CN105046711A - Assistant submarine driving system based on image processing - Google Patents
Assistant submarine driving system based on image processing Download PDFInfo
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- CN105046711A CN105046711A CN201510471532.8A CN201510471532A CN105046711A CN 105046711 A CN105046711 A CN 105046711A CN 201510471532 A CN201510471532 A CN 201510471532A CN 105046711 A CN105046711 A CN 105046711A
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- laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10132—Ultrasound image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30212—Military
Abstract
The invention relates to an assistant submarine driving system based on image processing. The assistant submarine driving system comprises a submarine fixing platform, laser imaging equipment, scattered light eliminating equipment and rock identification equipment; the submarine fixing platform is positioned at the front part of a submarine; the laser imaging equipment, the scattered light eliminating equipment and the rock identification equipment are positioned on the submarine fixing platform; the scattered light eliminating equipment is used for eliminating scattered light of an underwater laser image just positioned in the front of the submarine and photographed by the laser imaging equipment; and the rock identification equipment is connected with the scattered light eliminating equipment and used for detecting whether rocks exist or not in the underwater image, the scattered light in which is eliminated. By means of the assistant submarine driving system disclosed by the invention, interference due to underwater rocks can be eliminated in the submarine driving process.
Description
Technical field
The present invention relates to submarine civil area, particularly relate to a kind of submarine drive assist system based on image procossing.
Background technology
Submarine is widely used in civilian, such as, survey underwater topography or detect aquatic organism.But, because underwater environment is complicated, submarine in motion, if front rock is too high, then front end easily and rock collide, thus cause submarine impaired.In order to avoid occurring that submarine and subaqueous rock collision situation occur, need design can dodge the submarine utility appliance of front rock, but, scheme not such in prior art.
For this reason, the present invention proposes a kind of submarine drive assist system based on image procossing, relate to the civilian design of submarine, by the analysis to underwater environment, design and a series ofly can adapt to underwater environment and the auxiliary electronic equipment of the concrete state of rock can be identified, complete the identification of rock and hide, keeping the security that submarine is advanced.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of submarine drive assist system based on image procossing, first scattered light interference is under water removed by sharpening treatment facility, image recognition apparatus subsequently by comprising the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation and target recognin device identifies the concrete state of rock, and according to the concrete state determination rock tupe of rock.
According to an aspect of the present invention, provide a kind of submarine drive assist system based on image procossing, described backup system comprises submarine stationary platform, laser imaging apparatus, scattered light abatement apparatus and rock identification equipment, described submarine stationary platform is positioned at the front portion of described submarine, described laser imaging apparatus, described scattered light abatement apparatus and described rock identification equipment are all positioned in described submarine stationary platform, described scattered light abatement apparatus is used for taking described laser imaging apparatus, the underwater laser image in submarine dead ahead carries out scattered light elimination, described rock identification equipment is connected with described scattered light abatement apparatus, for detecting in the underwater picture after eliminating scattered light whether there is rock.
More specifically, described based in the submarine drive assist system of image procossing, also comprise: excavating equipment, be arranged in described submarine stationary platform, comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating dead ahead rock, FLASH memory part, rock tonal range and each rocks benchmark masterplate are prestored, described rock tonal range is used for the rock in image and background separation, described each rocks benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark rock, the luminance threshold upper limit and luminance threshold lower limit are also prestored, also prestore rock area threshold, rock height threshold and rock width threshold value, described rock area threshold and excavating equipment excavate output power and are directly proportional, described rock height threshold is directly proportional to the instantaneous output power of climbing of submarine drive control apparatus, described rock width threshold value is directly proportional to the instantaneous output power that detours of submarine drive control apparatus, sonar, for performing sonar image collection, to obtain sonar image to the submarine target of submarine front portion, sonar image treatment facility, be connected respectively with described sonar and described FLASH memory part, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described FLASH memory part, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit, described second detection subset and described first detects subset and described FLASH memory part is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region, described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range, described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to submarine front portion gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image, myriametric wave communication device, is positioned at submarine operation instrument dial plate, for setting up bidirectional data communication with the remote processing center of far-end, positioning devices, be positioned at submarine operation instrument dial plate, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine, sound and light alarm device, is connected with digital signal processor, for when receiving sound and light alarm signal, carries out sound and light alarm operation, supersonic reflectoscope, is arranged in described submarine stationary platform, for measuring the distance of described submarine front distance front rock, and exports as rock relative distance, laser intensity detector, is arranged in described submarine stationary platform, for detecting laser intensity when described laser beam is reflexed to described detector by submarine target in real time, described scattered light abatement apparatus is connected respectively with described laser