CN105138007B - Underwater robot based on image procossing avoids platform - Google Patents
Underwater robot based on image procossing avoids platform Download PDFInfo
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- CN105138007B CN105138007B CN201510468383.XA CN201510468383A CN105138007B CN 105138007 B CN105138007 B CN 105138007B CN 201510468383 A CN201510468383 A CN 201510468383A CN 105138007 B CN105138007 B CN 105138007B
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Abstract
The present invention relates to a kind of underwater robot rock based on image procossing to avoid platform, including underwater human agent, rock detection device and processing equipment waterborne, the rock detection device is located on the underwater human agent, it whether there is rock under water for detecting, and rock relevant information sent to the processing equipment waterborne by the underwater human agent when detecting rock.By means of the invention it is possible to automatically identify subaqueous rock and carry out intelligent avoidance, the security that underwater robot travels under water is improved.
Description
Technical field
The present invention relates to digital image arts, more particularly to a kind of underwater robot based on image procossing to avoid platform.
Background technology
Underwater robot under water operation when, it is easy to encounter the interference of rock, lacking Related Rocks processing equipment
In the case of, underwater robot is often absorbed in rock, or by rock collsion damage, so as to delay underwater robot just
Often work brings loss and inconvenience, it is necessary to maintenance cost costly to underwater robot operator.
Rock processing equipment in the prior art for underwater robot outfit is relatively simple, and rock identification technology precision is not
Height, rock treatment mechanism is single, can not adapt to the underwater environment of complexity, meanwhile, the structure of underwater robot is also relatively simple, nothing
Method ensures normal operation under the underwater environment of complexity.
Therefore, the present invention, which proposes a kind of underwater robot rock based on image procossing, avoids platform, water can be based on
Lower rocky condition, different processing strategies is selected, so as to improve underwater human reriability.
The content of the invention
In order to solve technical problem existing for prior art, the invention provides a kind of underwater based on image procossing
People's rock avoids platform, transforms existing underwater robot structure first, secondly the existing image recognition apparatus of the transformation of the way and rock
Processing equipment, the intelligence degree of underwater robot is improved, avoid the normal work of underwater robot from being interfered.
According to an aspect of the present invention, there is provided a kind of underwater robot rock based on image procossing avoids platform, institute
Stating avoidance platform includes underwater human agent, rock detection device and processing equipment waterborne, and the rock detection device is located at
On the underwater human agent, it whether there is rock under water for detecting, and when detecting rock by rock relevant information
The processing equipment waterborne is sent to by the underwater human agent.
More specifically, in the underwater robot rock based on image procossing avoids platform, in addition to：Excavation is set
It is standby, it is arranged on the underwater human agent, including digging motor and excavation driver, the excavation driver and the digging
Motor connection is dug, for being excavated to front rock；Buoy waterborne, it is arranged on the top water surface of the underwater human agent
On；Power supply unit, it is arranged on the buoy waterborne, including waterproof sealing cover, solar powered device, battery, switching are opened
Close and electric pressure converter, the waterproof sealing cover are opened for accommodating the solar powered device, the battery, described switch
Close and the electric pressure converter, the switching switch are connected respectively with the solar powered device and the battery, according to
The dump energy of battery decides whether to be switched to the solar powered device to be powered by the solar powered device, institute
Electric pressure converter and the switching switch connection are stated, so that the 5V voltage conversions of input will be switched by switching as 3.3V voltages；GPS
Location equipment, it is arranged on the buoy waterborne, supply of electric power is provided by the power supply unit, is sent for receiving gps satellite
GPS location data；Sonar detection equipment, it is arranged on the buoy waterborne, provides supply of electric power by the power supply unit, use
Exported in the relative distance of the detection underwater human agent to the buoy waterborne, and as the first relative distance；Ultrasound
Ripple distance-measuring equipment, it is arranged on the underwater human agent, for measuring the underwater human agent apart from front rock
Distance, and as the second relative distance export；Static storage device, black and white threshold value and threshold number of pixels, institute are prestored
Black and white threshold value to be stated to be used to perform binary conversion treatment to image, the static storage device has prestored gray processing rock masterplate,
The gray processing rock masterplate performs gray processing processing to benchmark rock shoot resulting rock image and obtained, institute
State static storage device and also prestore rock area threshold, rock height threshold and rock width threshold value, the rock face
It is directly proportional that product threshold value and underwater robot excavate power output, and the rock height threshold and underwater robot instantaneously climb output
