• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 81-88.doi: 10.3901/JME.2018.20.081

• 海洋工程与风电技术 • 上一篇    下一篇

基于视觉导引与旋转接驳的自主水下航行器末端入坞研究

张涛1, 李德骏1, 彭时林2, 夏庆超1, 杨灿军1   

  1. 1. 浙江大学流体动力与机电系统国家重点实验室 杭州 310027;
    2. 杭州电子科技大学电子信息学院 杭州 310018
  • 收稿日期:2017-05-05 修回日期:2017-08-30 出版日期:2018-10-20 发布日期:2018-10-20
  • 通讯作者: 李德骏(通信作者),男,1970年出生,博士,副教授。主要研究方向为机械电子工程、深海机电装备及自动化、海底观测网络、水下非接触电能传输等。E-mail:li_dejun@zju.edu.cn
  • 作者简介:张涛,男,1991年出生,博士研究生。主要研究方向为自主水下航行器导引控制、水下接驳、深海机电装备等。E-mail:zhangt91@zju.edu.cn
  • 基金资助:
    国家高技术研究发展计划(863计划,2013AA09A414)和国家自然科学基金(41676089)资助项目。

Research on Terminal Docking of Autonomous Underwater Vehicle Based on Visual Guidance and Rotational Docking Station

ZHANG Tao1, LI Dejun1, PENG Shilin2, XIA Qingchao1, YANG Canjun1   

  1. 1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027;
    2. Electronic Information School, Hangzhou Dianzi University, Hangzhou 310018
  • Received:2017-05-05 Revised:2017-08-30 Online:2018-10-20 Published:2018-10-20

摘要: 基于单目单灯的视觉导引和具有旋转能力的接驳站,自主水下航行器的末端入坞得到了研究。首先对末端导引入坞方案的基本原理包括方案中使用到的各个坐标系进行了描述;自主水下航行器、可旋转的接驳基站和视觉导引系统组成了用以验证末端导引入坞方案的试验平台;该方案采用的导引控制算法包括视觉导引算法、自主水下航行器入坞控制算法和水下接驳基站的旋转控制算法,而视觉导引算法主要包含图像获取、图像二值化、噪声点消除和目标位置估计四个阶段;在固定接驳基站和旋转接驳基站两种情况下,完成了自主水下航行器末端入坞的水池试验,水池试验结果验证了本文提出的末端导引入坞方案。该末端导引入坞方案的优点及需要改进之处在文章的最后进行了介绍。

关键词: 单目单灯, 末端入坞, 视觉导引, 旋转接驳, 自主水下航行器

Abstract: Based on monocular single lamp visual guidance and rotational docking station, the terminal docking of autonomous underwater vehicle is introduced in this study. The principle of terminal docking scheme including different coordinates used in the scheme is described firstly. The experimental platform is composed of autonomous underwater vehicle(AUV), rotational docking station and visual guidance system to verify the terminal guidance scheme. The guidance and control algorithm of this scheme is constituted by visual guidance algorithm, docking control algorithm and rotational control algorithm. Four stages, namely, image acquisition, binarization of the captured images, elimination of noisy luminaries, and estimation of the relative position, constitute the visual guidance algorithm. A pool trial with two different circumstances is conducted to validate the proposed scheme. Some advantages and defects of this terminal docking schemeare introduced and some future works are proposed at last.

Key words: autonomous underwater vehicle, monocular single lamp, rotational docking station, terminal docking, visual guidance

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