22/08/31Abtract
Fahimtar yanayin teku yana da mahimmanci ga ayyuka iri-iri na ƙarƙashin ruwa, kamar gano albarkatun ƙasa da kuma duba tsarin ruwa. Ba za a iya aiwatar da waɗannan ayyuka ba tare da sa hannun motocin da ke ƙarƙashin ruwa masu zaman kansu (AUVs). Amfani da motocin karkashin ruwa masu zaman kansu (AUVs), don yuwuwar aiwatar da ayyukan binciken ruwa, yana da iyaka.
saboda rashin isassun batir na kan jirgi da ƙarfin ajiyar bayanai. Don shawo kan wannan matsala, ana amfani da tashoshin jiragen ruwa don samar da wurin cajin ruwa da canja wurin bayanai don AUVs. An tsara waɗannan tashoshin jiragen ruwa don shigar da su a cikin yanayin teku mai ƙarfi, inda turbidity da ƙarancin haske sune manyan ƙalubalen don hana ruwa.
nasarar aikin docking. Algorithms jagorar hangen nesa dangane da alamomi masu aiki ko masu wucewa ana amfani da su sosai don jagorantar AUV daidai zuwa tashar jirgin ruwa. A cikin wannan takarda, muna ba da shawarar hanyar jagora ta tushen hangen nesa, ta amfani da gano kulle-kulle, don rage tasirin turɓaya, da ƙin tushen hasken da ba'a so ko fitilun hayaniya, a lokaci guda. Hanyar gano kulle-kulle tana kulle akan mitar fitilun haske da ke wurin docking
tasha kuma yayi nasarar bacewa tasirin hasken da ba'a so a wasu mitoci. Hanyar da aka tsara tana amfani da fitilun haske guda biyu, masu fitarwa a ƙayyadaddun mitoci, an sanya su a tashar tashar jiragen ruwa da aka kwaikwayi da kyamarar sCMOS guda ɗaya. Ana yin gwaje-gwajen tabbatar da ra'ayi don nuna ingancin tsarin da aka tsara. Sakamakon da aka samu ya nuna cewa hanyarmu tana iya gane fitilun haske a matakan turbidity daban-daban, kuma yana iya ƙi da maras so da kyau.
haske ba tare da amfani da sarrafa hoto daban ba don wannan matakin na tushen hangen nesa algorithm. Ana tabbatar da ingancin hanyar da aka tsara ta hanyar ƙididdige ƙimar ingantaccen ƙimar hanyar ganowa a kowane matakin turbidity.
Hoto. Ka'idar gano kulle-kulle.
Hoto a) Raw firam ɗin kyamarar da aka ɗauka a cikin ruwa mai haske tare da fitilun haske mai aiki, wanda aka daidaita a 63 Hz, an shigar da shi akan tashar docking ɗin da aka kwaikwayi a tsakiya, da maɓuɓɓugan hasken baya guda biyu suna fitowa a 55 Hz da 0 Hz. b) Sakamakon binarized bayan gano kulle-kulle ana amfani da shi a 63 Hz. c) Sakamakon binarized bayan gano kulle-kulle ana amfani da shi a 55 Hz.
Binciken fasahar hoto
Ana amfani da kewayawa na tushen Vsion ta hanyar na'urori masu auna firikwensin gani, wanda aka samo ya fi dacewa da wasu dangane da matsayi mai mahimmanci, rashin lahani ga ganowa na waje, da kuma iya aiki don ayyuka masu yawa, amma yana fama da raguwa da watsawa na haske a cikin yanayin karkashin ruwa.
Bugu da ƙari kuma, turbidity, lalacewa ta hanyar laka hura sama da AUV a cikin zurfin teku, na iya sa aikace-aikace na hangen nesa hanyoyin ma mafi kalubale. TheFarashin 400BSIkamara yana ba da sassaucin da ake buƙata don gwaje-gwaje, tare da babban sauri da babban sigina-zuwa amo rabo, mai iya cire sigina mara ƙarfi a cikin amo, da haɗin gwiwa tare da software don cimma gano lokacin kulle-kulle akan jerin lokutan hoto.
Madogararsa Madogararsa
Amjad RT, Mane M, Amjad AA, et al. Bin diddigin fitilun haske a cikin ruwa mai ƙaƙƙarfan turɓaya da aikace-aikace zuwa tashar ruwa ta ƙarƙashin ruwa[C]// Sensing na Teku da Kulawa XIV. SPIE, 2022, 12118: 90-97.