Power is directly proportional, and the rock width threshold value and the underwater robot power output that instantaneously detours are directly proportional；Picture pick-up device, position
In on the underwater human agent, including hemispherical watertight transparent cover, the sub- equipment of floor light and CMOS camera, described half
Spherical watertight transparent cover is used to accommodate the sub- equipment of the floor light and the CMOS camera, and the sub- equipment of floor light is
The underwater photograph technical of the CMOS camera provides floor light, before the CMOS camera is shot to be included to objects ahead
Square mesh target underwater picture；The processing equipment waterborne be used for receive the underwater human agent transmitted by cable it is underwater
Information, the processing equipment waterborne are located at water craft or bank position；The underwater human agent includes driving equipment, electricity
Cable and embeded processor, the cable set the driving equipment and the embeded processor with the processing waterborne respectively
To establish communication, the driving equipment includes drive control device, larboard DC speed-reducing, starboard direct current deceleration electricity for standby connection
Machine, sink-float motor, right-handed screw oar, counterpropeller, subsidiary propeller and shaft coupling, the larboard DC speed-reducing, the right side
Side of a ship DC speed-reducing and the sink-float motor pass through the shaft coupling and the right-handed screw oar, the counterpropeller and institute respectively
Subsidiary propeller connection is stated, the drive control device receives the driving control signal that the processing equipment waterborne is sent, with basis
Larboard DC speed-reducing described in the content driven of the driving control signal and the starboard DC speed-reducing to control respectively
The right-handed screw oar and the counterpropeller are made, driving underwater human agent realizes advance, retrogressing and left and right action, is additionally operable to
Motor is risen and fallen according to the content driven of the driving control signal to control the subsidiary propeller, drives underwater robot
Main body is realized to rise and acted with dive；The rock detection device include the sub- equipment of image preprocessing, the sub- equipment of binary conversion treatment,
Column border detects sub- equipment, the sub- equipment of row rim detection, the sub- equipment of Target Segmentation and the sub- equipment of target identification, described image and located in advance
Manage sub- equipment to be connected with the CMOS camera, to perform the underwater picture successively adaptive edge enhancing and wavelet filtering
Processing, to obtain pretreated water hypograph；The sub- equipment of binary conversion treatment and described image pre-process sub- equipment and described quiet
State storage device connects respectively, and the brightness of each pixel of the pretreated water hypograph and the black and white threshold value are compared respectively
Compared with when the brightness of pixel is more than the black and white threshold value, pixel being designated as into white pixel, when the brightness of pixel is less than the black and white
During threshold value, pixel is designated as black picture element, so as to obtain binaryzation underwater picture；The column border detects sub- equipment and described two
Value handles sub- equipment and the static storage device connects respectively, for the binaryzation underwater picture, it is black to calculate each column
The number of color pixel, the row that the number of black picture element is more than or equal to the threshold number of pixels are designated as edge columns；The row edge
Detect sub- equipment equipment sub- with the binary conversion treatment and the static storage device is connected respectively, for the binaryzation water
Hypograph, the number of often row black picture element is calculated, the row that the number of black picture element is more than or equal to the threshold number of pixels is designated as
Edge lines；The sub- equipment of Target Segmentation detects sub- equipment with the column border and the sub- equipment of row rim detection connects respectively
Connect, the region that edge columns and edge lines are interweaved is partitioned into as target domain of the existence from the binaryzation underwater picture
The target domain of the existence as target subgraph to export；The sub- equipment of target identification and the sub- equipment of the Target Segmentation and
The static storage device connects respectively, and by the target subgraph and the gray processing rock stencil matching, the match is successful, then
There is rock signal in output, it fails to match, then rock signal is not present in output；Rock conditions analytical equipment, examined with the rock
Measurement equipment and the ultrasonic ranging equipment connect respectively, when receive it is described rock signal be present when, based on second phase
Adjust the distance and the area percentage calculating subaqueous rock horizontal area of the binaryzation underwater picture occupied with the target subgraph,
The binaryzation underwater picture longitudinal direction height is longitudinally highly occupied based on second relative distance and the target subgraph
Height percent calculates subaqueous rock height, and institute is occupied based on second relative distance and the target subgraph transverse width
The width percentage for stating binaryzation underwater picture transverse width calculates subaqueous rock width；Wherein, the embeded processor with
The GPS location equipment, the sonar detection equipment, the ultrasonic ranging equipment, the processing equipment waterborne, the rock
