22/08/31Abstract
Ukuqonda imeko-bume yaselwandle kubalulekile kwiimishini ezahlukeneyo zangaphantsi kwamanzi, ezifana nokufunyanwa kobutyebi kunye nokuhlola ubume obuphantsi kwamanzi. Le misebenzi ayinakwenziwa ngaphandle kokungenelela kweemoto ezizimeleyo eziphantsi kwamanzi (AUVs). Ukusetyenziswa kwezithuthi ezizimeleyo eziphantsi kwamanzi (AUVs), ukuze zibenakho ukwenza imisebenzi yokuhlola ngaphantsi kwamanzi, kulinganiselwe.
ngenxa yokungonelanga kwebhetri ekwibhodi kunye nomthamo wokugcina idatha. Ukoyisa le ngxaki, izikhululo zokumisa ngaphantsi kwamanzi zisetyenziselwa ukubonelela ngoncedo lokutshaja ngaphantsi kwamanzi nokudluliselwa kwedatha kwii-AUVs. Ezi zikhululo zokumisa ziyilelwe ukuba zifakwe kwimekobume yolwandle eguquguqukayo, apho ukukhukhumala kunye neemeko zokukhanya okuphantsi ziyimingeni engundoqo yokuthintela ulwandle.
ukusebenza ngempumelelo docking. I-algorithms yesikhokelo sombono esekwe kwiziphawuli ezisebenzayo okanye ezingenziyo zidla ngokusetyenziswa ukukhokela ngokuchanekileyo i-AUV ukuya kwisikhululo sokumisa. Kweli phepha, sicebisa indlela yesikhokelo esekwe kumbono, kusetyenziswa ukubonwa kwe-lock-in, ukunciphisa umphumo we-turbidity, kunye nokugatya imithombo yokukhanya engafunekiyo okanye izikhanyiso ezinomsindo, ngaxeshanye. Indlela yokufumanisa ukutshixa itshixa ukuqhwanyaza rhoqo kweebhikhoni zokukhanya ezibekwe kwindawo yokumisa
Isitishi kwaye sitshitshise ngempumelelo isiphumo sokukhanya okungafunekiyo kwezinye iifrikhwensi. Indlela ecetywayo isebenzisa iibhakhoni ezimbini zokukhanya, ezikhupha kwi-frequency esisigxina, efakwe kwisikhululo sokumisa esifanisiweyo kunye nekhamera ye-sCMOS enye. Uvavanyo lwengqikelelo yobungqina luyenziwa ukubonisa ubunyani bendlela ecetywayo. Iziphumo ezifunyenweyo zibonisa ukuba indlela yethu iyakwazi ukuqaphela iibhakhoni zokukhanya kumanqanaba ahlukeneyo e-turbidity, kwaye inokwala ngokufanelekileyo okungafunwayo.
ukukhanya ngaphandle kokusebenzisa ukusetyenzwa komfanekiso okwahlukileyo kweli nyathelo le-algorithm yesikhokelo esekwe kumbono. Ukusebenza kwendlela ecetywayo kuqinisekiswa ngokubala umlinganiselo oqinisekileyo wendlela yokufumanisa kwinqanaba ngalinye le-turbidity.
Umzobo Umgaqo-siseko wokufumanisa ukutshixa.
Umzobo a) Isakhelo sekhamera ekrwada efakwe kumanzi acacileyo kunye neebhakoni zokukhanya ezisebenzayo, ezimodyuliweyo kwi-63 Hz, ezifakwe kwisikhululo sokumisa esifanisiweyo kwiziko, kunye nemithombo emibini yokukhanya yangasemva ephuma kwi-55 Hz kunye ne-0 Hz. b) Isiphumo se-binarized emva kokufunyanwa kwe-lock-in isetyenziswe kwi-63 Hz. c) Isiphumo se-binarized emva kokufunyanwa kwe-lock-in isetyenziswe kwi-55 Hz.
Uhlalutyo lweteknoloji yokucinga
I-Vsion-based navigation incediswa ngama-optical sensors, afunyaniswa ukuba agqithise abanye ngokubhekiselele kwi-high-accuracy positioning, umngcipheko ophantsi wokufunyanwa kwangaphandle, kunye nomthamo wemisebenzi emininzi, kodwa uhlupheka ngenxa yokunciphisa kunye nokusabalalisa ukukhanya kwindawo engaphantsi kwamanzi.
Ngaphaya koko, ukubhukuqa, okubangelwa ludaka oluvuthululwe yi-AUV kumanzi anzulu olwandle, kunokwenza ukusebenzisa iindlela ezisekelwe kumbono kube nzima ngakumbi. IDhyana 400BSIikhamera ibonelela bhetyebhetye olufunekayo kwimifuniselo, kunye nesantya esiphezulu kunye nomlinganiselo ophezulu wesignali-kwingxolo, ekwazi ukukhupha iimpawu ezibuthathaka kwingxolo, kunye nokusebenzisana nesofthiwe ukufezekisa ukubonwa kwexesha lokutshixa kuchungechunge lwexesha lomfanekiso.
Umthombo weReferensi
Amjad RT, Mane M, Amjad AA, et al. Ukulandelelwa kweebhakhoni zokukhanya kumanzi anxunguphele kakhulu kunye nokufakwa kwidokhi ephantsi kwamanzi[C]//Ukuvava i-Ocean kunye nokuHlola XIV. I-SPIE, 2022, 12118: 90-97.
