摘要
近年来,无人水下航行器(UUV)在军用和民用领域的价值越来越突出。在近距离阶段内,如何准确、高效地回收UUV是当前的研究热点。文章针对UUV的水下驮载回收方式,采用特殊的引导光源阵列作为UUV回收的导引目标,提出基于单目视觉的定位方法,得到目标的世界坐标,进一步得出UUV相对四自由度的位姿信息,为进一步UUV的精准回收对接提供前期保障。
In recent years,unmanned underwater vehicles(UUV)has more and more significant value in military and civilianfields.How to accurately and efficiently recover UVs in the close range stage is currently a research hotspot.This paper points at the piggyback recovery method,uses a special light array as the guiding target for UUV recycling.This paper proposes a positioning method based on monocular vision to get the world coordinates of the target,and further obtain the azimuth information of UUV 4DOF.This algorithm provides preliminary support for further UUV’s precise recycling and docking.
作者
孟德涛
李雪如
刘明
孟凡文
MENG Detao;LI Xueru;LIU Ming;MENG Fanwen(Jining Polytechnic,Jining 272000,China)
基金
山东省高等学校青年创新团队人才引育计划项目(2019189)。
关键词
UUV
水下回收
单目视觉
UUV
underwater recovery
monocular vision
