China
CN 112907505 A
一种水下机器人电缆三维形状估计方法
English (machine translation): A three-dimensional shape estimation method of underwater robot cable
CN 112907505 A is a published patent application from the China National Intellectual Property Administration (CNIPA). Applicant: Nanjing Institute of Technology. Its PDF downloads from this page without an account, up to 5 a day.
- Applicant
- Nanjing Institute of Technology
- Inventors
- 陈巍; 金俊; 郭铁铮; 陈国军; 高天宇; 郝笑; 尹伊琳; 王杰; 许鑫; 郑亦峰; 贺晨煜; 杨刚
- Filing date
- 2021-01-11
- Document type
- A Published application
- Also written as
- CN 112907505 A
Abstract
本发明公开了一种水下机器人电缆三维形状估计方法，其特征在于：包括步骤：获取水下机器人电缆图片，得到电缆分割图；基于电缆分割图使用悬链线模型得到电缆分割图中悬链线的投影方程；基于所述图像中悬链线的投影方程和电缆分割图中的检测点，通过最小二乘拟合方法得到电缆三维形状参数，进而估计电缆三维形状。本发明能够实时估计水下机器人电缆三维形状并且准确度高。
English (machine translation): The invention discloses a method for estimating the three-dimensional shape of a cable of an underwater robot, which is characterized by comprising the following steps: the method comprises the following steps: acquiring a cable picture of the underwater robot to obtain a cable segmentation picture; obtaining a projection equation of the catenary in the cable segmentation graph by using a catenary model based on the cable segmentation graph; and obtaining a three-dimensional shape parameter of the cable by a least square fitting method based on a projection equation of the catenary in the imag…
The opening of the abstract. The full text is in the PDF.
No account needed: 5 free downloads a day (5 left today). Batch downloads and Office Action citations need a free account.
Patent office website: China National Intellectual Property Administration (CNIPA)
Look up another patent
Need many patents at once?
Paste a whole list of numbers. DownloadPatent finds the right version of each and packs the PDFs into one ZIP.
Sign up free