The invention discloses an optical ranging system and method applied to an underwater robot, and the system comprises an underwater robot body, and also comprises at least two underwater ranging devices which are disposed on the surface of one side of the underwater robot body at intervals, and are used for obtaining the distance value data of an underwater to-be-measured object and the related inclination angle value data in real time; the main control module is arranged in the underwater robot body, is in communication connection with the at least two underwater distance measuring devices, and is used for calculating and outputting an optical distance measuring value according to the distance value data and the inclination angle value data; multi-laser-beam projection distance measurement is carried out through the infrared distance measuring device, the inclination angle of the infrared distance measuring device is detected in real time through the inclination angle detector, multiple sets of distance value and inclination angle value data are obtained within the detection time, the distance value and inclination angle value data are fused and analyzed through the main control module, and then a detection error value is obtained. And the distance value is automatically calibrated according to the error value, so that the accuracy of underwater measurement can be improved.
本发明公开了一种应用于水下机器人的光学测距系统及方法,包括水下机器人本体,还包括:至少两个水下测距装置,间隔设置于水下机器人本体一侧表面上,用以实时获取水下待测物体的距离值数据以及相关倾角值数据;主控模块,设置于水下机器人本体内部,与至少两个水下测距装置通信连接,用以根据所述距离值数据和倾角值数据,计算并输出光学测距值;本发明通过红外测距器进行多束激光束投射测距,通过倾角检测器实时检测红外线测距器偏向角度,在检测时间内利用获取多组距离值和倾角值数据,并将距离值和倾角值数据通过主控模块进行融合分析后得出检测误差值,根据误差值对距离值进行自动校准,能够提高水下测量的精准度。
Optical ranging system and method applied to underwater robot
一种应用于水下机器人的光学测距系统及方法
2024-12-20
Patent
Electronic Resource
Chinese
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