CN112810753A - Self-adaptive underwater scene response system - Google Patents
Self-adaptive underwater scene response system Download PDFInfo
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- CN112810753A CN112810753A CN202011286135.0A CN202011286135A CN112810753A CN 112810753 A CN112810753 A CN 112810753A CN 202011286135 A CN202011286135 A CN 202011286135A CN 112810753 A CN112810753 A CN 112810753A
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- reef
- anchor
- ship anchor
- ship
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention relates to a self-adaptive underwater scene responding system, which comprises: the anchor body driving mechanism is arranged on the ship body, positioned above the ship anchor, connected with the ship anchor through a rigid material and used for carrying out emergency lifting operation on the ship anchor so as to avoid that the ship anchor cannot anchor when the ship anchor is blocked with reefs when reef targets with typical scene depth being lower than a preset depth-of-field threshold value exist in the plurality of residual reef targets; the anchor body driving mechanism is further used for performing a slow release operation on the ship anchor when a reef target with a typical scene depth being higher than a preset depth of field threshold value does not exist in the rest of the reef targets. The adaptive underwater scene coping system has wide application and stable operation. The method can determine whether to execute the slow release operation or the emergency lifting operation on the ship anchor according to the existence state of the reefs in the underwater scene under the ship anchor, thereby improving the intelligent level of ship management.
Description
Technical Field
The invention relates to the field of self-adaptive control, in particular to a self-adaptive underwater scene coping system.
Background
The self-adaptive control is the same as the conventional feedback control and the optimal control, and is a control method based on a mathematical model, and the difference is that the prior knowledge about the model and the disturbance, which is the basis of the self-adaptive control, is less, and the information about the model needs to be continuously extracted in the running process of the system, so that the model is gradually improved. Specifically, the model parameters may be continuously identified based on the input and output data of the object, which is called online identification of the system.
With the continuous production process, the model becomes more accurate and closer to reality through online identification. Since models are constantly being developed, it is clear that the control actions integrated on the basis of such models will also be constantly being developed. In this sense, the control system has a certain adaptability. For example, when the system is in the design stage, the system may not perform well when being put into operation at the beginning due to the lack of initial information of the object characteristics, but as long as a period of operation elapses, the control system gradually adapts to adjust itself to a satisfactory working state through online identification and control. For example, in some control objects, the characteristics of the control objects may change significantly during operation, but the system can adapt gradually by identifying and changing the controller parameters online.
In the prior art, when a large reef target in a short distance exists below the ship anchor, the ship anchor needs to be emergently lifted to avoid the situation that the ship anchor blocks the reef and cannot be anchored, otherwise, the ship anchor can be slowly descended to realize the fixed operation of the ship anchor on the ship. However, in the prior art, a reef detection mechanism of an underwater scene below a ship anchor does not exist, and corresponding control operation cannot be naturally realized.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a self-adaptive underwater scene responding system which can determine whether to execute a slow release operation or an emergency lifting operation on a ship anchor according to the existence state of reefs in an underwater scene below the ship anchor, so that the intelligent level of ship management is improved.
For this reason, the present invention needs to have at least the following key points:
(1) monitoring whether a large reef target with a short distance exists below the ship anchor in real time, and when the large reef target with the short distance exists, performing emergency lifting operation on the ship anchor to avoid that the ship anchor can not be anchored due to the fact that the ship anchor is blocked with reefs;
(2) an anchor body driving mechanism including a direct current motor, a direction adjusting unit and a speed control unit is introduced to perform a slow release operation or an emergency lifting operation on a ship anchor according to an underwater environment.
According to an aspect of the present invention, there is provided an adaptive underwater scene coping system, the system comprising:
the water pressure measuring mechanism is arranged on a shell of the ship anchor and used for sending a first driving command when detecting that the water pressure currently borne by the ship anchor is greater than or equal to a preset pressure threshold value.