Detection device and the driving equipment connect respectively, for monitoring the driving condition of the driving equipment, are additionally operable to receiving
It is described when rock signal be present, start the GPS location equipment, the sonar detection equipment and the ultrasonic ranging equipment with
The GPS location data, first relative distance and second relative distance are received, based on the GPS location data, institute
State the first relative distance and second relative distance calculates and exports rock GPS location data, and will be described pre- by cable
Underwater picture and the rock GPS location data transfer are handled to the processing equipment waterborne；The embeded processor also with
The rock conditions analytical equipment, the rock detection device and the static storage device connect respectively, described when receiving
When rock signal be present, by the subaqueous rock horizontal area compared with the rock area threshold, the subaqueous rock is horizontal
Area then sends excavation drive signal less than or equal to the rock area threshold, and the subaqueous rock horizontal area is more than the rock
Stone area threshold then enters leadswinging pattern；The embeded processor performs following behaviour in the leadswinging pattern
Make：Rising drive signal is then sent when the subaqueous rock is highly less than or equal to the rock height threshold, when described underwater
When rock is highly more than the rock height threshold, the subaqueous rock width and the rock width threshold value are determined whether
Comparative result：Left and right is then sent when the subaqueous rock width is less than or equal to the rock width threshold value around horizontal-drive signal,
Otherwise, retrogressing drive signal is sent；The embeded processor is also connected with the driving equipment, rises driving letter by described
Number, it is described left and right around horizontal-drive signal or retreat drive signal be sent to the driving equipment；The embeded processor also with
The excavation driver connection, the excavation drive signal is sent to the excavation driver.
More specifically, in the underwater robot rock based on image procossing avoids platform：The embedded processing
Device receive it is described rock signal is not present when, close the GPS location equipment, the sonar detection equipment and the ultrasound
Ripple distance-measuring equipment.
More specifically, in the underwater robot rock based on image procossing avoids platform：The embedded processing
Device includes the pretreated water hypograph and the rock GPS location data transfer to the processing equipment waterborne：By described in
Pretreated water hypograph performs MPEG-2 compressed encodings to obtain compression underwater picture, by the compression underwater picture and the rock
Stone GPS location data transfer is to the processing equipment waterborne.
More specifically, in the underwater robot rock based on image procossing avoids platform：The processing waterborne is set
It is standby also to include decompression equipment and show sub- equipment, the decompression equipment be used to decompressing the compression underwater picture with
The pretreated water hypograph is obtained, the sub- equipment of display is connected with the decompression equipment, for showing the pre- place
Manage underwater picture and the rock GPS location data.
More specifically, in the underwater robot rock based on image procossing avoids platform：The processing waterborne is set
It is standby also to include voice playing equipment, for when receiving the rock GPS location data, playing the rock GPS location number
According to.
More specifically, in the underwater robot rock based on image procossing avoids platform：Described image pre-processes
Sub- equipment, the sub- equipment of the binary conversion treatment, the column border detect sub- equipment, the sub- equipment of the row rim detection, the mesh
Mark splits sub- equipment and the sub- integration of equipments of the target identification on one piece of surface-mounted integrated circuit.
Brief description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the knot of the avoidance platform of the underwater robot rock based on image procossing according to embodiment of the present invention
Structure block diagram.
Reference：1 underwater human agent；2 rock detection devices；3 processing equipments waterborne
Embodiment
The embodiment party of platform is avoided to the underwater robot rock based on image procossing of the present invention below with reference to accompanying drawings
Case is described in detail.
Costly, operator is not intended to be damaged when it works under water underwater robot equipment, meanwhile, underwater ring
Border is again especially complex, and rock size shape is different, and existing simple underwater robot structure and subaqueous rock identification are set
It is standby to meet the needs of operator.
In order to overcome above-mentioned deficiency, it is flat that the present invention has built a kind of underwater robot rock avoidance based on image procossing
The concrete structure of platform, transformation underwater robot and its Portable device, can be adapted to underwater operation to require, avoid rock band
Interference.
Fig. 1 is the knot of the avoidance platform of the underwater robot rock based on image procossing according to embodiment of the present invention
Structure block diagram, the avoidance platform include underwater human agent, rock detection device and processing equipment waterborne, the rock inspection
Measurement equipment is located on the underwater human agent, whether there is rock under water for detecting, and when detecting rock by rock
Stone relevant information sends the processing equipment waterborne to by the underwater human agent.
