The Research On Mechanical Vision Terminal Guidance System For Autononous Undewater Vehicle Docking System

As the development of technology,the human take advantage of the autonomous underwater vehicle(AUV),for its long operating range and large endurance at low cost,to explore the marine resources,such as energy,mineral and biological resources.And the AUV is becoming more and more important in this field.This paper discusses the mechanical vision guidance system for the terminal docking of the AUV.This paper including three parts,the first is the simulation of the terminal guidance period.The second focuses on the programming of the video process software and the third part is the designing of the hardware.The software could fulfill the different algorithoms of image processing when the hardware is mounted in the AUV And it acts as an open platform for the operator to make more study on the underwater image processing and add new code to it.The operator could compare the differences between the origin video and the after processing video.The main function of the hardware system is to generate the signal in real time which is important in the control of the AUV through the processing of underwater video that is captured by the underwater camera.And the way to process the video has already been testified on the software.The signal could be sent by the hardware system through serial port to the computer in the AUV.The function of the simulation is to prove and imitate the terminal guidance period of the AUV.The math model includes dynamic math model,kinematic math model and the vision guidance system math model.The vision guidance system is equivalent to a feedback loop in the whole model.