SYSTEM AND METHOD FOR DETECTING POSITION OF UNDERWATER VEHICLE

• US 20100226541A1
• Filed: 02/17/2010
• Published: 09/09/2010
• Est. Priority Date: 03/03/2009
• Status: Active Grant

• Current Assignee: Hitachi-Ge Nuclear Energy Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi-Ge Nuclear Energy Limited (Hitachi, Ltd.)
• Inventors: OKADA, Satoshi, KOBAYASHI, Ryosuke, TAKATORI, Yosuke, ODAKURA, Mitsuru, TOOMA, Masahiro, KODAIRA, Kojirou, KOMETANI, Yutaka
• Granted Patent: US 8,655,022 B2
• Time in Patent Office: Days
• US Class Current: 382/106
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/77 using statistical methods
• CPC Class Codes: G21C 17/013 Inspection vehicles
• CPC Class Codes: Y02E 30/30 Nuclear fission reactors

Abstract

An object of the invention is to provide a system for detecting the position of an underwater vehicle that enables an improvement in the accuracy of detecting the position of the underwater vehicle.

The position detection system comprises: a pressure sensor 18 that detects the vertical position of an underwater vehicle 9; a range sensor unit 23 that detects the relative distances of the underwater vehicle 9 from its surrounding structures; a measurement image acquisition unit 36 that acquires a measurement image of the horizontal plane in which the relative distances have been detected; an image storage unit 34 that stores images, each of which has at least one pixel to which horizontal position information is attached and is the image data representing the outer shapes of the structures in a given horizontal plane; an image selector 35 that selects, based on the vertical position of the underwater vehicle 9, one of the stored images that corresponds to the horizontal plane in which the relative distances have been detected; a corresponding-area identification unit 37 that identifies the area in the selected image that corresponds to the measurement image by performing map matching; and horizontal position calculator 38 that identifies, from the corresponding area in the selected image identified by the corresponding-area identification unit 37, the pixel that corresponds to the position at which the relative distances have been detected and calculates the horizontal position of the underwater vehicle.

Claims

1. A position detection system for an underwater vehicle, the system comprising:

an underwater vehicle being movable in a three-dimensional space;

vertical position detecting means for detecting the vertical position of the underwater vehicle;

relative distance detecting means for detecting the relative distances of the underwater vehicle from its surrounding structures in a horizontal plane determined by the vertical position of the underwater vehicle;

measurement image acquiring means for acquiring, based on the relative distances detected by the relative distance detecting means, a measurement image that is the image data representing the outer shapes of the structures in the horizontal plane in which the relative distances have been detected;

image storing means for storing images, each of the stored images having at least one pixel to which horizontal position information of the three-dimensional space is attached, each of the stored images being the image data of the outer shapes of the structures in a given horizontal plane of the three-dimensional space;

image selecting means for selecting, based on the vertical position detected by the vertical position detecting means, one of the stored images that corresponds to the horizontal plane in which the relative distances have been detected from among the images stored on the image storing means;

corresponding-area identifying means for identifying the area in the selected image that corresponds to the measurement image by performing correlation-based map matching on the selected image and the measurement image; and

horizontal position calculating means for identifying, from the corresponding area in the selected image identified by the corresponding-area identifying means, the pixel that corresponds to the position at which the relative distances have been detected and for calculating the horizontal position of the underwater vehicle based on the position of the identified pixel and the position of the pixel in the selected image to which the horizontal position information is attached.

5. The system defined in claim 1, further comprising selected-image cut-out means for cutting out from the image selected by the image selecting means a particular area that has as its center the latest horizontal position of the underwater vehicle detected by the horizontal position calculation means to obtain a cut-out image,

wherein the corresponding-area identifying means identifies the area in the cut-out image that corresponds to the measurement image by performing the correlation-based map matching on the cut-out image and the measurement image.

6. The system defined in claim 1, wherein when the match rate of the selected image calculated by the corresponding-area identifying means is less than a second threshold value M2, the image selecting means performs reselection to select an image whose match rate is equal to or greater than the second threshold value M2 from among the stored images.

