METHOD OF CONTROLLING MULTISTAGE UNDERWATER MANIPULATOR USING CALIBRATED MONOCULAR VIDEO CAMERA AND LASER RANGE FINDER Russian patent published in 2025 - IPC G06T7/50 G06V10/14 B25J9/16 

FIELD: physics.

SUBSTANCE: invention relates to information-measurement and control systems of underwater multistage manipulators. Method includes steps of: after stabilization of underwater vehicle, optical axis of range finder is set to initial position using positioner, then the range finder is switched on and in the manipulator coordinate system by means of the computing device the initial spot spatial coordinate is determined from the range finder beam on the object, after that, shifting the range finder beam from its initial position until the image of the current position of the moving spot coincides with the image of the characteristic point of the object on the photosensitive matrix of the video camera, said alignment is controlled using a video camera, all spatial coordinates of the characteristic point of the object are determined and transmitted to the manipulator control system, which displaces its working member to said characteristic point of the work object automatically.

EFFECT: accurate control of an underwater multistage manipulator moved and stabilized in underwater space using an underwater vehicle.

1 cl, 4 dwg