Design Of Under-Sea Pan-Tilt Automatic Cleaning System

Oceans covers more than 70 percent of the earth and contains huge energy and resource. What is more, it is related to the existence and sustainable development of the human beings. With the progress of technology, the human beings apply all kinds of technology to enhance the exploitation of the oceans. As an effective exploitation method, the undersea observational network obtains the interest of many countries. However, the undersea creature such as moss, oyster can contaminate the pan-tilt camera system in the long-work observational network, which lowers the quality of the image and leads to the fact that the system can not observe regularly.In order to realize the cleaning of the undersea pan-tilt camera system effectively, an auto-clean undersea pan-tilt camera system which is made up of the master computer for displaying and the slave computer for controlling is designed in this paper. The system can assess the image quality of the camera automatically, and if the quality of image is too low, the system concludes the decreasing of the image quality and drive the brush to clean the screen of the camera for assurance of the image quality. What is more, the system includes many other functions, such as the movement control of the pan-tilt, the focus and angle adjustment of the camera, lighting control, and over-current protection.Some kinds of evaluation methods of image quality are analyzed in the paper,and the experiments are done for them, and then gradient-magnitude-based structure similarity (GSSIM) is selected as the real-time image quality evaluation method of the system.The MSP430 Micro-Controller is adopted as the slave computer,which can control the brush to clean the screen,according to the serial-port command. The communication adopts the magnetic decoupling isolation for improving the reliability of the communication. Angle detection, over-current protection, and travel limit are applied to increase the security. The master computer uses the industrial control computer which can provide an good man-machine interaction to evaluate the image quality automatically.In the end, the debugging of hardware and software are made. The result shows that the system realizes the design function, and can meet basic demand of observation.