为了更好地提高舰船水下维护能力，针对现有水下机器人视频系统清晰度低、对比度低以及工作时海洋生物附着的问题，本文设计了一套用于舰船监测的水下机器人视频系统。通过光场分布实验仿真，计算一种水下灯的方案，能够将光场分布效果达到最佳；利用超声波传感器，设计一种新型的可自清洁的水下灯，能够有效防止生物附着。该系统优化了水下灯和水下摄像机的配置方案，确定了光源方向角和摄像机安装位置，跟现有的视频系统相比，显著提高了清晰度和对比度。该系统可达到2592×1944分辨率、25 fps帧率的摄像机视频信号和水下灯的控制信号传输效果。经过实验验证，该系统可以很好地提高水下成像效果，增强舰船水下维护能力。
In order to better improve the underwater maintenance capabilities of ships, this paper designs a set of underwater robot video systems for ship monitoring in view of the problems of low definition, low contrast and marine organisms in the existing underwater robot video systems. Through the experimental simulation of light field distribution, a scheme of underwater lamp is calculated, which can achieve the best light field distribution effect. Using ultrasonic sensors, a new type of self-cleaning underwater lamp was designed, which can effectively prevent biological attachment. The system optimizes the configuration of underwater lights and underwater cameras, determines the direction angle of the light source and the installation position of the camera, and significantly improves the clarity and contrast compared to the existing video system.The system can achieve 2592×1 944 resolution, 25 fps frame rate camera video signal and underwater lamp control signal transmission effect. It has been verified by experiments that the system can improve the underwater imaging effect and enhance the ship's underwater maintenance capability.
2024,46(3): 116-120 收稿日期：2023-01-18
DOI：10.3404/j.issn.1672-7649.2024.03.020
分类号：U665
基金项目：国家自然科学基金资助项目（62271236，12171205）；江苏省自然资源发展专项资金资助（海洋科技创新）项目（JSZRHYKJ202116）；研究生科研与实践创新计划项目（KYCX2021-053, KYCX22_3395）
作者简介：杨淼(1978-),女,教授,研究方向为海洋信息处理、人工智能及其应用、计算机应用技术、智能信息处理等
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