基于单目视觉的水下机器人相对位姿精确控制

Relative Position and Attitude Precise Control of Underwater Robot Based on Monocular Vision

针对水下机器人在实际作业中需要相对于特定的作业对象保持相对稳定且具有一定抗干扰能力的特点,提出一种基于单目视觉位姿测量原理的水下机器人稳定性控制方法,该方法的关键技术在于通过重投影法对水下机器人的三维位姿进行测量。以"观海ROV"为实验载体,在实验水池中放置待观察目标,利用水下机器人的前视摄像头作为单目视觉传感器,建立实验验证系统。从实验结果所得到的位置数据表明:采用基于单目视觉位姿测量原理控制方法的水下机器人能够在恒定水流冲击下相对于特定对象保持基本稳定,可满足水下机器人在实际作业环境中的需求,验证了文中方法的有效性。

Aiming at the characteristics of underwater robots in actual operation,which they need to be relatively stable relative to specific operation objects and have certain anti-interference abilities,and a method for stability control of underwater robots based on monocular visual position and attitude measurement is proposed;the key technique of this method is to measure the three-dimensional position and attitude of the underwater robot using the method of re-projection.The"GuanHai ROV"is adopted for experimental verification,and the observation target is placed in the experimental pool.The forward camera of the underwater robot is used as a monocular vision sensor to establish an experimental verification system.The experimental results show that the position and attitude measurement principle based on the monocular vision control method of underwater robots can relatively specific objects under constant water flow remain stable,and can meet the needs of the underwater robot in the actual work environment;therefore,the method proposed in this study is effective for the precise control of underwater robot position and attitude.This research has greatly improved the stability of underwater robots in a working environment.