imaging apparatus, described supersonic reflectoscope and described laser intensity detector, to obtain described rock relative distance and described laser intensity, and remove the scattered light composition formed on the rock of front because laser irradiates in described underwater laser image based on described rock relative distance and described laser intensity, to obtain sharpening underwater picture, described rock identification equipment, be arranged in described submarine stationary platform, be connected respectively with described scattered light abatement apparatus and described FLASH memory part, comprise the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation and target recognin device, the sub-device of described self-adaptation recursive filtering is connected with described scattered light abatement apparatus, for performing the process of self-adaptation recursive filtering to described sharpening underwater picture, with the Gaussian noise in sharpening underwater picture described in filtering, obtains self-adaptation recursive filtering image, the sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image, described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image, the sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups diagenesis stone images of grey scale pixel value in described enhancing image in described rock tonal range, described target recognin device is connected respectively with the sub-device of described Target Segmentation and described FLASH memory part, mated one by one with each rocks benchmark masterplate by described rock subimage, rock type corresponding to output matching successful rock benchmark masterplate is as target rock type, rock conditions analytical equipment, be connected respectively with described rock identification equipment and described sonar image treatment facility, when receiving described target rock type, the area percentage occupying described enhancing image based on described target range and described rock subimage calculates subaqueous rock horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing image based on described target range and described rock subimage calculates subaqueous rock height, the width percentage occupying described enhancing image transverse width based on described target range and described rock subimage transverse width calculates subaqueous rock width, digital signal processor, be arranged in described submarine stationary platform, be connected respectively with described positioning devices, described rock identification equipment and described myriametric wave communication device, for when receiving described target rock type, described rock subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression rock subimage, described compression rock subimage, described target rock type and described current position determination data are sent to remote processing center by described myriametric wave communication device, wherein, described digital signal processor is also connected respectively with described rock conditions analytical equipment, described rock identification equipment and described FLASH memory part, when receiving described target rock type, described subaqueous rock horizontal area is compared with described rock area threshold, described subaqueous rock horizontal area is less than or equal to described rock area threshold and then sends excavation drive singal, and described subaqueous rock horizontal area is greater than described rock area threshold and then enters leadswinging pattern, described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described subaqueous rock height is less than or equal to described rock height threshold, when described subaqueous rock height is greater than described rock height threshold, the comparative result of further judgement described subaqueous rock width and described rock width threshold value: detour about then sending when described subaqueous rock width is less than or equal to described rock width threshold value drive singal, otherwise, send retrogressing drive singal, described digital signal processor is also connected with submarine drive control apparatus, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described submarine drive control apparatus, described digital signal processor is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
More specifically, described based in the submarine drive assist system of image procossing: described digital signal processor, when to receive described target rock type be rare type, sends alerting signal by described myriametric wave communication device to described remote processing center.
More specifically, described based in the submarine drive assist system of image procossing: described sonar, described sonar image treatment facility and described laser imaging apparatus are all arranged in described submarine stationary platform.
More specifically, described based in the submarine drive assist system of image procossing: described sonar, described sonar image treatment facility and described laser imaging apparatus are integrated on one piece of surface-mounted integrated circuit.
More specifically, described based in the submarine drive assist system of image procossing: described FLASH memory part is positioned at submarine operation instrument dial plate.
More specifically, described based in the submarine drive assist system of image procossing: described rock conditions analytical equipment is arranged in described submarine stationary platform.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the submarine drive assist system based on image procossing illustrated according to an embodiment of the present invention.
Reference numeral: 1 submarine stationary platform; 2 laser imaging apparatus; 3 scattered light abatement apparatus; 4 rock identification equipments
Embodiment
Below with reference to accompanying drawings the embodiment of the submarine drive assist system based on image procossing of the present invention is described in detail.
Submarine is owing to involving great expense, its security performance travelled is one of problem of Submarine Design person's overriding concern always, because subaqueous rock shape is different, distribution does not have rule, rock concrete condition cannot people be anticipation, needs to carry out concrete shape detection to submarine front rock, but, due to particular surroundings under water, lack corresponding submerged reef in prior art and detect and processing scheme.
In order to overcome above-mentioned deficiency, the present invention has built a kind of submarine drive assist system based on image procossing, by improving the effect of underwater laser images and the scattered light composition removed in water, re-use the image procossing identification comprising the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, realize the effective identification to front rock shape, and thus formulate different evasive strategies, realize effectively hiding subaqueous rock.