Then, the concrete structure for continuing to avoid the underwater robot rock based on image procossing of the present invention platform is carried out
Further instruction.
The avoidance platform also includes：Excavating equipment, be arranged on the underwater human agent, including digging motor and
Driver is excavated, the excavation driver is connected with the digging motor, for being excavated to front rock.
The avoidance platform also includes：Buoy waterborne, it is arranged on the top water surface of the underwater human agent.
The avoidance platform also includes：Power supply unit, it is arranged on the buoy waterborne, including waterproof sealing cover, the sun
Energy power supply device, battery, switching switch and electric pressure converter, the waterproof sealing cover are used to accommodate the solar energy electric supplier
Part, the battery, it is described switching switch and the electric pressure converter, it is described switching switch with the solar powered device and
The battery connects respectively, decides whether to be switched to the solar powered device according to the dump energy of battery with by institute
Solar powered device power supply, the electric pressure converter and the switching switch connection are stated, input will be switched by switching
5V voltage conversions are 3.3V voltages.
The avoidance platform also includes：GPS location equipment, it is arranged on the buoy waterborne, is carried by the power supply unit
For supply of electric power, for receiving the GPS location data of gps satellite transmission.
The avoidance platform also includes：Sonar detection equipment, it is arranged on the buoy waterborne, is carried by the power supply unit
For supply of electric power, for detecting the underwater human agent to the relative distance of the buoy waterborne, and conduct first is relative
Distance output.
The avoidance platform also includes：Ultrasonic ranging equipment, it is arranged on the underwater human agent, for measuring
The underwater human agent apart from front rock distance, and as the second relative distance export.
The avoidance platform also includes：Static storage device, black and white threshold value and threshold number of pixels are prestored, it is described black
White threshold value is used to perform binary conversion treatment to image, and the static storage device has prestored gray processing rock masterplate, described
Gray processing rock masterplate performs gray processing processing to benchmark rock shoot resulting rock image and obtained, described quiet
State storage device has also prestored rock area threshold, rock height threshold and rock width threshold value, the rock area threshold
It is directly proportional that value and underwater robot excavate power output, and the rock height threshold and underwater robot instantaneously climb power output
Directly proportional, the rock width threshold value and the underwater robot power output that instantaneously detours are directly proportional.
The avoidance platform also includes：Picture pick-up device, on the underwater human agent, including hemispherical waterproof is saturating
Bright cover, the sub- equipment of floor light and CMOS camera, the hemispherical watertight transparent cover are set for accommodating floor light
Standby and described CMOS camera, the sub- equipment of floor light provide floor light for the underwater photograph technical of the CMOS camera,
The CMOS camera is shot to objects ahead to obtain the underwater picture for including objects ahead.
The processing equipment waterborne is used to receive the underwater information that the underwater human agent is transmitted by cable, described
Processing equipment waterborne is located at water craft or bank position.
The underwater human agent includes driving equipment, cable and embeded processor, and the cable is by the driving
Equipment and the embeded processor are connected with the processing equipment waterborne to establish communication respectively, and the driving equipment includes driving
Movement controller, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counterpropeller, subsidiary spiral shell
Oar and shaft coupling are revolved, the larboard DC speed-reducing, the starboard DC speed-reducing and the sink-float motor pass through respectively
The shaft coupling is connected with the right-handed screw oar, the counterpropeller and the subsidiary propeller, and the drive control device receives
The driving control signal that the processing equipment waterborne is sent is straight with larboard described in the content driven according to the driving control signal
Stream reducing motor and the starboard DC speed-reducing to control the right-handed screw oar and the counterpropeller respectively, and driving is under water
Robot body realizes advance, retrogressing and left and right action, is additionally operable to sink according to the content driven of the driving control signal
To control the subsidiary propeller, driving underwater human agent realizes to rise and acted with dive floating motor.
