共查询到19条相似文献,搜索用时 171 毫秒
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针对水下机器人自主回收对接时的定位问题,提出了一种基于OpenCV的单目定位技术研究与仿真方法;首先确定回收装置在回收侧的光源标记点坐标信息;然后借助OpenCV算法库,通过对水下机器人自带摄像机的标定,得出反应摄像机固有信息的内参数,通过摄像机对回收装置光源标记点的识别,得出光源标记点在图像上的像素坐标,结合其世界坐标,得出反映回收装置在摄像机坐标系下位置和姿态信息关系的平移向量和旋转向量,进而确定水下机器人在回收装置坐标系下的位置和姿态信息;最后运用CATIA软件对摄像机拍摄模型进行建模和仿真,结果表明,所提方法不仅能快速地获得水下机器人的位置和姿态信息,而且定位精度高,满足水下机器人在自主回收对接时的设计要求。 相似文献
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AUV波阵面水声精确定位 总被引:2,自引:0,他引:2
本文提出在长基线自治水下机器人导航定位系统中用波阵面进行定位的方法
,即用射线理论求出波阵面,用波阵面相交求出目标位置.模拟计算表明,对于深海导航定
位,利用这种方法可以较大地提高定位精度. 相似文献
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水电站水工建筑物缺陷检测目前是由观察型机器人或潜水员完成,存在检测手段少、运行受水流影响等问题。对此,文章针对水电站水工建筑物结构及缺陷特点,研制了一套水下检测机器人系统。该系统利用水动力仿真、静水力分析及稳性分析等方法,优化推力和布局布置、外形等选型和设计,解决了本体浮游和履带复合控制模式、不规则坝面吸附技术、多自由度姿态翻转和运动、缺陷位置定位等技术问题;同时,采用自主开发后处理软件,对声光电传感器数据进行融合,完成了缺陷判别与测量以及修补材料方量的估算,软件识别理论误差为7.4%,小于项目的 20%误差率要求,解决了缺陷判别与测量和修补材料方量的估算问题,最终实现了机器人在水电站水工建筑物的水平面、斜面坡、直立面及曲面环境下的水下缺陷检查、缺陷定位、缺陷尺寸测量及数据记录收集等水下无人化检测作业的目标。最后,通过水池功能试验,验证了该水下检测机器人系统的可行性。 相似文献
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为了获取高精度的水下三维模型细节纹理结构,满足数字孪生建设对水下三维实景数据底板获取的需求,实现对水下构筑物的实时可视化动态监测,基于GNSS技术、USBL技术研究构建了水陆一体化定位技术,融合水陆一体化定位技术、有缆ROV和水下摄影测量设备等研发了水下摄影测量系统,实现了数字孪生水下三维实景数据底板的获取,并采用多波束测深系统、水下三维全景成像声纳系统等对水下摄影测量系统获取的三维实景模型数据成果精度进行了验证,结果表明:水下摄影测量系统获取的三维实景模型精度满足规范要求,可用于数字孪生流域、工程等水下基础数据底板的建设,也可为水下高精度三维场景重构再现和水利工程水下构筑物实时动态监测提供技术支撑。 相似文献
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全海深载人潜水器(HOV)组合导航中会产生异步融合现象,传统的组合导航算法在处理时会产生较大的误差.针对这一问题,提出了一种基于机器学习和无迹卡尔曼滤波(UKF)的异步融合组合导航算法.首先建立了针对超短基线(USBL)声学定位系统预测的机器学习模型,通过USBL声学定位系统的观测数据集来训练该模型,并用得到的模型来预测更新间隔内的数据.最后使用UKF将已更新的数据集进行融合.仿真结果表明,相比传统的组合导航算法,本文的异步融合组合导航算法可以将USBL声学定位系统数据异步问题所引起的误差降低17%,有效提高了组合导航系统的精度. 相似文献
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高精度超短基线定位系统的实现 总被引:1,自引:0,他引:1
超短基线定位系统在海洋开发中具有广泛的应用,与其它基线相比,基阵尺寸小,易于安装。由于在远距离误差发散快,超短基线作用距离不远,其远距离定位精度也不高。为了满足深海作业需要,需要研制高精度长程超短基线定位系统,论述了系统的组成及设计,并通过改进基阵阵形、降低接收机噪声等方面提高系统定位精度。 相似文献
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《Control Engineering Practice》2007,15(4):411-419
The requirement for high accuracy in dynamic positioning of remotely operated vehicles (ROV), especially when tasks close to underwater structures have to be performed, demands high precision of sensor systems. Taut-wire and passive arm systems can satisfy this demand in measuring ROVs positions and orientations relative to a structure. However, the main drawback of these sensor systems is that additional forces act on ROVs due to the mechanical connection. In order to solve this problem, an adaptive PD controller is proposed and designed for dynamic positioning of ROVs working in close proximity of structures. Invoking the adaptation law, these additional forces caused by the passive arm and umbilical, and even by the uncertainties in gravity and buoyancy can be identified and compensated. By choosing an adequate Lyapunov candidate function, the system's stability is proven. The effectiveness of this design control method is demonstrated by means of numerical simulations and experiments. 相似文献
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针对无人水下航行器(UUV) 导航精度受惯性导航(INS) 影响较大的问题, 本文提出一种基于无人水面船
(USV)携带超短基线(USBL)对UUV进行移动式辅助导航定位的方法. 文中以USV上高精度INS和全球导航卫星系
