Patent ID: 11967057

Abstract:
An autonomous ship bottom inspection method by a ROV(s) based on a ship 3D model in STL format is provided. The ship 3D model is obtained and a surface thereof is spliced by triangular facets. Body 3D coordinate points of the ship 3D model are obtained and then expanded according to a safety distance of ROV and ship to obtain inspection track points of the ROV. The ship 3D model is divided into regions, and the inspection track points in each region are performed with interpolation and smoothing. Smoothed inspection track points of the regions are connected as per a result of the dividing to obtain a ship bottom inspection track, a real-time position of the ROV is obtained, a ship bottom inspection path is generated based on the ship bottom inspection track and the real-time position. The ROV is controlled to move as per the ship bottom inspection path.