针对船舶因受海水腐蚀而导致船舶使用寿命短、航行性能下降等问题，研发了一种基于双目视觉的船用爬壁监测机器人。首先设计了机器人爬行机构、电控模块、视觉模块、图像处理和传输模块等硬件部分，视觉模块根据不同视角间的物体图像像素匹配关系，运用三角测量原理计算出像素之间的偏移，以此来获取物体三维信息；再对机器人双目视觉系统进行测试和标定，并得到了实物测量物体的坐标值。实验结果证明，船用爬壁机器人能够有效地解决对船体的损伤监测问题，提高了船舶的寿命和安全性，降低了监测成本和时间。
In order to solve the problems of short service life and poor performance of the ship due to seawater corrosion, a new kind of climbing robot based on binocular vision is developed. First, the hardware part of the robot crawler, electronic control module, visual module, image processing and transmission module is designed. In order to obtain the object three-dimensional information, the visual module uses the triangulation principle to calculate the offset between pixels according to the match of the object image pixel between different angles. Then the binocular vision system of the robot was tested and calibrated, and the coordinate values of the objects were measured. The experimental results show that the ship climbing robot can effectively solve the damage problem of the ship, improve the life and safety of the ship, and reduce the monitoring cost and time.
2018,40(7): 138-141 收稿日期：2017-03-20
DOI：10.3404/j.issn.1672-7649.2018.07.026
分类号：TP24
基金项目：国家自然科学基金资助项目（61503162）；江苏省自然科学基金资助项目（BK20150473）资助
作者简介：朱保鹏(1996-),男,硕士研究生,研究方向为控制理论与控制工程
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