基于图像识别的水下机器人自主避障系统
内容摘要：
随着人类海洋活动的发展，水下自主机器人成为海洋勘察和科学研究的重要装备。设计一种基于图像识别的水下机器人自主避障系统，在无人干预的条件下实现机器人水下自主巡航、规避障碍、上浮下潜和实时数据传输。该系统采用CMOS 模拟摄像头结合LM1881 视频分离芯片提取视频模拟信号，MC9S12XS128 单片机外部中断功能和内部AD 转换器转换成数字信号，被转换出来的数据直接使用边缘检测算法实现障碍物的识别。数字信号和视频流也会经nRF24L01 无线数据模块传到上位机，上位机将数据接收后进行相应显示，并可直接显示视频流，对水下环境进行实时监控。同时无线视频采集卡的影像模块采用OpenCV 库进行的二次开发，完成上位机更加复杂的图像识别算法。并通过实例进行实验验证。实验结果表明，该系统能通过图像识别实现自主的水底探测和避障，具有较高的性价比和实用价值。
关键词：
图像识别；水下机器人；边缘检测算法；OpenCV
中图分类号：TP242 文献标志码：A
Abstract: With the development of human activities in the oceans, underwater autonomous robots have become
important equipments for marine surveying and scientific research. In this paper, an avoidance system of autonomous
underwater vehicle (AUV) is designed based on the image recognition technology, implementing underwater autonomous
cruise, avoiding obstacles, floating and diving, real-time data transmission. The system uses a CMOS analog camera and
LM1881 video separation chip to extract the analog video signal. The analog video signal is converted to digital signal by
the MC9S12XS128 single chip external interruption function and internal AD transducer. Then the edge detection algorithm
is used to recognize obstacles through the digital video signal. The digital signal and video streaming will be transmitted to
the upper computer by nRF24L01 wireless data module. After the data is received, the program running on the host
computer will display the data and picture to the screen, in order to monitor the underwater situation in real-time. At the
same time, the video module of wireless video collection card uses OpenCV base to secondary development and realize
more complex algorithm of upper PC. The results show that system realizes functions of obstacle avoidance and underwater
surveying, thus indicating higher cost performance and practical significance.
Keywords: image recognition; underwater robot; edge detection algorithm; OpenCV
