基于光学图像的水下锚链姿态识别方法研究  

Research on underwater anchor chain pose recognition method based on optical images

作　　者：黄侃 刘积昊[1] 林志良[1] HUANG Kan;LIU Jihao;LIN Zhiliang(State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学海洋工程全国重点实验室,上海200240

出　　处：《海洋工程》2024年第6期52-59,共8页The Ocean Engineering

基　　金：国家自然科学基金项目(51979162,52371287);上海交通大学“深蓝计划”基金项目(SL2021MS019)。

摘　　要：针对水下锚链姿态估计问题,提出了一种基于光学图像的姿态识别方法。该方法使用光学相机获取水下锚链的局部图像,通过图像处理方法提取锚链的外形特征,并且根据水下锚链的悬链线方程模型,由局部的光学图像推演出完整锚链的姿态信息。针对该方法,阐述了其基本原理与流程,设计完成了微缩比例水槽试验,通过动、静态锚链的姿态识别试验验证该方法的有效性。试验结果表明:静态锚链姿态识别试验时的锚链水平跨度误差不超过5%;水面处系泊点匀速运动情况下,动态锚链的运动状态识别与真实运动趋势基本一致,误差为2.393%。研究成果证明了该水下锚链姿态识别方法的可靠性,为后续实际工程应用提供了理论基础支撑。Addressing the issue of underwater anchor chain pose estimation,this study introduces a pose recognition method based on optical images.This approach utilizes an optical camera to capture localized images of the underwater anchor chain,extracts the chain’s contour features through image processing techniques,and deduces the complete anchor chain’s pose information from localized optical images based on the catenary equation model of the underwater anchor chain.The basic principles and procedures of this method are explicated,and a scaled-down flume experiment was designed and conducted.The efficacy of this method was verified through both dynamic and static anchor chain pose recognition experiments.Experimental results indicated that the error in the horizontal span of the static anchor chain during pose recognition trials did not exceed 5%.Under uniform motion conditions at the water surface mooring point,the dynamic chain’s motion state recognition was essentially consistent with the actual motion trend,with an error of 2.393%.The research findings attest to the reliability of this underwater anchor chain pose recognition method,laying a theoretical foundation for subsequent practical engineering applications.

关 键 词：水下检测 水下锚链 悬链线方程 图像处理 试验研究 

分 类 号：P754[天文地球—海洋科学]