The present invention relates to a monitoring method for an underwater exploration robot. According to an embodiment of the present invention, the monitoring method for an underwater exploration robot includes: a step of obtaining an image in which an underwater exploration robot is photographed by a camera; a step of obtaining depth information about the underwater exploration robot by a depth sensor; a step of detecting the position of the underwater exploration robot from the image by adjusting a threshold value of the image; a step of expressing the detected position as a two-dimensional coordinate; a step of determining a center point of the underwater exploration robot; a step of changing the two-dimensional coordinate into a three-dimensional coordinate using the depth information and the center point; and a step of correcting a wobble of the camera, caused by disturbance. According to the present invention, the monitoring method for an underwater exploration robot can obtain an accurate position of the underwater exploration robot as the three-dimensional coordinate by the camera. So, the monitoring method for an underwater exploration robot enables the underwater exploration robot to explore under the water without being disturbed by an obstacle while the underwater exploration robot drives under the water.
본 발명의 일 실시예에 따른 수중탐사로봇 모니터링 방법은, 카메라에 의해 수중탐사로봇을 촬영한 영상을 획득하는 단계, 심도 센서에 의해 수중탐사로봇의 깊이 정보를 획득하는 단계, 영상의 임계값을 조정하여 영상으로부터 수중탐사로봇의 위치를 검출하는 단계, 검출된 위치를 2차원 좌표로 표현하는 단계, 수중탐사로봇의 중심점을 결정하는 단계, 깊이 정보 및 중심점을 이용하여 2차원 좌표를 3차원 좌표로 변환하는 단계, 및 외란에 의한 카메라의 흔들림을 보정하는 단계를 포함할 수 있다. 본 발명에 따른 수중탐사로봇 모니터링 방법은, 카메라를 이용하여 수중탐사로봇의 정확한 위치를 3차원 좌표로 획득할 수 있도록 하여 수중탐사로봇이 수중유영중 장애물에 의해 방해받지 않고 수중탐사할 수 있도록 하는 효과가 있다.
A METHOD FOR MONITORING UNDERWATER EXPLORATION ROBOT
수중탐사로봇 모니터링 방법
2016-06-27
Patent
Electronic Resource
Korean
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien |
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