The rock detection device includes the sub- equipment of image preprocessing, the sub- equipment of binary conversion treatment, column border detection and set
Standby, the sub- equipment of row rim detection, the sub- equipment of Target Segmentation and the sub- equipment of target identification, described image pre-process sub- equipment with it is described
CMOS camera connects, and is handled with performing adaptive edge enhancing and wavelet filtering successively to the underwater picture, pre- to obtain
Handle underwater picture；The sub- equipment of binary conversion treatment pre-processes sub- equipment with described image and the static storage device is distinguished
Connection, the brightness of each pixel of the pretreated water hypograph and the black and white threshold value are respectively compared, bright when pixel
When degree is more than the black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than the black and white threshold value, by pixel
Black picture element is designated as, so as to obtain binaryzation underwater picture；The column border detects sub- equipment and set with binary conversion treatment
Standby and described static storage device connects respectively, for the binaryzation underwater picture, calculating the number of each column black picture element,
The row that the number of black picture element is more than or equal to the threshold number of pixels are designated as edge columns；The sub- equipment of the row rim detection and institute
State the sub- equipment of binary conversion treatment and the static storage device connects respectively, for the binaryzation underwater picture, calculating every
The number of row black picture element, the row that the number of black picture element is more than or equal to the threshold number of pixels are designated as edge lines；The mesh
Mark is split sub- equipment and is connected respectively with the column border equipment of detection and the sub- equipment of row rim detection, by edge columns and side
The region that edge row interweaves is partitioned into the target domain of the existence as target domain of the existence from the binaryzation underwater picture
To be exported as target subgraph；The sub- equipment of target identification and the sub- equipment of the Target Segmentation and the static storage device
Connect respectively, by the target subgraph and the gray processing rock stencil matching, the match is successful, then output has rock letter
Number, it fails to match, then rock signal is not present in output.
The avoidance platform also includes：Rock conditions analytical equipment, with the rock detection device and the ultrasound
Connected respectively away from equipment, when receive it is described rock signal be present when, based on second relative distance and the target subgraph
Area percentage calculating subaqueous rock horizontal area as occupying the binaryzation underwater picture, based on second relative distance
The height percent that the binaryzation underwater picture longitudinal direction height is longitudinally highly occupied with the target subgraph calculates underwater rock
Stone height, it is horizontal that the binaryzation underwater picture is occupied based on second relative distance and the target subgraph transverse width
The width percentage of width calculates subaqueous rock width.
The embeded processor is set with the GPS location equipment, the sonar detection equipment, the ultrasonic ranging
Standby, described processing equipment waterborne, the rock detection device and the driving equipment connect respectively, for monitoring that the driving is set
Standby driving condition, be additionally operable to receive it is described rock signal be present when, start the GPS location equipment, the sonar visit
Measurement equipment and the ultrasonic ranging equipment are to receive the GPS location data, first relative distance and second phase
Adjust the distance, calculated based on the GPS location data, first relative distance and second relative distance and export rock
GPS location data, and by cable by the pretreated water hypograph and the rock GPS location data transfer to described waterborne
Processing equipment.
The embeded processor is also deposited with the rock conditions analytical equipment, the rock detection device and the static state
Storage equipment connect respectively, when receive it is described rock signal be present when, by the subaqueous rock horizontal area and the rock face
Product threshold value compares, and the subaqueous rock horizontal area then sends excavation drive signal, institute less than or equal to the rock area threshold
State subaqueous rock horizontal area and then enter leadswinging pattern more than the rock area threshold.
The embeded processor performs following operation in the leadswinging pattern：When the subaqueous rock is highly small
Rising drive signal is then sent when equal to the rock height threshold, when the subaqueous rock is highly more than rock height
During threshold value, the comparative result of the subaqueous rock width and the rock width threshold value is determined whether：When the subaqueous rock
Width is less than or equal to then send left and right during the rock width threshold value around horizontal-drive signal, otherwise, sends retrogressing drive signal；Institute
State embeded processor to be also connected with the driving equipment, by the rising drive signal, the left and right around horizontal-drive signal
Or retreat drive signal and be sent to the driving equipment；The embeded processor is also connected with the excavation driver, will
The excavation drive signal is sent to the excavation driver.
