22/08/31Ndemanga
Kumvetsetsa chilengedwe cha m'nyanja n'kofunika kwambiri pa ntchito zosiyanasiyana za pansi pa madzi, monga kufufuza zinthu zomwe zili m'madzi komanso kuyang'anira momwe madzi akuyendera. Ntchitozi sizingathe kuchitika popanda kulowererapo kwa magalimoto oyenda pansi pamadzi (AUVs). Kugwiritsa ntchito magalimoto oyenda pansi pamadzi odziyimira pawokha (AUVs), kuti athe kuchita ntchito zofufuza pansi pamadzi, ndikochepa.
chifukwa chosakwanira batire la m'bwalo ndi kusunga deta. Pofuna kuthana ndi vutoli, malo oikira pansi pamadzi amagwiritsidwa ntchito popereka mwayi wolipiritsa pansi pamadzi ndi kutumiza ma data a ma AUV. Malo opangira ma docking awa adapangidwa kuti akhazikike m'malo am'nyanja amphamvu, pomwe chipwirikiti komanso kuwala kochepa ndizovuta zazikulu zolepheretsa
Kuchita bwino kwa docking. Ma algorithms owongolera masomphenya otengera zolembera zogwira ntchito kapena zongokhala nthawi zambiri amagwiritsidwa ntchito kuwongolera AUV polowera kokwerera. Mu pepalali, tikupereka njira yoyendetsera masomphenya, pogwiritsa ntchito njira yodziwira zotsekera, kuchepetsa mphamvu ya turbidity, ndi kukana magwero osafunika a kuwala kapena zounikira zaphokoso, panthawi imodzi. Njira yodziwira zotsekera imakhoma pamayendedwe akuthwanima kwa ma bekoni omwe ali pa docking
station ndikuzimitsa bwino mphamvu ya kuwala kosafunika pamayendedwe ena. Njira yomwe ikugwiritsidwira ntchito imagwiritsa ntchito ma beacons awiri, otuluka pafupipafupi, oikidwa pamalo opangira docking ndi kamera imodzi ya sCMOS. Mayesero owonetsera umboni amachitidwa kuti asonyeze kulondola kwa njira yomwe ikuperekedwa. Zotsatira zomwe zapezedwa zikuwonetsa kuti njira yathu imatha kuzindikira ma beacons a kuwala pamitundu yosiyanasiyana ya turbidity, ndipo imatha kukana zosafunika.
kuwala popanda kugwiritsa ntchito mawonekedwe osiyana azithunzi pa sitepe iyi ya masomphenya-based algorithm algorithm. Kuchita bwino kwa njira yomwe ikufunsidwa kumatsimikiziridwa powerengera kuchuluka kwabwino kwa njira yodziwira pamlingo uliwonse wa turbidity.
Mkuyu. Mfundo yodziwira zotsekera.
Chithunzi a) Chojambula cha kamera yaiwisi chojambulidwa m'madzi omveka bwino ndi ma beacons owunikira, osinthidwa pa 63 Hz, oikidwa pa siteshoni ya docking yomwe ili pakatikati, ndi magwero awiri a kuwala akumbuyo akutuluka pa 55 Hz ndi 0 Hz. b) Zotsatira zabinarized pambuyo pozindikira zotsekera zimayikidwa pa 63 Hz. c) Chotsatira chophatikizidwira pambuyo pozindikira kutsekeka chimayikidwa pa 55 Hz.
Kusanthula kwaukadaulo wojambula zithunzi
Mayendedwe a Vsion-based navigation amathandizidwa ndi ma sensor optical, omwe amapezeka kuti amaposa ena potengera malo olondola kwambiri, kutsika kwapang'onopang'ono kwa kuzindikira kwakunja, komanso kuthekera kwa ntchito zingapo, koma amavutika ndi kuchepetsedwa ndi kufalikira kwa kuwala m'malo apansi pamadzi.
Komanso, matope, omwe amadza chifukwa cha matope omwe amawombedwa ndi AUV m'nyanja yakuya, angapangitse kugwiritsa ntchito njira zowonetsera masomphenya kukhala kovuta kwambiri. TheDhyana 400BSIkamera imapereka kusinthasintha kofunikira pakuyesa, ndi liwiro lapamwamba komanso chiŵerengero chapamwamba cha ma signal-to-phokoso, yokhoza kutulutsa zizindikiro zofooka m'phokoso, ndi kugwirizana ndi mapulogalamu kuti akwaniritse nthawi yotseka pazithunzi za nthawi.
Gwero lolozera
Amjad RT, Mane M, Amjad AA, et al. Kutsata ma beacons opepuka m'madzi achipwirikiti kwambiri ndikugwiritsa ntchito polowera pansi pamadzi[C]//Ocean Sensing ndi Monitoring XIV. SPIE, 2022, 12118: 90-97.
