为了提高船舶的自主控制能力和运行效率，研究图像处理技术在船舶智能控制器中的应用。利用摄像机采集船舶图像，获取持续更新的船舶序列图像。采用大津法确定船舶目标提取阈值，利用背景差分法提取船舶图像目标。从船舶图像目标中，提取船舶位置、船舶尺寸、船舶航向角、船舶航行速度，作为船舶智能控制的运动态势参数。利用船舶运动态势参数中的位置矢量与速度矢量，构建船舶的动力学模型、船舶的积分滑模控制面，设计船舶智能控制器，实现船舶航行的智能控制。实验结果表明，采用该方法控制船舶，船舶的实际舵角与期望舵角相差较小，可有效提升船舶的自主控制能力。
In order to improve the autonomous control capability and operational efficiency of ships, the application of image processing technology in ship intelligent controllers is studied. Use a camera to capture ship images and obtain continuously updated ship sequence images. The Otsu method is used to determine the threshold for extracting ship targets, and the background difference method is used to extract ship image targets. Extract ship position, ship size, ship heading angle, and ship sailing speed from ship image targets as motion state parameters for intelligent ship control. By utilizing the position vector and velocity vector in the ship motion situation parameters, a dynamic model of the ship is constructed, and an integral sliding mode control surface of the ship is designed. An intelligent controller for the ship is designed to achieve intelligent control of ship navigation. The experimental results show that using this method to control the ship, the actual rudder angle of the ship is relatively small compared to the expected rudder angle, effectively improving the ship's autonomous control ability.
2024,46(13): 158-161 收稿日期：2024-03-12
DOI：10.3404/j.issn.1672-7649.2024.13.028
分类号：U676
作者简介：田景娜(1981-),女,硕士,副教授,研究方向为三维动画设计
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