More specifically, in the adaptive underwater scene coping system:
the water pressure measuring mechanism is further used for sending a second driving command when the water pressure currently borne by the ship anchor is detected to be smaller than the preset pressure threshold value.
More specifically, in the adaptive underwater scene coping system, the system further includes:
the watertight camera is packaged at the bottom of the ship anchor, is electrically connected with the water pressure measuring mechanism, and is used for entering an operation mode from a dormant mode when receiving the first driving command so as to start the visual data acquisition of the underwater environment below the ship anchor and obtain an instant water scene image;
the first denoising mechanism is packaged in a shell of the ship anchor, is connected with the watertight camera and is used for executing guide filtering processing on the received instant waterscape image so as to obtain a first denoising image;
the second denoising mechanism is arranged near the first denoising mechanism, connected with the first denoising mechanism and used for executing direction filtering processing on the received first denoised image to obtain a second denoised image;
the signal enhancement equipment is packaged in the shell of the ship anchor, is connected with the second denoising mechanism, and is used for executing image SVD enhancement processing on the received second denoising image to obtain a current enhancement image;
the reef identification mechanism is connected with the signal enhancement equipment and is used for identifying each reef target from the current enhanced image based on reef color imaging characteristics and removing the reef target with the occupying area smaller than a preset area threshold value from each reef target to obtain a plurality of remaining reef targets;
the field judgment equipment is connected with the reef identification mechanism and is used for executing the following actions on each remaining reef target: detecting each depth of field of each pixel point in the reef target, performing redundancy removal processing on each numerical value corresponding to each depth of field to obtain a plurality of different numerical values, and outputting the numerical value with the highest frequency of occurrence in the plurality of different numerical values as the typical depth of field of the reef target;
the anchor body driving mechanism is arranged on the ship body, is positioned above the ship anchor, is connected with the ship anchor through a rigid material, is electrically connected with the field judgment equipment, and is used for carrying out emergency lifting operation on the ship anchor so as to avoid that the ship anchor cannot be anchored when the ship anchor is clamped with reefs when reefs with typical scene depth being higher than a preset depth of field threshold value exist in the remaining plurality of reefs;
the anchor body driving mechanism is further used for performing a slow release operation on the ship anchor when a reef target with a typical scene depth being higher than a preset depth-of-field threshold value does not exist in the rest of reef targets;
the anchor body driving mechanism comprises a direct current motor, a direction adjusting unit and a speed control unit, and the speed control unit is connected with the direct current motor;
wherein a speed at which the anchor driving mechanism performs the emergency lifting operation has a value three times or more a value of a speed at which the slow release operation is performed.
The adaptive underwater scene coping system has wide application and stable operation. The method can determine whether to execute the slow release operation or the emergency lifting operation on the ship anchor according to the existence state of the reefs in the underwater scene under the ship anchor, thereby improving the intelligent level of ship management.
Detailed Description
Embodiments of the adaptive underwater scene coping system of the present invention will be described in detail below.
Ships (boats and ships), a general term for various ships. A ship is a vehicle which can be sailed or moored in a water area for transportation or operation, and has different technical performances, equipment and structural types according to different use requirements. A ship is a man-made vehicle that operates primarily in geographic water. In addition, a civil ship is generally called a ship, a military ship is called a ship, and a small-sized ship is called a boat or a boat, which is collectively called a ship or a boat. The interior mainly comprises a containment space, a support structure and a drainage structure, with a propulsion system using an external or self-contained energy source. The appearance is generally favorable for overcoming the streamline envelope of the fluid resistance, the materials are continuously updated along with the technological progress, the early materials are natural materials such as wood, bamboo, hemp and the like, and the modern materials are mostly steel, aluminum, glass fiber, acrylic and various composite materials.
