Control method for an underwater robot capable of 3D scanning underwater

Underwater Robot Control Technology for 3D Scanning Combining Vertical Movement and Rotation Control

This technology is a control method for scanning the 3D shape of an object by moving an underwater robot, equipped with a camera and a laser projector that emits a line laser at an angle, vertically between the minimum height required for object imaging and the maximum height for laser alignment, while simultaneously rotating it.

Existing stereo vision methods require high-performance computing and lighting, while sonar methods rely on expensive sensors, increasing manufacturing costs. Furthermore, these methods face challenges in achieving precise height control and resolution optimization for high-resolution 3D scanning.

This technology proposes a method of acquiring data with higher resolution toward the outer edges of an object by maintaining a constant tilt of the line laser while controlling rotation continuously or intermittently as the height descends. It can be applied to marine structure inspection and underwater terrain surveying, enabling high-resolution 3D scanning using only low-cost equipment.

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Key Features:

• A step where the camera mounted on the underwater robot captures and recognizes the target object placed on the ground.
• A step of moving the underwater robot to at least the minimum height required for the camera to capture the entire object.
• A configuration that aligns the laser projector so that the line laser is emitted at an angle toward the object.
• A step of performing 3D scanning by rotating the body around the central axis of gravity while adjusting the height.

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This invention was developed with support from the Smart Underwater Tunnel System Research Center of the Ministry of Science and ICT.