Fig. 1 is the block diagram of the submarine drive assist system based on image procossing illustrated according to an embodiment of the present invention, described backup system comprises submarine stationary platform, laser imaging apparatus, scattered light abatement apparatus and rock identification equipment, described submarine stationary platform is positioned at the front portion of described submarine, described laser imaging apparatus, described scattered light abatement apparatus and described rock identification equipment are all positioned in described submarine stationary platform, described scattered light abatement apparatus is used for taking described laser imaging apparatus, the underwater laser image in submarine dead ahead carries out scattered light elimination, described rock identification equipment is connected with described scattered light abatement apparatus, for detecting in the underwater picture after eliminating scattered light whether there is rock.
Then, continue to be further detailed the concrete structure of the submarine drive assist system based on image procossing of the present invention.
Described backup system also comprises: excavating equipment, is arranged in described submarine stationary platform, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating dead ahead rock.
Described backup system also comprises: FLASH memory part, rock tonal range and each rocks benchmark masterplate are prestored, described rock tonal range is used for the rock in image and background separation, described each rocks benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark rock, the luminance threshold upper limit and luminance threshold lower limit are also prestored, also prestore rock area threshold, rock height threshold and rock width threshold value, described rock area threshold and excavating equipment excavate output power and are directly proportional, described rock height threshold is directly proportional to the instantaneous output power of climbing of submarine drive control apparatus, described rock width threshold value is directly proportional to the instantaneous output power that detours of submarine drive control apparatus.
Described backup system also comprises: sonar, for performing sonar image collection, to obtain sonar image to the submarine target of submarine front portion.
Described backup system also comprises: sonar image treatment facility, be connected respectively with described sonar and described FLASH memory part, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described FLASH memory part, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset and described first detects subset and described FLASH memory part is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range.
Described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to submarine front portion gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image.
Described backup system also comprises: myriametric wave communication device, is positioned at submarine operation instrument dial plate, for setting up bidirectional data communication with the remote processing center of far-end.
Described backup system also comprises: positioning devices, be positioned at submarine operation instrument dial plate, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine.
Described backup system also comprises: sound and light alarm device, is connected with digital signal processor, for when receiving sound and light alarm signal, carries out sound and light alarm operation; Supersonic reflectoscope, is arranged in described submarine stationary platform, for measuring the distance of described submarine front distance front rock, and exports as rock relative distance.
Described backup system also comprises: laser intensity detector, is arranged in described submarine stationary platform, for detecting laser intensity when described laser beam is reflexed to described detector by submarine target in real time.
Described scattered light abatement apparatus is connected respectively with described laser imaging apparatus, described supersonic reflectoscope and described laser intensity detector, to obtain described rock relative distance and described laser intensity, and remove the scattered light composition formed on the rock of front because laser irradiates in described underwater laser image based on described rock relative distance and described laser intensity, to obtain sharpening underwater picture.
Described rock identification equipment, be arranged in described submarine stationary platform, be connected respectively with described scattered light abatement apparatus and described FLASH memory part, comprise the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation and target recognin device; The sub-device of described self-adaptation recursive filtering is connected with described scattered light abatement apparatus, for performing the process of self-adaptation recursive filtering to described sharpening underwater picture, with the Gaussian noise in sharpening underwater picture described in filtering, obtains self-adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups diagenesis stone images of grey scale pixel value in described enhancing image in described rock tonal range; Described target recognin device is connected respectively with the sub-device of described Target Segmentation and described FLASH memory part, mated one by one with each rocks benchmark masterplate by described rock subimage, rock type corresponding to output matching successful rock benchmark masterplate is as target rock type.
Described backup system also comprises: rock conditions analytical equipment, be connected respectively with described rock identification equipment and described sonar image treatment facility, when receiving described target rock type, the area percentage occupying described enhancing image based on described target range and described rock subimage calculates subaqueous rock horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing image based on described target range and described rock subimage calculates subaqueous rock height, the width percentage occupying described enhancing image transverse width based on described target range and described rock subimage transverse width calculates subaqueous rock width.
Described backup system also comprises: digital signal processor, be arranged in described submarine stationary platform, be connected respectively with described positioning devices, described rock identification equipment and described myriametric wave communication device, for when receiving described target rock type, described rock subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression rock subimage, described compression rock subimage, described target rock type and described current position determination data are sent to remote processing center by described myriametric wave communication device.
