Motion Control Method Of Ship Model And Tracking Experiment Based On Binocular Vision

Marine equipment tends to maintain its position or navigate along planned routes through control systems that rely on its own location information,However,GPS and other positioning methods often used on actual ships seem to be inadequate indoors.In view of this situation,this paper introduces the binocular vision ranging technology into the indoor model research of ship motion control.The binocular vision system is used to feedback the position information of ship model in real time,and the control system controls the ship model according to the feedback information and target.For the binocular vision camera selected for the experimental research,checkerboard images were drawn using software,and the pictures were printed to make calibration plates.The camera is used to collect the calibration plate images of different fields of view,the toolbox is used to extract the corner points of the calibration plate in the image,and the single target is combined with the actual size,and the dual target is achieved based on the single target.Taking into account the accuracy and speed of left and right image matching in binocular vision positioning technology,combining the color characteristics of the experimental site and the geometric features of the ship model,a feature that is easy to identify is set on the ship model.In view of the actual application scene,the image preprocessing process is designed to extract the feature from the image,identify the feature according to the size of the feature,and realize the fast and accurate matching of binocular images.The comparison between the measurement of the object size using the binocular vision positioning system and the direct measurement of the object shows that the maximum error of the two measurement methods does not exceed 2.5%,the average error is 1.3%,and the measurement accuracy is high.The ship model wireless control system and program are designed,and the ship model is controlled by fixed heading and track tracking according to the position feedback of binocular vision ranging system.The control effect is good,and the ship model motion control and track tracking based on binocular vision are well realized.