The ship is composed of a plurality of parts, and can be comprehensively summarized into three major parts, namely a ship body, a ship power device, ship electricity and the like according to the functions and purposes of the parts. The hull is an essential part of the ship and can be divided into a main body part and a superstructure part. The main body part is generally the part below the upper deck, which is a hollow body with a specific shape enclosed by the hull (bottom and sides) and the upper deck, and is the key part for ensuring the required buoyancy, navigation performance and hull strength of the ship. The hull is generally used for deploying power plants, loading cargo, storing fuel and fresh water, and deploying other various compartments.
In the prior art, when a large reef target in a short distance exists below the ship anchor, the ship anchor needs to be emergently lifted to avoid the situation that the ship anchor blocks the reef and cannot be anchored, otherwise, the ship anchor can be slowly descended to realize the fixed operation of the ship anchor on the ship. However, in the prior art, a reef detection mechanism of an underwater scene below a ship anchor does not exist, and corresponding control operation cannot be naturally realized.
In order to overcome the defects, the invention builds a self-adaptive underwater scene coping system, and can effectively solve the corresponding technical problem.
The self-adaptive underwater scene handling system shown according to the embodiment of the invention comprises:
the water pressure measuring mechanism is arranged on a shell of the ship anchor and used for sending a first driving command when detecting that the water pressure currently borne by the ship anchor is greater than or equal to a preset pressure threshold value.
Next, a detailed description of the structure of the adaptive underwater scene coping system of the present invention will be continued.
In the adaptive underwater scene coping system:
the water pressure measuring mechanism is further used for sending a second driving command when the water pressure currently borne by the ship anchor is detected to be smaller than the preset pressure threshold value.
The adaptive underwater scene handling system can further comprise:
the watertight camera is packaged at the bottom of the ship anchor, is electrically connected with the water pressure measuring mechanism, and is used for entering an operation mode from a dormant mode when receiving the first driving command so as to start the visual data acquisition of the underwater environment below the ship anchor and obtain an instant water scene image;
the first denoising mechanism is packaged in a shell of the ship anchor, is connected with the watertight camera and is used for executing guide filtering processing on the received instant waterscape image so as to obtain a first denoising image;
the second denoising mechanism is arranged near the first denoising mechanism, connected with the first denoising mechanism and used for executing direction filtering processing on the received first denoised image to obtain a second denoised image;
the signal enhancement equipment is packaged in the shell of the ship anchor, is connected with the second denoising mechanism, and is used for executing image SVD enhancement processing on the received second denoising image to obtain a current enhancement image;
the reef identification mechanism is connected with the signal enhancement equipment and is used for identifying each reef target from the current enhanced image based on reef color imaging characteristics and removing the reef target with the occupying area smaller than a preset area threshold value from each reef target to obtain a plurality of remaining reef targets;
the field judgment equipment is connected with the reef identification mechanism and is used for executing the following actions on each remaining reef target: detecting each depth of field of each pixel point in the reef target, performing redundancy removal processing on each numerical value corresponding to each depth of field to obtain a plurality of different numerical values, and outputting the numerical value with the highest frequency of occurrence in the plurality of different numerical values as the typical depth of field of the reef target;
the anchor body driving mechanism is arranged on the ship body, is positioned above the ship anchor, is connected with the ship anchor through a rigid material, is electrically connected with the field judgment equipment, and is used for carrying out emergency lifting operation on the ship anchor so as to avoid that the ship anchor cannot be anchored when the ship anchor is clamped with reefs when reefs with typical scene depth being higher than a preset depth of field threshold value exist in the remaining plurality of reefs;
the anchor body driving mechanism is further used for performing a slow release operation on the ship anchor when a reef target with a typical scene depth being higher than a preset depth-of-field threshold value does not exist in the rest of reef targets;
the anchor body driving mechanism comprises a direct current motor, a direction adjusting unit and a speed control unit, and the speed control unit is connected with the direct current motor;
wherein a speed at which the anchor driving mechanism performs the emergency lifting operation has a value three times or more a value of a speed at which the slow release operation is performed.
