臂基座坐标系的位置坐标;基于目标物相对于机械臂基座坐标系的位置坐标进行水下目标抓取。


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    Title :

    Underwater target grabbing method and device and underwater robot


    Additional title:

    一种水下目标抓取的方法、装置及水下机器人


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

    Publication date :

    2024-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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