Research On Sonar Image Target Tracking Of Underwater Working Robot And Design Of Water Surface Monitoring System

With the development of social economy,the natural resources on the land of our country gradually decrease,so it is extremely important for the development of marine resources.The remotely operated underwater vehicle(Remotely Operated Vehicle,or ROV)can replace humans in the survey and development of marine resources,reducing the risks in the development of marine resources.Effective tracking of the target is an important research content for the development of marine resources.To achieve real-time monitoring of the ROV body and effective tracking of the target,a complete water surface monitoring system and sonar image target tracking algorithm are required.In this paper,a set of underwater robot water surface monitoring system is designed according to the working requirements of underwater operation robots.On this basis,the sonar image enhancement algorithm based on ln function and the sonar image target tracking algorithm based on particle filtering are studied.The particle filter algorithm is applied to actual sonar image target tracking.The main research contents are as follows:First,the preprocessing algorithm of sonar image is studied.Aiming at the problem of long filtering time of traditional median filtering algorithm,one improved methods are proposed to shorten the filtering time effectively.Aiming at the problem of the loss of low gray value pixels in the traditional fuzzy enhancement algorithm,a new fuzzy enhancement algorithm based on ln function is proposed,and the algorithm is experimented at the same time,so that the target area and background area of the sonar image are compared Obviously enhanced,and the sonar image segmentation,morphological operations and feature extraction research.Then,to solve the problem of particle sampling based on the use of sub-optimal importance density function,a novel particle swarm optimization particle filter algorithm is designed.The particle swarm optimization algorithm is used to improve the sampling process of particle filtering,optimize the position of the particles,make the particles move to the high-likelihood area,accelerate the convergence rate of the particles,and apply the optimized particle filtering algorithm to sonar image target tracking Among.Finally,the hardware and software of the underwater surface monitoring system developed by this article are introduced,and the underwater surface monitoring system is tested.It includes: the test of each function module of the control board in the water surfacemonitoring system,the monitoring software communication test,the underwater light test,the underwater thruster test,the multi-screen display test,and the joint monitoring test of the water surface monitoring system and the underwater control system,The results show that the water surface monitoring system designed in this paper can meet the design requirements.