Research On The Monocular Single Lamp Vision Navigation System Applied On The Docking Of AUV

AUV can get energy supplies via underwater observation network docking,thus improving its endurance,and exchange the information with shore-based quickly.In order to improve the accuracy and success rate of docking,we use a high precision navigation the visual guide at the end of docking.This paper studies the mechanism of Monocular Single Lamp Vision Navigation.Through the analysis of the optical characteristics of the sea water,the characteristics of the camera and the characteristics of the LED light source,the hardware selection of the visual guidance system is used to improve the distance and range of visual guidance.This paper studies the principle of monocular single light guide visual angle calculation and put forward a strategy of object recognition based on monocular single lamp,with reduction in autonomous underwater vehicle(AUV)in the docking error judgment.This paper developed a prototype system based on monocular vision guided system,mainly including the transformation of small AUV,the design of a small underwater rotary dock,and the development of the system control software.Implement and optimize of the video image processing algorithm,increases the processing speed to full frame rate of 25 frames and improves the real-time visual guide which can satisfy the demands of the transferring system control cycle.The docking control algorithm which is suitable for small AUV and small rotary dock is studied.Through the pool experiment of the prototype system,single lamp based on monocular vision guided AUV is proved the feasibility and reliability of the docking,also verified the active rotation feeder stations is more advantageous to achieve the success of the AUV docking.