Patent ID: 11967057
Assignee: GUANGDONG OCEAN UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B  G  Y | IPC B  G

Claim 0:
1. An autonomous ship bottom inspection method by a remotely operated vehicle (ROV) based on a three-dimensional (3D) model of a ship in stereo-lithograph (STL) format, comprising:
obtaining the 3D model of the ship in the STL format, wherein a surface of the 3D model of the ship is spliced by a plurality of triangular facets;
obtaining body 3D coordinate points of the 3D model of the ship;
expanding the body 3D coordinate points according to a safety distance between the ROV and the ship, to obtain inspection track points of the ROV;
dividing the 3D model of the ship into regions, and performing interpolation and smoothing on the inspection track points in each of the regions to obtain smoothed inspection track points of each of the regions; and
connecting the smoothed inspection track points of each of the regions as per a result of the dividing to obtain a ship bottom inspection track, obtaining a real-time position of the ROV, generating a ship bottom inspection path based on the ship bottom inspection track and the real-time position of the ROV, and controlling the ROV to move as per the ship bottom inspection path to complete a ship bottom inspection task.