具有水样采集功能的观测型水下机器人的设计  

Design of Observation Underwater Robot with Water Sampling Function

作　　者：刘赫[1] 高兴 张成刚 千承辉[1] LIU He;GAO Xing;ZHANG Chenggang;QIAN Chenghui(College of Instrumentation&Electrical Engineering,Jilin University,Changchun 130061,China)

机构地区：[1]吉林大学仪器科学与工程学院,长春130061

出　　处：《吉林大学学报（信息科学版）》2020年第6期737-743,共7页Journal of Jilin University（Information Science Edition）

基　　金：吉林大学大学生创新创业训练计划国家级基金资助项目(2018A6515)。

摘　　要：为改善现阶段渔业养殖、水下环境监测、水质检测等领域人员作业困难、效率低下的问题,设计了一款具有水样采集功能的观测型水下机器人,该设计搭载了传感器和水样采集装置采集水体环境信息。首先进行了水样采集实验,验证其运动能力和水样采集能力。然后针对自然水域采集的图像,采取动态阈值白平衡的方法,去除光源强度和色偏的影响。最后使用对比度拉伸、直方图均衡、限制对比度自适应直方图均衡(CLAHE:Contrast Limited Adaptive Histogram Equalization) 3种算法进行图像增强,选取对比度、信息熵和平均梯度进行像质评价。实验结果表明,该设计具有操作灵活,交互性强的特点,CLAHE方法明显提升了水下图像细节,为科研实验、水下探测和环境保护等方面提供了新途径。To improve the current stage of aquaculture,underwater environment monitoring,water quality testing,and other fields of personnel operation difficulties,low efficiency,an observation type underwater robot with water sample collection function is designed. It is equipped with sensors and water sample collection devices to collect environmental water information. Firstly,the experiment of water sample collection is carried out to verify its movement ability and water sample collection ability. Then aiming at the images collected from natural waters,the dynamic threshold white balance method is used to eliminate the influence of light source intensity and color deviation. Finally,we use three algorithms: contrast stretch,histogram equalization and contrast limited adaptive histogram equalization( CLAHE: Contrast Limited Adaptive Histogram Equalization) to enhance the image,and choose contrast,information entropy,and average gradient to evaluate the image quality. The experimental results show that the design has the characteristics of flexible operation and strong interaction,and the CLAHE method improves the details of the underwater image. The design provides a new way for scientific research experiments,underwater environment detection,water quality detection,environmental protection,etc.

关 键 词：水下机器人 水样采集 图像增强 像质评价 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]