Research And Implementation Of Underwater Docking Display Control System Based On Visual Guidance

With the rapid development of China’s marine economy in recent years,the development of underwater autonomous robots has received high attention.Underwater docking technology,as an important technology for ensuring long-term observation of underwater robots,has become a hot research topic both domestically and internationally.With the innovation of industrial informationization and the sweeping trend of intelligence,the direction of marine unmanned systems is constantly moving towards intelligence.Intelligent marine unmanned systems have the characteristics of high automation,good flexibility,and long operation time.They can replace humans in certain specific or extensive marine areas to complete timeconsuming,repetitive,and dangerous tasks.The docking of underwater unmanned submersibles with underwater base stations is a widely used docking method in marine unmanned system research,and the design of the docking system is related to the operational efficiency,cost,safety,and other aspects of the system.Therefore,the study of this autonomous docking and recovery technology is of great significance.Given the above background,this paper focuses on the design of a vision-based underwater docking and recovery system,with the design and implementation of the recovery system as specific research objectives.Combined with actual application scenarios,a machine vision-based solution and system implementation for autonomous recovery of marine unmanned systems is proposed.Finally,the feasibility of the algorithm is verified through underwater autonomous docking experiments with real data,providing a reference for research on autonomous docking and recovery of marine unmanned systems.Based on the above background,this paper focuses on the design of a visionbased underwater docking and recovery system,and takes the design and implementation of the recovery system as the specific research objective.A machine vision-based autonomous recovery solution and system implementation for ocean unmanned systems is proposed,combined with practical application scenarios.Finally,the feasibility of the algorithm is verified through underwater autonomousdocking experiments using real data,providing a reference for the research on autonomous docking and recovery of ocean unmanned systems.Secondly,the underwater docking system is designed and fabricated,and system requirements analysis,feasibility analysis,and module design are conducted based on actual needs.The system contains the following three functional modules: information entry module,docking and recovery module,and unmanned underwater vehicle display control module.The unmanned underwater vehicle display control module is the core module.After the vision-based docking system is activated,the images generated by the camera are recognized and the position is estimated.The images are then displayed on the control interface to assist the underwater vehicle control system in adjusting its attitude.To facilitate further research,all data is saved to provide a postevent viewing function.Software testing shows that the system’s functionality,stability,and accuracy can meet practical application needs.