Alternatively, in the underwater robot rock based on image procossing avoids platform：The embeded processor
Receive it is described rock signal is not present when, close the GPS location equipment, the sonar detection equipment and the ultrasonic wave
Distance-measuring equipment；The embeded processor is by the pretreated water hypograph and the rock GPS location data transfer described in
Processing equipment waterborne includes：The pretreated water hypograph is performed into MPEG-2 compressed encodings to obtain compression underwater picture, will
The compression underwater picture and the rock GPS location data transfer to the processing equipment waterborne；The processing equipment waterborne
Also include decompression equipment and show sub- equipment, the decompression equipment is used to decompress the compression underwater picture to obtain
The pretreated water hypograph is obtained, the sub- equipment of display is connected with the decompression equipment, for showing the pretreatment
Underwater picture and the rock GPS location data；The processing equipment waterborne also includes voice playing equipment, for receiving
During the rock GPS location data, the rock GPS location data are played；Described image pre-processes sub- equipment, the binaryzation
Handle sub- equipment, the column border detects sub- equipment, the sub- equipment of the row rim detection, the sub- equipment of the Target Segmentation and described
The sub- integration of equipments of target identification is on one piece of surface-mounted integrated circuit.
Alternatively, the sub- equipment of image preprocessing, the sub- equipment of binary conversion treatment, column border detect sub- equipment, row rim detection
The sub- equipment of sub- equipment, Target Segmentation and the sub- equipment of target identification are respectively adopted different fpga chips and realized.
In addition, FPGA (Field-Programmable Gate Array), i.e. field programmable gate array, he be
The product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He is led as application specific integrated circuit (ASIC)
A kind of semi-custom circuit in domain and occur, both solved the deficiency of custom circuit, overcome original programming device door again
The shortcomings that circuit number is limited.
The circuit design completed with hardware description language (Verilog or VHDL), simple synthesis and cloth can be passed through
Office, is quickly burned onto on FPGA and is tested, and is the technology main flow of modern IC designs checking.These editable elements can be by
For realizing some basic logic gates (such as AND, OR, XOR, NOT) or more more complicated combination function such as
Decoder or mathematical equation.Inside most FPGA, also for example touched comprising memory cell in these editable elements
Send out device (Flip-flop) or other more complete block of memory.System designer can be as desired by editable company
Connect the logical block inside FPGA to connect, just look like that a breadboard has been placed in a chip.One dispatches from the factory
The logical block of finished product FPGA afterwards and connection can change according to designer, so FPGA can complete required logic work(
Energy.
Speed of the FPGA in general than ASIC (application specific integrated circuit) is slow, realizes same function than ASIC circuit face
Product is big.But they also have the advantages of many such as can quick finished product, can be modified to correct program in mistake and
Less expensive cost.Manufacturer may also can provide the FPGA of cheap still edit capability difference.Because these chips have poor
Editable ability, so these design exploitations be to be completed on common FPGA, design is then transferred to a class
It is similar on ASIC chip.Another method is with CPLD (Complex Programmable Logic Device, complexity
PLD).FPGA exploitation is very different relative to the exploitation of traditional PC, single-chip microcomputer.FPGA is with concurrent operation
Based on, realized with hardware description language；Compared to PC or single-chip microcomputer (either von Neumann structure or Harvard structure)
Order operation has very big difference.
Early in 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes some relatively large numbers
The Programmadle logic unit of amount.The density of CPLD gates it is thousands of arrive tens of thousands of individual logic units between, and FPGA be typically exist
It is tens of thousands of to millions of.The CPLD and FPGA main distinction is their system architecture.CPLD is a somewhat restricted structure.
This structure is arranged by the logical groups of one or more editable result sum and the register of the locking of some relatively small amounts
Composition.Such result is a lack of editing flexibility, but have it is anticipated that time delay and logic unit it is single to connection
The advantages of first height ratio.And FPGA is to have many connection units, although so allowing him more flexibly to edit,
Structure is complicated more.