In the adaptive underwater scene coping system:
and the watertight camera is also used for entering a working mode from an operation mode when receiving the second driving command so as to stop the acquisition of the visual data of the underwater environment below the ship anchor.
The adaptive underwater scene handling system can further comprise:
the field timing equipment is connected with the signal enhancement equipment and is used for providing a timing reference signal for the signal enhancement equipment;
the field timing equipment is also connected with the reef identification mechanism and used for providing timing reference signals for the reef identification mechanism.
In the adaptive underwater scene coping system:
the field timing device is also connected with the field judgment device and used for providing a timing reference signal for the field judgment device;
the signal enhancement device, the reef identification mechanism and the field judgment device are connected with the same power supply device and are used for respectively obtaining required power supply power from the power supply device.
In the adaptive underwater scene coping system:
the signal enhancement device, the reef identification mechanism and the field judgment device are arranged on the same flexible circuit board.
The adaptive underwater scene handling system can further comprise:
and the leakage protection circuit is connected with the signal enhancement equipment and is used for providing leakage protection service for the signal enhancement equipment.
The adaptive underwater scene handling system can further comprise:
and the CMOS sensor is arranged on the shell of the signal enhancement equipment and is used for acquiring images of the surrounding environment of the signal enhancement equipment.
In addition, in the adaptive underwater scene coping system, a Complementary Metal-Oxide-Semiconductor (CMOS) is known as a Complementary Metal Oxide Semiconductor (CMOS), which is an important chip in a computer system and stores the most basic data for system guidance. The CMOS manufacturing technology is not different from that of a common computer chip, and mainly utilizes a semiconductor made of two elements, namely silicon and germanium, so that N (band-electric) and P (band + electric) level semiconductors coexist on the CMOS, and the current generated by the two complementary effects can be recorded and interpreted into an image by a processing chip. CMOS has later been processed to also serve as an image sensor in digital photography. For portable applications independent of the power grid, CMOS technology, which is known for its low power consumption characteristics, has a clear advantage: CMOS image sensors are designed for 5V and 3.3V supply voltages. The CCD chip requires a power supply voltage of about 12V, and therefore a voltage converter has to be employed, resulting in an increase in power consumption. Integrating control and system functions into a CMOS sensor would provide another benefit in terms of overall power consumption: he removes all external connection lines to other semiconductor elements. Drivers with their high power consumption have been abandoned today because the energy consumed to communicate inside the chip is much lower than with external implementations through a PCB or substrate.
In the foregoing, although the present disclosure discusses the embodiments of the present invention, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure as claimed in the appended claims.
Claims (9)
1. An adaptive underwater scene coping system, comprising:
the water pressure measuring mechanism is arranged on a shell of the ship anchor and used for sending a first driving command when detecting that the water pressure currently borne by the ship anchor is greater than or equal to a preset pressure threshold value.
2. The adaptive underwater scene coping system according to claim 1, wherein:
the water pressure measuring mechanism is further used for sending a second driving command when the water pressure currently borne by the ship anchor is detected to be smaller than the preset pressure threshold value.
