Research On Visual Feedback Control Technology Of Water Cannon Target Attack

The traditional method of water cannon control is to drive away the jamming vessel by manual control or electric control.With the rapid development of artificial intelligence,the automatic tracking and attack technology of water cannon has become a hot spot in the current research of water cannon.The closed-loop control technology of water cannon is the key difficulty of automatic tracking and attack technology.The thesis mainly studies the closed-loop control technology of water cannon target strike.And its purpose is to design a set of jet closed-loop control system for automatic strike and automatic adjustment of targets.In order to achieve full-time accurate ranging,a combined ranging method based on monocular and laser is designed.In view of the error problem in the calculation of the yaw angle and pitch angle of the water cannon due to the failure of the laser ranging during the water cannon strike,a combined ranging method with laser ranging as the main and monocular ranging as the supplement is designed;at the same time,a selfcalibrated monocular ranging method is proposed.Experiments have proved that this method can achieve accurate ranging of the target,with better ranging robustness and higher ranging accuracy.In order to achieve accurate strikes on the target,a photoelectric water cannon linkage method is designed to achieve the initial positioning of the target.First of all,the photoelectric is used to lock the target,and the calculation of the yaw angle of the water cannon is realized through the spatial coordinate conversion;the jet trajectory model is established,and the pitch angle of the water cannon is calculated,and the strike on the target is realized.In order to automatically judge whether the water cannon hits the target and realize the automatic adjustment of the strike direction,a closed-loop control method of jet flow based on image processing is designed.By comparing the position of the tracked target and the position difference of the jet landing point,it is judged whether the water cannon hits the target.If the target is not hit,a fine adjustment strategy and an iterative adjustment strategy are proposed for the horizontal strike deviation and the pitch strike deviation,respectively,to precisely strike the target.A large number of experiments have been carried out to build a verification platform,and the experiments show that the algorithm of this paper has better robustness and practicality in ranging.Aiming at the problem of striking sports targets,it can effectively solve the problem of strike deviation caused by interference due to environmental wind and other factors,and has a higher hit rate.