Described digital signal processor is also connected respectively with described rock conditions analytical equipment, described rock identification equipment and described FLASH memory part, when receiving described target rock type, described subaqueous rock horizontal area is compared with described rock area threshold, described subaqueous rock horizontal area is less than or equal to described rock area threshold and then sends excavation drive singal, and described subaqueous rock horizontal area is greater than described rock area threshold and then enters leadswinging pattern.
Described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described subaqueous rock height is less than or equal to described rock height threshold, when described subaqueous rock height is greater than described rock height threshold, the comparative result of further judgement described subaqueous rock width and described rock width threshold value: detour about then sending when described subaqueous rock width is less than or equal to described rock width threshold value drive singal, otherwise, send retrogressing drive singal.
Described digital signal processor is also connected with submarine drive control apparatus, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described submarine drive control apparatus; Described digital signal processor is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
Alternatively, described based in the submarine drive assist system of image procossing: described digital signal processor, when to receive described target rock type be rare type, sends alerting signal by described myriametric wave communication device to described remote processing center; Described sonar, described sonar image treatment facility and described laser imaging apparatus are all arranged in described submarine stationary platform; Described sonar, described sonar image treatment facility and described laser imaging apparatus are integrated on one piece of surface-mounted integrated circuit; Described FLASH memory part is positioned at submarine operation instrument dial plate; Described rock conditions analytical equipment is arranged in described submarine stationary platform.
Alternatively, the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation and target recognin device can adopt different fpga chips to realize respectively.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to deviser with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, main control equipment.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the sequential operation of PC or main control equipment (no matter being von Neumann structure or Harvard structure).
Adopt the submarine drive assist system based on image procossing of the present invention, advance for submarine in prior art and be subject to the technical matters of front rock interference, transformation submarine front end structure, the a series of images treatment facility that can adapt to underwater environment is applied to submarine front end, improve the precision of subaqueous rock identification, thus the removal of rock interference can be carried out according to rock concrete condition.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. the submarine drive assist system based on image procossing, described backup system comprises submarine stationary platform, laser imaging apparatus, scattered light abatement apparatus and rock identification equipment, described submarine stationary platform is positioned at the front portion of described submarine, described laser imaging apparatus, described scattered light abatement apparatus and described rock identification equipment are all positioned in described submarine stationary platform, described scattered light abatement apparatus is used for taking described laser imaging apparatus, the underwater laser image in submarine dead ahead carries out scattered light elimination, described rock identification equipment is connected with described scattered light abatement apparatus, for detecting in the underwater picture after eliminating scattered light whether there is rock.
2., as claimed in claim 1 based on the submarine drive assist system of image procossing, it is characterized in that, described backup system also comprises:
Excavating equipment, is arranged in described submarine stationary platform, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating dead ahead rock;
FLASH memory part, rock tonal range and each rocks benchmark masterplate are prestored, described rock tonal range is used for the rock in image and background separation, described each rocks benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark rock, the luminance threshold upper limit and luminance threshold lower limit are also prestored, also prestore rock area threshold, rock height threshold and rock width threshold value, described rock area threshold and excavating equipment excavate output power and are directly proportional, described rock height threshold is directly proportional to the instantaneous output power of climbing of submarine drive control apparatus, described rock width threshold value is directly proportional to the instantaneous output power that detours of submarine drive control apparatus,
Sonar, for performing sonar image collection, to obtain sonar image to the submarine target of submarine front portion;
Sonar image treatment facility, be connected respectively with described sonar and described FLASH memory part, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described FLASH memory part, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset and described first detects subset and described FLASH memory part is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range;
Described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to submarine front portion gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image,
Myriametric wave communication device, is positioned at submarine operation instrument dial plate, for setting up bidirectional data communication with the remote processing center of far-end;
Positioning devices, be positioned at submarine operation instrument dial plate, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine;
Sound and light alarm device, is connected with digital signal processor, for when receiving sound and light alarm signal, carries out sound and light alarm operation;
Supersonic reflectoscope, is arranged in described submarine stationary platform, for measuring the distance of described submarine front distance front rock, and exports as rock relative distance;
Laser intensity detector, is arranged in described submarine stationary platform, for detecting laser intensity when described laser beam is reflexed to described detector by submarine target in real time;
