Automatic Alignment Method of Underwater Charging Platform Based on Monocular Vision Recognition

To enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for an underwater charging platform based on monocular vision recognition. This method accurately identifies the UUV number and guides the charging stake to sm...

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Bibliographic Details
Published in:Journal of marine science and engineering 2023-06, Vol.11 (6), p.1140
Main Authors: Yu, Aidi, Wang, Yujia, Li, Haoyuan, Qiu, Boyang
Format: Article
Language:English
Subjects:
Accuracy
Adaptability
Algorithms
Alignment
Autonomous underwater vehicles
Cameras
Charging
Deep learning
Imaging techniques
Lasers
Machine learning
Methods
Monocular vision
Real time
real-time control
Sensors
Target recognition
thresholding
underwater image restoration
Underwater vehicles
Unmanned aerial vehicles
Unmanned underwater vehicles
visual servoing
Wavelet transforms
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Summary:To enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for an underwater charging platform based on monocular vision recognition. This method accurately identifies the UUV number and guides the charging stake to smoothly insert into the charging port of the UUV through target recognition. To decode the UUV’s identity information, even in challenging imaging conditions, an encryption encoding method containing redundant information and an ArUco code reconstruction method are proposed. To address the challenge of underwater target location determination, a target location determination method was proposed based on deep learning and the law of refraction. The method can determine the two-dimensional coordinates of the target location underwater using the UUV target spray position. To meet the real-time control requirements and the harsh underwater imaging environment, we proposed a target recognition algorithm to guide the charging platform towards the target direction. The practical underwater alignment experiments demonstrate the method’s strong real-time performance and its adaptability to underwater environments. The final alignment error is approximately 0.5548 mm, meeting the required alignment accuracy and ensuring successful alignment.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse11061140