Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition
To enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for an underwater charging platform based on monocular vision recognition. This method accurately identifies the UUV number and guides the charging stake to sm...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/6/1140 |
| _version_ | 1797594035054968832 |
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| author | Aidi Yu Yujia Wang Haoyuan Li Boyang Qiu |
| author_facet | Aidi Yu Yujia Wang Haoyuan Li Boyang Qiu |
| author_sort | Aidi Yu |
| collection | DOAJ |
| description | To enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for an underwater charging platform based on monocular vision recognition. This method accurately identifies the UUV number and guides the charging stake to smoothly insert into the charging port of the UUV through target recognition. To decode the UUV’s identity information, even in challenging imaging conditions, an encryption encoding method containing redundant information and an ArUco code reconstruction method are proposed. To address the challenge of underwater target location determination, a target location determination method was proposed based on deep learning and the law of refraction. The method can determine the two-dimensional coordinates of the target location underwater using the UUV target spray position. To meet the real-time control requirements and the harsh underwater imaging environment, we proposed a target recognition algorithm to guide the charging platform towards the target direction. The practical underwater alignment experiments demonstrate the method’s strong real-time performance and its adaptability to underwater environments. The final alignment error is approximately 0.5548 mm, meeting the required alignment accuracy and ensuring successful alignment. |
| first_indexed | 2024-03-11T02:17:56Z |
| format | Article |
| id | doaj.art-f7b528f2a1af418687e13bc1d99e06a6 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T02:17:56Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-f7b528f2a1af418687e13bc1d99e06a62023-11-18T11:06:26ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-05-01116114010.3390/jmse11061140Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision RecognitionAidi Yu0Yujia Wang1Haoyuan Li2Boyang Qiu3College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaTo enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for an underwater charging platform based on monocular vision recognition. This method accurately identifies the UUV number and guides the charging stake to smoothly insert into the charging port of the UUV through target recognition. To decode the UUV’s identity information, even in challenging imaging conditions, an encryption encoding method containing redundant information and an ArUco code reconstruction method are proposed. To address the challenge of underwater target location determination, a target location determination method was proposed based on deep learning and the law of refraction. The method can determine the two-dimensional coordinates of the target location underwater using the UUV target spray position. To meet the real-time control requirements and the harsh underwater imaging environment, we proposed a target recognition algorithm to guide the charging platform towards the target direction. The practical underwater alignment experiments demonstrate the method’s strong real-time performance and its adaptability to underwater environments. The final alignment error is approximately 0.5548 mm, meeting the required alignment accuracy and ensuring successful alignment.https://www.mdpi.com/2077-1312/11/6/1140real-time controlunderwater image restorationthresholdingvisual servoingtarget recognitionmonocular vision |
| spellingShingle | Aidi Yu Yujia Wang Haoyuan Li Boyang Qiu Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition Journal of Marine Science and Engineering real-time control underwater image restoration thresholding visual servoing target recognition monocular vision |
| title | Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition |
| title_full | Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition |
| title_fullStr | Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition |
| title_full_unstemmed | Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition |
| title_short | Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition |
| title_sort | automatic alignment method of underwater charging platform based on monocular vision recognition |
| topic | real-time control underwater image restoration thresholding visual servoing target recognition monocular vision |
| url | https://www.mdpi.com/2077-1312/11/6/1140 |
| work_keys_str_mv | AT aidiyu automaticalignmentmethodofunderwaterchargingplatformbasedonmonocularvisionrecognition AT yujiawang automaticalignmentmethodofunderwaterchargingplatformbasedonmonocularvisionrecognition AT haoyuanli automaticalignmentmethodofunderwaterchargingplatformbasedonmonocularvisionrecognition AT boyangqiu automaticalignmentmethodofunderwaterchargingplatformbasedonmonocularvisionrecognition |