Range-gated active-imaging system for underwater robots

Abstract

Subject of study. Technical vision systems for underwater robots are studied. The aim of the study is to develop the principles of operation and determine the technical requirements for the components of a vision system designed to register the 3D images of underwater objects in a wide distance range. Method. To reduce the effect of backscattering, a range-gating method was implemented using a pulsed laser in the illuminator and an image converter in the photodetector. A triangulation method with line-structured light was used to register the 3D images of objects. Main results. The principle of a range-gated active-imaging system operation designed to register 3D images of underwater objects is developed. A technique for light-energy calculation of such systems is also developed. Experimental studies carried out under laboratory conditions confirmed the operability of a prototype model of an active-imaging system created on the basis of the proposed principles. Practical significance. The proposed technical solutions in the development of a vision system make it possible to increase the detection range of objects in underwater conditions and thereby increase the functioning efficiency of underwater robots.