统(GNSS)组合后的导航结果作为基准, 利用USBL测量得到的USV和UUV相对位置和姿态信息, 结合UUV的INS误
差方程, 建立了UUV协同导航系统的状态方程和观测方程, 并基于自适应卡尔曼滤波方法对UUV状态进行滤波估
计. 仿真和湖上实验结果表明, 文中所提方法可有效提升UUV导航精度. 相似文献
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为满足缆控水下机器人(remotely operated vehicle,ROV)在水下狭窄环境中作业完毕后的顺利回收需求,研究仿真ROV的路径跟踪以及动力定位系统。基于非对称ROV构建数学模型,利用李雅普诺夫函数,采用反向递推和反馈线性化,设计了基于反步法的自适应控制器。该控制器通过反馈线性化,将已知非线性参数转化成线性参数,不确定的非线性参数应用自适应控制律进行放宽。通过仿真对该控制器应用于ROV的可行性进行验证表明:基于反步自适应控制以及视线导引的算法,ROV在水下狭窄环境中路径跟踪效果良好,动力定位稳定,鲁棒性良好,能够很好地解决ROV模型的不确定性与非线性问题。该控制器为ROV在水下狭窄环境中的回收作业提供了很好的解决方案。 相似文献
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This paper presents the design and test of a 6-degree-of-freedom(DOF) precision positioning system, which is assembled by two different 3-DOF precision positioning stages each driven by three piezoelectric actuators (PEAs). Based on the precision PEAs and flexure hinge mechanisms, high precision motion is obtained. The design methodology and kinematic characteristics of the 6-DOF positioning system are investigated. According to an effective kinematic model, the transformation matrices are obtained, which is used to predict the relationship between the output displacement from the system arrangement and the amount of PEAs expansion. In addition, the static and dynamic characteristics of the 6-DOF system have been evaluated by finite element method (FEM) simulation and experiments. The design structure provides a high dynamic bandwidth with the first natural frequency of 586.3 Hz. Decoupling control is proposed to solve the existing coupling motion of the 6-DOF system. Meanwhile, in order to compensate for the hysteresis of PEAs, the inverse Bouc-Wen model was applied as a feedforward hysteresis compensator in the feedforward/feedback hybrid control method. Finally, extensive experiments were performed to verify the tracking performance of the developed mechanism. 相似文献
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Yang Yang Shigeo Hirose Paulo Debenest Michele Guarnieri Norimitsu Izumi Koichi Suzumori 《Advanced Robotics》2016,30(21):1415-1429
To avert potential crisis from Japan’s aging infrastructure and declining birth rate, the Japanese Government is planning to introduce robotic technology for the inspection of social infrastructure (such as pipes, dams, and bridges). Recording underwater positions is a difficult task for human divers who undertake conventional dam inspections. This study presents the Anchor Diver 5.2 system for efficient and effectual dam inspection. Anchor Diver 5.2 is based on an extended-tether-maneuvered remotely operated vehicle (ROV) equipped with cameras. The ROV is lowered into water by a hoist system from a boat and implements a visual survey of the concrete underwater structure. To improve the visibility of the ROV in murky and cloudy water, a novel concept named Water Loupe is proposed. In addition, a simple boat-fixing method is proposed to provide a stable base on the water surface, and the underwater position of the ROV, which cannot be accessed by global positioning systems, is recorded using a feasible localization method. Finally, the developed system was evaluated in field experiments conducted in the Amagase Dam, Japan, and its merits and problems are discussed. 相似文献