Development Of Underwater Structure Detection And Assignments ROV And Sonar Image Recognition Research

With the rapidly development of the world ocean transportation industry, as the main tool of the sea transportation, the ship is playing an increasingly large role. In the navigation process, when the bottom of the hull contact to the sea suspended solids(nets, ropes, etc.), these suspensions can easily be inhaled and then wrapped around the propeller, seriously affecting the safety of ship navigation. On top of that, due to the long immersion in sea water and ship collision, offshore production platform under water structure prone to breaking, cracking and deformation. Therefore, the detection of underwater hull and offshore platform structure and maintenance are indispensable. Manual operation risk, high cost, is gradually being replaced by increasingly advanced machinery and equipment, and underwater robots is one of a class of highly representative of equipment for the development of marine industry and marine scientific research has brought a huge boost.Based on collaborative innovation Center, Jiangsu Province, high-tech ship in 2015 project, involved in the development of a multifunctional, modular underwater robot ROV protype, and to explore the Sonar Image Recognition. Details are as follows:Firstly, based on the current status of domestic and foreign manufacture of underwater robots, and according to the technical requirements of the project, proposed a set of underwater robot research program. First, we carried out the body design according to program, including frame design, float design and selection of other key equipment components.Second, in cooperation with the premise of the body frame, complete water control systems and subsea control system design. Water control system includes a console panel and surface monitoring data acquisition software design. VC-based monitoring software development, with the image display and navigation information overlay function. Subsea control system includes a power supply module, motor drive module, communication module, voltage and current acquisition module, water leakage detection module. Wherein the master chip K60, kernel ARM-CORTEX-M4, and equipped ucos II embedded real-time operating system to ensure the timeliness and reliability of the control system, as well as facilitate the upgrading of the follow-up functions.Then carry out 852 sonar echo data acquisition, imaging and object recognition research. According to 852 sonar communication protocol,we complete sonar image data acquisition, after the beam is inserted within the coordinate transformation and conduct original image generation. In order to facilitate subsequent feature extraction, we have conducted a gray transform, median filtering and thresholding segmentation,finaly we completed image feature extraction based hough transform.Finally, onshore commissioning of the entire system, to meet the requirements, We conducted a series of tank tests. Experimental verification of the ROV can complete the advance and retreat, rotation, fixed depth, given Airlines and other sports, can be taken to clear objects underwater structures, to achieve the desired design objectives.