An underwater robot for judging water quality comprises a structured light camera used for obtaining an image of a target object; the driving component is used for driving the underwater robot to change the position in water; the controller is used for controlling the structured light camera to obtain a first image of the target object at a first position and calculating to obtain a first depth; controlling the driving part to move the underwater robot to a second position, controlling the structured light camera to obtain a second image of the target object, and calculating to obtain a second depth; and calculating according to the first image, the second image, the first depth and the second depth to obtain a water body attenuation coefficient. The attenuation coefficient of the water body is calculated by utilizing the structured light images at different distances, and the method has the advantages of simplicity in operation, low cost, easiness in expansion and the like.
一种判断水质的水下机器人,包括:结构光相机,用于获得目标物体的图像;驱动部件,用于驱动水下机器人水中改变位置;控制器,用于在第一位置控制所述结构光相机获得所述目标物体的第一图像,并计算得到第一深度;控制所述驱动部件将所述水下机器人移动至第二位置,控制所述结构光相机获得所述目标物体的第二图像,并计算得到第二深度;根据所述第一图像、所述第二图像、所述第一深度和所述第二深度计算得到水体衰减系数。本发明利用不同距离下的结构光图像计算水体的衰减系数,具有操作简单,成本低,易扩展等优点。
Underwater robot for judging water quality
一种判断水质的水下机器人
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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