一种面向海参捕捞的作业型水下机器人及其控制方法
一种面向海参捕捞的作业型水下机器人及其控制方法
本发明涉及一种面向海参捕捞的作业型水下机器人及其控制方法，属于水下机器人领域，第二控制板根据摄像机构拍摄的下方视觉图像确定海参的三维位置信息，进行在线路径规划，第一控制板调节推进器使作业型水下机器人按照在线路径规划进行运动，第二控制板控制抓取机构对海参进行捕捞。在抓取过程中利用基于MobileNet‑Transformer‑GCN的海参识别跟踪算法识别并持续跟踪待捕捞海参，同时实时定位待捕捞海参，采用快速搜索树算法规划作业型水下机器人到目标点之间的路径，基于Actor‑Critic强化学习模型控制作业型水下机器人按照路径进行运动，实现了复杂水下环境下的海参捕捞机器人精准控制和自主抓取。
The invention relates to an operation type underwater robot for sea cucumber fishing and a control method of the operation type underwater robot, and belongs to the field of underwater robots. A second control panel determines three-dimensional position information of sea cucumbers according to lower visual images shot by a camera mechanism, and carries out online path planning; the first control panel adjusts the propeller to enable the operation type underwater robot to move according to an online path plan, and the second control panel controls the grabbing mechanism to catch sea cucumbers. In the grabbing process, sea cucumbers to be caught are recognized and continuously tracked through a sea cucumber recognition and tracking algorithm based on MobileNet-Transformer-GCN, meanwhile, the sea cucumbers to be caught are positioned in real time, the path between the operation type underwater robot and a target point is planned through a rapid search tree algorithm, the operation type underwater robot is controlled to move according to the path based on an Actor-Critic reinforcement learning model, and the sea cucumbers to be caught are caught. Accurate control and autonomous grabbing of the sea cucumber fishing robot in the complex underwater environment are achieved.
Dokumentinformationen
一种面向海参捕捞的作业型水下机器人及其控制方法
2022-05-13
Patent
Elektronische Ressource
Chinesisch
| IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / A01K ANIMAL HUSBANDRY , Tierzucht / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |