The invention discloses a recovery method, device and equipment of an underwater robot and a storage medium, and relates to the technical field of computers. The method comprises the steps that a mother boat comprises a first mechanical arm and a second mechanical arm, camera arrays are arranged on the first mechanical arm and the second mechanical arm, at least four marks are determined on the robot, the mother boat obtains an image set through the camera arrays, a target image is determined, a first coordinate and a second coordinate are obtained, and the target image is obtained according to the first coordinate and the second coordinate. Determining a third coordinate of the mark in the camera coordinate system, determining a fourth coordinate of the mark in the mother boat coordinate system according to the third coordinate and the rotation angle corresponding to the mark, determining the pose of the robot by using the fourth coordinates corresponding to the at least four marks and the fifth coordinate in the robot coordinate system, and determining the position of the robot according to the pose of the robot. And the robot is recycled. According to the method, the more accurate pose of the underwater robot can be obtained, damage caused by collision with the mother boat is reduced, and the recovery risk is reduced.

    本申请公开了一种水下机器人的回收方法、装置、设备及存储介质,涉及计算机技术领域。该方法包括:母艇包括第一机械臂和第二机械臂,第一机械臂上和第二机械臂上均部署有相机阵列,机器人上至少确定4个标记,母艇通过相机阵列获取图像集合,确定目标图像,得到第一坐标和第二坐标,根据第一坐标和第二坐标,确定标记在相机坐标系中的第三坐标,根据第三坐标以及标记对应的旋转角度,确定标记在母艇坐标系中的第四坐标,利用至少4个标记对应的第四坐标以及在机器人坐标系中的第五坐标,确定机器人的位姿,根据机器人的位姿,对机器人进行回收。该方法可以得到水下机器人更准确的位姿,减少因与母艇发生碰撞而造成的损坏,降低回收风险。


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    Title :

    Recycling method, device and equipment of underwater robot and storage medium


    Additional title:

    一种水下机器人的回收方法、装置、设备及存储介质


    Contributors:
    XU XIAODONG (author)

    Publication date :

    2024-12-13


    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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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