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受到水下机器人工作环境的影响,曾经提出的水下机器人定位方法大多无法获取很高的定位精度,为了改善这种状况,提出基于激光三角法的水下机器人定位方法。所提方法采用激光三角法的斜向入射定位原理给出水下机器人定位距离,并对激光发生设备和视觉传感器的最低配置要求进行了介绍,同时给出了定位距离的标定方法,设计了水下障碍物的定位光路,以排除障碍物定位距离对水下机器人定位距离的干扰。实验结果表明,所提方法给出的定位距离可靠性强,定位标定畸变率低。
Under the influence of the working environment of the underwater robot, most underwater robot positioning methods that have been proposed fail to obtain high positioning accuracy. In order to improve the situation, an underwater robot positioning method based on the laser triangulation method is proposed. The proposed method uses the oblique incidence positioning principle of the laser triangulation method to give the underwater robot’s positioning distance and introduces the minimum configuration requirements of the laser generating equipment and the visual sensor. At the same time, the calibration method of the positioning distance is given, The location of the obstacle light path to rule out the interference of the positioning distance of the underwater robot positioning distance. The experimental results show that the proposed method has the advantages of strong locating distance reliability and low positioning distortion rate.