Research on underwater robot ranging technology based on semantic segmentation and binocular vision.

Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations.

Particle jet impact deep-rock in rotary drilling: Failure process and lab experiment.

Aimed at the technical problems of low drilling speed and difficult rock-breaking in deep-well and hard rock-stratum, particle waterjet coupled impact rock-breaking technology in rotary drilling is put forward in this paper. Firstly, the working principle of particle jet impact rock-breaking in rotary drilling was introduced, and the acceleration model of particle jet and the damage model of rock were established. The acceleration mechanism of particles and dynamic damage evolution process of rock under particle jet were studied, which showed that the broken pit and rock damage would increase with time gone on, and damage evolution of rock presented the radial expansion. Then, experimental device of particle jet coupled impact rock-breaking in rotary state was developed, and the effect of jet parameters on penetration depth and failure volume was analyzed with comparison of la experiment and numerical simulation. The results showed that drilling speed with particle jet impact is twice that of conventional drilling, and combination nozzles layout of impact angle with 8°and 20° can achieve rock-drilled rapidly, which also demonstrated the correctness of simulation method. The device development and the rock-breaking results analysis would be of great value for engineering application.