摘要
面对复杂的水下环境,采用传统系统无法获取精准图像,导致自动控制效果较差。为了避免该问题,提出基于机器视觉的水下航行器自动控制系统设计。依据水下航行器自动控制系统硬件结构,分别采用CAN总线和ethrnet总线挂载到不同设备接口,以此保证水下获取的信号能够正常传输到基站。选择GOPRO8运动摄像机拍摄的水下照片更清晰、更真实,使用一个ASIC芯片的协议转换器能够实现点对点的转化,选择MIX智能推进装置通过旋转叶片为水下航行器提供动力。使用者通过人机界面选择机器视觉的尺度参数,降低不同设备之间的耦合性,并设计控制系统的软件流程,由此完成系统设计。设置整机规格调试系统,由调试结果可知,该系统控制效果较好。
Facing complex underwater environments, traditional systems cannot obtain accurate images, resulting in poor automatic control. In order to avoid this problem, the design of automatic control system of underwater vehicle based on machine vision is proposed. According to the hardware structure of the automatic control system of the underwater vehicle,the CAN bus and the ethnet bus are used to mount to different device interfaces, so as to ensure that the signals obtained underwater can be transmitted to the base station normally. The underwater photos taken by the gopro8 action camera are clearer and more realistic. The protocol converter using an ASIC chip can achieve point-to-point conversion. The MIX intelligent propulsion device is used to provide power to the underwater vehicle by rotating the blades. The user selects the scale parameters of machine vision through the human-machine interface, reduces the coupling between different devices, and designs the software process of the control system, thereby completing the system design. Set up the whole machine specification debugging system. According to the debugging results, the system has better control effect.
作者
张刚
布挺
葛运旺
ZHANG Gang;BU Ting;GE Yun-wang(Luoyang Institute of Science and Technology,Luoyang 471023,China;Henan Embedded Technology Application Engineering and Technology Research Center,Luoyang 471023,China;Henan Embedded Technology Application Engineering Research Center,Luoyang 471023,China)
出处
《舰船科学技术》
北大核心
2020年第10期49-51,共3页
Ship Science and Technology
关键词
机器视觉
水下航行器
自动控制
导航
machine vision
underwater vehicle
automatic control
navigation
