Research on Dynamic Positioning Technology of Sea Cucumber Fishing Robot
In order to improve the underwater positioning accuracy of sea cucumbers,a dynamic positioning method of underwa-ter sea cucumbers based on binocular vision system was proposed.Firstly,a binocular stereo vision model was established and the Bouguet algorithm was used to correct the image,so that the image planes of the left and right cameras was coplanar and the plumb direction height was the same.Secondly,the optimization function was constructed and the internal parameters of the binoc-ular camera were optimized by the improved cuckoo algorithm to reduce the influence of multi-media refraction on positioning ac-curacy.Finally,the positioning test of underwater sea cucumbers at any location between(300～1000)mm away from the camera's waterproof glass was carried out.The results show that when the parameter optimization model is used to locate the sea cucum-bers,the average errors in the x,y and z directions are 3.09mm,2.96mm and 8.21mm,respectively.Through this method,the accu-rate signal input can be provided for underwater robots to fish sea cucumbers.
万方数据
维普
