An auto visual servoing manipulator for seafood harvesting

摘要

Seafood growing in the bottom of sea is difficult to harvest. In this work, an auto visual servoing manipulator is proposed to automatically collect the seafood scattered on the seafloor. The realization of the self-grasping method is due to the close feedback control of the visual information acquired by the vision system. YOLO framework is used as the detection unit to recognize the object from the eye-in-hand module. Then, the center coordinate of the object will be transformed to a 3D position by camera calibration matrix. Movement of each joint of the manipulator are then calculated. The proposed manipulator features low-weight and low-cost and can be mounted at any underwater unmanned vehicles, helping to harvest quickly.