3. The adaptive underwater scene coping system according to claim 2, wherein the system further comprises:
the watertight camera is packaged at the bottom of the ship anchor, is electrically connected with the water pressure measuring mechanism, and is used for entering an operation mode from a dormant mode when receiving the first driving command so as to start the visual data acquisition of the underwater environment below the ship anchor and obtain an instant water scene image;
the first denoising mechanism is packaged in a shell of the ship anchor, is connected with the watertight camera and is used for executing guide filtering processing on the received instant waterscape image so as to obtain a first denoising image;
the second denoising mechanism is arranged near the first denoising mechanism, connected with the first denoising mechanism and used for executing direction filtering processing on the received first denoised image to obtain a second denoised image;
the signal enhancement equipment is packaged in the shell of the ship anchor, is connected with the second denoising mechanism, and is used for executing image SVD enhancement processing on the received second denoising image to obtain a current enhancement image;
the reef identification mechanism is connected with the signal enhancement equipment and is used for identifying each reef target from the current enhanced image based on reef color imaging characteristics and removing the reef target with the occupying area smaller than a preset area threshold value from each reef target to obtain a plurality of remaining reef targets;
the field judgment equipment is connected with the reef identification mechanism and is used for executing the following actions on each remaining reef target: detecting each depth of field of each pixel point in the reef target, performing redundancy removal processing on each numerical value corresponding to each depth of field to obtain a plurality of different numerical values, and outputting the numerical value with the highest frequency of occurrence in the plurality of different numerical values as the typical depth of field of the reef target;
the anchor body driving mechanism is arranged on the ship body, is positioned above the ship anchor, is connected with the ship anchor through a rigid material, is electrically connected with the field judgment equipment, and is used for carrying out emergency lifting operation on the ship anchor so as to avoid that the ship anchor cannot be anchored when the ship anchor is clamped with reefs when reefs with typical scene depth being higher than a preset depth of field threshold value exist in the remaining plurality of reefs;
the anchor body driving mechanism is further used for performing a slow release operation on the ship anchor when a reef target with a typical scene depth being higher than a preset depth-of-field threshold value does not exist in the rest of reef targets;
the anchor body driving mechanism comprises a direct current motor, a direction adjusting unit and a speed control unit, and the speed control unit is connected with the direct current motor;
wherein a speed at which the anchor driving mechanism performs the emergency lifting operation has a value three times or more a value of a speed at which the slow release operation is performed.
4. The adaptive underwater scene coping system according to claim 3, wherein:
and the watertight camera is also used for entering a working mode from an operation mode when receiving the second driving command so as to stop the acquisition of the visual data of the underwater environment below the ship anchor.
5. The adaptive underwater scene coping system according to claim 4, wherein the system further comprises:
the field timing equipment is connected with the signal enhancement equipment and is used for providing a timing reference signal for the signal enhancement equipment;
the field timing equipment is also connected with the reef identification mechanism and used for providing timing reference signals for the reef identification mechanism.
6. The adaptive underwater scene coping system according to claim 5, wherein:
the field timing device is also connected with the field judgment device and used for providing a timing reference signal for the field judgment device;
the signal enhancement device, the reef identification mechanism and the field judgment device are connected with the same power supply device and are used for respectively obtaining required power supply power from the power supply device.
7. The adaptive underwater scene coping system according to claim 6, wherein:
the signal enhancement device, the reef identification mechanism and the field judgment device are arranged on the same flexible circuit board.
8. The adaptive underwater scene correspondence system of claim 7, further comprising:
and the leakage protection circuit is connected with the signal enhancement equipment and is used for providing leakage protection service for the signal enhancement equipment.
9. The adaptive underwater scene coping system according to claim 8, wherein the system further comprises:
and the CMOS sensor is arranged on the shell of the signal enhancement equipment and is used for acquiring images of the surrounding environment of the signal enhancement equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011286135.0A CN112810753A (en) | 2020-11-17 | 2020-11-17 | Self-adaptive underwater scene response system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011286135.0A CN112810753A (en) | 2020-11-17 | 2020-11-17 | Self-adaptive underwater scene response system |
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| CN112810753A true CN112810753A (en) | 2021-05-18 |
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| CN202011286135.0A Withdrawn CN112810753A (en) | 2020-11-17 | 2020-11-17 | Self-adaptive underwater scene response system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118411808A (en) * | 2024-04-24 | 2024-07-30 | 南京连务汇科技有限公司 | Fire safety alarm system based on interval big data analysis |
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| CN102176132A (en) * | 2011-02-24 | 2011-09-07 | 浙江海洋学院 | Ship mooring remote control device and method |
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Application publication date: 20210518 |