Research on fundamental information processing technology for underwater operation and it's evaluation by sea trials

2022 Fiscal Year Final Research Report

• Project/Area Number: 18H01643
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 24020:Marine engineering-related
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: ISHII KAZUO 九州工業大学, 大学院生命体工学研究科, 教授 (10291527)
• Co-Investigator(Kenkyū-buntansha): 西田 祐也 九州工業大学, 大学院生命体工学研究科, 准教授 (60635209)
• Project Period (FY): 2018-04-01 – 2023-03-31
• Keywords: 水中ロボット / 水中画像補正 / 水中インフラ点検 / ASV-ROV協調システム / 超音波通信

Outline of Final Research Achievements

Research on underwater image processing technology has been carried out for color correction and image enhancement adapted to the operating environment. Using AUV, automatic sampling of seafloor organisms and observation experiments of marine organisms were carried out off the coast of Suruga Bay. Concerning the motion control technology, a constant altitude control experiment from the bottom of the sea and a sampling experiment of an object were carried out, and good control results were obtained. We have developed an image transmission system using the QPSK modulation method for ultrasonic transmission, and confirmed that it can be transmitted at 10 Kbps in short distances. A ROS-based motion control system was developed for the ASV-robot system, and a position keeping experiment was conducted. For application in the aquaculture industry, underwater images were acquired during feeding, and it was confirmed that schools of fish could be recognized.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

海洋分野へのロボット導入が期待されているが，水中環境導入には様々な課題が存在している．水中では光が吸収され浮遊物も多いため画像鮮明化技術が必要となる．海底画像や水産養殖魚の画像に対して，水中画像補正技術を開発した．通信技術も課題であり，ロボットへ搭載可能なQPSK方式の超音波通信装置を開発した．また潮流などの外乱も多く，ROSをベースとした運動制御システムを開発し，実海域実験を行い良好な結果が得られた．