METHOD FOR PRECISE CONTROL OF UNDERWATER MANIPULATOR USING CALIBRATED BINOCULAR VISION SYSTEM Russian patent published in 2023 - IPC G01C11/00 

FIELD: technical vision systems.

SUBSTANCE: base of the manipulator is fixed in the aquatic environment using an underwater vehicle, the three spatial coordinates of the next characteristic point are determined using the technical vision system in the coordinate system associated with it, a memory cell is selected in the three-dimensional calibration memory matrix, the spatial coordinates of which in the coordinate system associated with the technical vision system closest to the coordinates of the current characteristic point of the work object identified by this technical vision system, three numbers are extracted from the selected memory cell that determine the optical distortions of the underwater space introduced by the video cameras of the technical vision system used in the observed small area of the work space near the current characteristic point of the work object, and, with their help, the real spatial location of the specified characteristic point in the coordinate system associated with the technical vision system used is clarified. Then the refined spatial location of this characteristic point is transferred from the specified coordinate system to a coordinate system rigidly connected to the base of the manipulator, which, depending on the task, after analytically solving the inverse kinematics problem and subsequent use of this solution, accurately moves its working element to the considered characteristic point of the work object or close to it.

EFFECT: improved accuracy of the analysis.

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