Described scattered light abatement apparatus is connected respectively with described laser imaging apparatus, described supersonic reflectoscope and described laser intensity detector, to obtain described rock relative distance and described laser intensity, and remove the scattered light composition formed on the rock of front because laser irradiates in described underwater laser image based on described rock relative distance and described laser intensity, to obtain sharpening underwater picture;
Described rock identification equipment, be arranged in described submarine stationary platform, be connected respectively with described scattered light abatement apparatus and described FLASH memory part, comprise the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation and target recognin device; The sub-device of described self-adaptation recursive filtering is connected with described scattered light abatement apparatus, for performing the process of self-adaptation recursive filtering to described sharpening underwater picture, with the Gaussian noise in sharpening underwater picture described in filtering, obtains self-adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups diagenesis stone images of grey scale pixel value in described enhancing image in described rock tonal range; Described target recognin device is connected respectively with the sub-device of described Target Segmentation and described FLASH memory part, mated one by one with each rocks benchmark masterplate by described rock subimage, rock type corresponding to output matching successful rock benchmark masterplate is as target rock type;
Rock conditions analytical equipment, be connected respectively with described rock identification equipment and described sonar image treatment facility, when receiving described target rock type, the area percentage occupying described enhancing image based on described target range and described rock subimage calculates subaqueous rock horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing image based on described target range and described rock subimage calculates subaqueous rock height, the width percentage occupying described enhancing image transverse width based on described target range and described rock subimage transverse width calculates subaqueous rock width,
Digital signal processor, be arranged in described submarine stationary platform, be connected respectively with described positioning devices, described rock identification equipment and described myriametric wave communication device, for when receiving described target rock type, described rock subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression rock subimage, described compression rock subimage, described target rock type and described current position determination data are sent to remote processing center by described myriametric wave communication device;
Wherein, described digital signal processor is also connected respectively with described rock conditions analytical equipment, described rock identification equipment and described FLASH memory part, when receiving described target rock type, described subaqueous rock horizontal area is compared with described rock area threshold, described subaqueous rock horizontal area is less than or equal to described rock area threshold and then sends excavation drive singal, and described subaqueous rock horizontal area is greater than described rock area threshold and then enters leadswinging pattern;
Wherein, described digital signal processor operates below performing in described leadswinging pattern: then send rising drive singal when described subaqueous rock height is less than or equal to described rock height threshold, when described subaqueous rock height is greater than described rock height threshold, the comparative result of further judgement described subaqueous rock width and described rock width threshold value: detour about then sending when described subaqueous rock width is less than or equal to described rock width threshold value drive singal, otherwise, send retrogressing drive singal;
Wherein, described digital signal processor is also connected with submarine drive control apparatus, to be detoured in described rising drive singal, described left and right drive singal or retreat drive singal and be sent to described submarine drive control apparatus;
Wherein, described digital signal processor is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
3., as claimed in claim 2 based on the submarine drive assist system of image procossing, it is characterized in that:
Described digital signal processor, when to receive described target rock type be rare type, sends alerting signal by described myriametric wave communication device to described remote processing center.
4., as claimed in claim 2 based on the submarine drive assist system of image procossing, it is characterized in that:
Described sonar, described sonar image treatment facility and described laser imaging apparatus are all arranged in described submarine stationary platform.
5., as claimed in claim 2 based on the submarine drive assist system of image procossing, it is characterized in that:
Described sonar, described sonar image treatment facility and described laser imaging apparatus are integrated on one piece of surface-mounted integrated circuit.
6., as claimed in claim 2 based on the submarine drive assist system of image procossing, it is characterized in that:
Described FLASH memory part is positioned at submarine operation instrument dial plate.
7., as claimed in claim 2 based on the submarine drive assist system of image procossing, it is characterized in that:
Described rock conditions analytical equipment is arranged in described submarine stationary platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510471532.8A CN105046711A (en) | 2015-08-05 | 2015-08-05 | Assistant submarine driving system based on image processing |
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| CN201510471532.8A CN105046711A (en) | 2015-08-05 | 2015-08-05 | Assistant submarine driving system based on image processing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105356397A (en) * | 2015-12-17 | 2016-02-24 | 李勇妹 | Self-adaptive bird-repelling platform for high-voltage line |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105356397A (en) * | 2015-12-17 | 2016-02-24 | 李勇妹 | Self-adaptive bird-repelling platform for high-voltage line |
| CN105552809A (en) * | 2015-12-17 | 2016-05-04 | 李勇妹 | Self-adaptive bird prevention platform of high-voltage line |
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Application publication date: 20151111 |