7. The system defined in claim 1, wherein the relative distance detecting means includes a laser sensor that scans laser light and receives its reflected light.

8. The system defined in claim 1, wherein the vertical position detecting means is a pressure sensor that detects the depth at which the underwater vehicle lies.

9. The system defined in claim 1, further comprising attitude angle detecting means for detecting an attitude angle of the underwater vehicle.

10. The system defined in claim 9, wherein the attitude angle detecting means includes:

an angular velocity detector for detecting angular velocities around a vertical axis of the underwater vehicle and two axes that are both perpendicular to the vertical axis and perpendicular to each other;

an azimuth detector for detecting an angle around the vertical axis; and

a tiltmeter for detecting angles around the two axes.

2. A position detection system for an underwater vehicle, the system comprising:

an underwater vehicle being movable in a three-dimensional space;

vertical position detecting means for detecting the vertical position of the underwater vehicle;

relative distance detecting means for detecting the relative distances of the underwater vehicle from its surrounding structures in a horizontal plane determined by the vertical position of the underwater vehicle;

measurement image acquiring means for acquiring, based on the relative distances detected by the relative distance detecting means, a measurement image that is the image data representing the outer shapes of the structures in the horizontal plane in which the relative distances have been detected;

image storing means for storing images, each of the stored images having at least one pixel to which horizontal position information of the three-dimensional space is attached, each of the stored images being the image data of the outer shapes of the structures in a given horizontal plane of the three-dimensional space;

image selecting means for selecting, based on the vertical position detected by the vertical position detecting means, one of the stored images that corresponds to the horizontal plane in which the relative distances have been detected from among the images stored on the image storing means;

corresponding-area identifying means for extracting a plurality of areas in the selected image that are estimated to correspond to the measurement image by performing correlation-based map matching on the selected image and the measurement image and for identifying, from among the plurality of areas extracted, an area that includes a movable range of the underwater vehicle as the area in the selected image that corresponds to the measurement image; and

horizontal position calculating means for identifying, from the corresponding area in the selected image identified by the corresponding-area identifying means, the pixel that corresponds to the position at which the relative distances have been detected and for calculating the horizontal position of the underwater vehicle based on the position of the identified pixel and the position of the pixel in the selected image to which the horizontal position information is attached.

3. The system defined in claim 2, wherein as the plurality of areas in the selected image that are estimated to correspond to the measurement image, the corresponding-area identifying means extracts areas whose match rates are equal to or greater than a first threshold value M1, the match rates being calculated by performing the map matching on the selected image and the measurement image.

4. The system defined in claim 2, wherein the movable range of the underwater vehicle used by the corresponding-area identifying means is calculated from a maximum speed of the underwater vehicle.

11. A position detection method for an underwater vehicle, the method comprising the steps of:

detecting the vertical position of the underwater vehicle being movable in a three-dimensional space;

detecting the relative distances of the underwater vehicle from its surrounding structures in a horizontal plane determined by the vertical position of the underwater vehicle;

acquiring, based on the relative distances detected in the relative distance detecting step, a measurement image that is the image data representing the outer shapes of the structures in the horizontal plane in which the relative distances have been detected;

providing an image storage unit that stores images, each of the stored images having at least one pixel to which horizontal position information of the three-dimensional space is attached, each of the stored images being the image data of the outer shapes of the structures in a given horizontal plane of the three-dimensional space;

selecting, based on the vertical position detected in the vertical position detecting step, one of the stored images that corresponds to the horizontal plane in which the relative distances have been detected from among the images stored on the image storage unit;

identifying the area in the selected image that corresponds to the measurement image by performing correlation-based map matching on the selected image and the measurement image; and

identifying, from the corresponding area in the selected image identified by the corresponding-area identifying step, the pixel that corresponds to the position at which the relative distances have been detected and calculating the horizontal position of the underwater vehicle based on the position of the identified pixel and the position of the pixel in the selected image to which the horizontal position information is attached.