Platform is avoided using the underwater robot rock based on image procossing of the present invention, for underwater machine in the prior art
Device people is difficult to adapt to the technical problem of complicated subaqueous rock environment, transforms entrained by existing robot architecture and robot
Electronic assistance aids structure so that the detection of subaqueous rock and processing are more perfect, avoid underwater robot from being damaged by rock
It is bad.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment and it is not used to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of change.Therefore, every content without departing from technical solution of the present invention, the technical spirit pair according to the present invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (1)
1. a kind of underwater robot rock based on image procossing avoids platform, the avoidance platform includes underwater robot master
Body, rock detection device and processing equipment waterborne, the rock detection device is located on the underwater human agent, for examining
Survey whether there is rock under water, and send rock relevant information by the underwater human agent to when detecting rock
The processing equipment waterborne；
Characterized in that, the avoidance platform also includes：
Excavating equipment, it is arranged on the underwater human agent, including digging motor and excavation driver, it is described to excavate driving
Device is connected with the digging motor, for being excavated to front rock；
Buoy waterborne, it is arranged on the top water surface of the underwater human agent；
Power supply unit, it is arranged on the buoy waterborne, including waterproof sealing cover, solar powered device, battery, switching are opened
Close and electric pressure converter, the waterproof sealing cover are opened for accommodating the solar powered device, the battery, described switch
Close and the electric pressure converter, the switching switch are connected respectively with the solar powered device and the battery, according to
The dump energy of battery decides whether to be switched to the solar powered device to be powered by the solar powered device, institute
Electric pressure converter and the switching switch connection are stated, so that the 5V voltage conversions of input will be switched by switching as 3.3V voltages；
GPS location equipment, it is arranged on the buoy waterborne, provides supply of electric power by the power supply unit, defended for receiving GPS
The GPS location data that star is sent；
Sonar detection equipment, it is arranged on the buoy waterborne, supply of electric power is provided by the power supply unit, it is described for detecting
Underwater human agent to the buoy waterborne relative distance, and as the first relative distance export；
Ultrasonic ranging equipment, it is arranged on the underwater human agent, for measuring the underwater human agent distance
The distance of front rock, and exported as the second relative distance；
Static storage device, has prestored black and white threshold value and threshold number of pixels, and the black and white threshold value is used to perform two to image
Value is handled, and the static storage device has prestored gray processing rock masterplate, and the gray processing rock masterplate is to benchmark
Rock shoot resulting rock image execution gray processing processing and obtain, and the static storage device also prestores
Rock area threshold, rock height threshold and rock width threshold value, the rock area threshold are excavated with underwater robot and exported
Power is directly proportional, and rock height threshold power output of instantaneously being climbed to underwater robot is directly proportional, the rock width threshold
Value and the underwater robot power output that instantaneously detours are directly proportional；
Picture pick-up device, on the underwater human agent, including hemispherical watertight transparent cover, the sub- equipment of floor light and
CMOS camera, the hemispherical watertight transparent cover are used to accommodate the sub- equipment of the floor light and the CMOS camera, institute
State the sub- equipment of floor light and provide floor light for the underwater photograph technical of the CMOS camera, the CMOS camera is to front mesh
Mark is shot to obtain the underwater picture for including objects ahead；
The processing equipment waterborne is used to receive the underwater information that the underwater human agent is transmitted by cable, described waterborne
Processing equipment is located at water craft or bank position；
The underwater human agent includes driving equipment, cable and embeded processor, and the cable is by the driving equipment
It is connected respectively with the processing equipment waterborne with the embeded processor to establish communication, the driving equipment includes driving and controlled
Device processed, larboard DC speed-reducing, starboard DC speed-reducing, sink-float motor, right-handed screw oar, counterpropeller, subsidiary propeller
And shaft coupling, the larboard DC speed-reducing, the starboard DC speed-reducing and the sink-float motor are respectively by described
Shaft coupling is connected with the right-handed screw oar, the counterpropeller and the subsidiary propeller, described in the drive control device reception
The driving control signal that processing equipment waterborne is sent, is subtracted with larboard direct current described in the content driven according to the driving control signal
Speed motor and the starboard DC speed-reducing drive underwater to control the right-handed screw oar and the counterpropeller respectively
Human agent realizes advance, retrogressing and left and right action, is additionally operable to the electricity that risen and fallen according to the content driven of the driving control signal
To control the subsidiary propeller, driving underwater human agent realizes to rise and acted with dive machine；
The rock detection device includes the sub- equipment of image preprocessing, the sub- equipment of binary conversion treatment, column border and detects sub- equipment, OK
The sub- equipment of rim detection, the sub- equipment of Target Segmentation and the sub- equipment of target identification, described image pre-process sub- equipment and the CMOS
Camera connects, and is handled with performing adaptive edge enhancing and wavelet filtering successively to the underwater picture, to be pre-processed
