| When a ship is operating at sea,it will be affected by sea wind and waves,which will cause certain rocking movement of the ship,which will seriously interfere with the work on the ship deck.Especially,the safety of the personnel cannot be guaranteed when the personnel transfer between the ships or between the ships and the Marine buildings.Aiming at the problems of low efficiency and high-risk factor of traditional sea transfer method,a new type of sea transfer equipment is designed,and a binocular vision system is established to identify and locate the target at the end of the transfer equipment,and the motion control of the ship transport platform is studied.The main contents of this paper are as follows:For traditional change to the way the problem of low efficiency and poor safety,analyze the existing maritime transfer equipment,a clear functional requirements and design the overall program,a kinematics model of the institution,the movement characteristics analysis,then on the organization’s work to find the solution space,to one of the key structure parameters using optimization algorithm for the optimal value,in accordance with the requirements of stress analysis and functional design mechanical structure of the ship transportation platform,and the structure was optimized according to the results of the simulation of statics.Aimed at the end of the conveying channel by problem,at the end of the introduction of binocular vision system,using binocular vision for target depth information,so as to get the ship transport platform and the relative position on the target,binocular vision system work includes camera calibration,image processing,based on the geometric shape feature matching and depth information,finally complete identification characteristics and calculate the relative position of a given target.In this paper,the motion control problem of ship conveying platform is studied.The gate path planning based on visual information and the interpolation optimization of control signal considering the calculation delay of visual system are carried out.The intelligent optimization algorithm class topper optimization algorithm is introduced into PID control method to optimize the parameters of PID control method,and the hydraulic system model of ship conveying platform is established the step response of different algorithms is analyzed,and the performance difference is compared.Finally,the hydraulic drive simulation model of the whole system is built to verify the effectiveness of the algorithm.The prototype of ship conveying platform is made,and the control system is built with NIcRIO-9033 controller.The control experiment and visual following experiment are carried out to verify the effectiveness of PID control based on class topper optimization algorithm and the improvement of system performance after visual output control signal interpolation optimization. |