Underwater picture；The sub- equipment of binary conversion treatment pre-processes sub- equipment with described image and the static storage device connects respectively
Connect, the brightness of each pixel of the pretreated water hypograph and the black and white threshold value are respectively compared, when the brightness of pixel
During more than the black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than the black and white threshold value, pixel remembered
For black picture element, so as to obtain binaryzation underwater picture；The column border detects sub- equipment and the sub- equipment of the binary conversion treatment
Connected respectively with the static storage device, for the binaryzation underwater picture, the number of calculating each column black picture element will
The row that the number of black picture element is more than or equal to the threshold number of pixels are designated as edge columns；The sub- equipment of row rim detection with it is described
The sub- equipment of binary conversion treatment and the static storage device connect respectively, for often being gone to the binaryzation underwater picture, calculating
The number of black picture element, the row that the number of black picture element is more than or equal to the threshold number of pixels are designated as edge lines；The target
Split sub- equipment to be connected respectively with the column border equipment of detection and the sub- equipment of row rim detection, by edge columns and edge
The region that row interweaves as target domain of the existence, and be partitioned into from the binaryzation underwater picture target domain of the existence with
Exported as target subgraph；The sub- equipment of target identification and the sub- equipment of the Target Segmentation and the static storage device point
Do not connect, by the target subgraph and the gray processing rock stencil matching, the match is successful, then output has rock signal,
It fails to match, then rock signal is not present in output；
Rock conditions analytical equipment, it is connected respectively with the rock detection device and the ultrasonic ranging equipment, when receiving
It is described when rock signal be present, the binaryzation underwater picture is occupied based on second relative distance and the target subgraph
Area percentage calculate subaqueous rock horizontal area, based on second relative distance and the target subgraph longitudinal direction height
The height percent for occupying the binaryzation underwater picture longitudinal direction height calculates subaqueous rock height, based on described second it is relative away from
Calculated from the width percentage that the binaryzation underwater picture transverse width is occupied with the target subgraph transverse width underwater
Rock width；
Wherein, the embeded processor is set with the GPS location equipment, the sonar detection equipment, the ultrasonic ranging
Standby, described processing equipment waterborne, the rock detection device and the driving equipment connect respectively, for monitoring that the driving is set
Standby driving condition, be additionally operable to receive it is described rock signal be present when, start the GPS location equipment, the sonar visit
Measurement equipment and the ultrasonic ranging equipment are to receive the GPS location data, first relative distance and second phase
Adjust the distance, calculated based on the GPS location data, first relative distance and second relative distance and export rock
GPS location data, and by cable by the pretreated water hypograph and the rock GPS location data transfer to described waterborne
Processing equipment；
Wherein, the embeded processor also with the rock conditions analytical equipment, the rock detection device and the static state
Storage device connects respectively, when receive it is described rock signal be present when, by the subaqueous rock horizontal area and the rock
Area threshold compares, and the subaqueous rock horizontal area then sends excavation drive signal less than or equal to the rock area threshold,
The subaqueous rock horizontal area then enters leadswinging pattern more than the rock area threshold；
Wherein, the embeded processor performs following operation in the leadswinging pattern：When subaqueous rock height
Rising drive signal is then sent during less than or equal to the rock height threshold, when the subaqueous rock is highly more than rock height
When spending threshold value, the comparative result of the subaqueous rock width and the rock width threshold value is determined whether：When the underwater rock
Stone width is less than or equal to then send left and right during the rock width threshold value around horizontal-drive signal, otherwise, sends retrogressing drive signal；
Wherein, the embeded processor is also connected with the driving equipment, by it is described rising drive signal, it is described left and right around
Horizontal-drive signal or retrogressing drive signal are sent to the driving equipment；
Wherein, the embeded processor is also connected with the excavation driver, and the excavation drive signal is sent into institute
State excavation driver；
The embeded processor receive it is described rock signal is not present when, close the GPS location equipment, the sonar
Detecting devices and the ultrasonic ranging equipment；
The embeded processor is by the pretreated water hypograph and the rock GPS location data transfer to the place waterborne
Reason equipment includes：The pretreated water hypograph is performed into MPEG-2 compressed encodings to obtain compression underwater picture, by the pressure
Shrink hypograph and the rock GPS location data transfer to the processing equipment waterborne；
Wherein, described image pre-processes sub- equipment, the sub- equipment of the binary conversion treatment, the column border and detects sub- equipment, described
The different FPGA cores that the sub- equipment of row rim detection, the sub- equipment of the Target Segmentation and the sub- equipment of the target identification are respectively adopted
Piece, the circuit design completed using hardware description language, after comprehensive and layout, fast writing arrives the circuit design of completion
It is complete so that the logical block inside corresponding fpga chip is connected by the connection that can be edited on corresponding fpga chip
Into the function of completing needed for corresponding fpga chip.
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