2012-11 兵工自动化
31(11) Ordnance Industry Automation ·87·
doi: 10.3969/j.issn.1006-1576.2012.11.023
基于图像识别的水下机器人自主避障系统
秦峰1，刘甜甜1，尤海鹏2，麦宇庭3，赵黎明3，陈言俊1
(1. 山东大学工程训练中心，济南250002；2. 山东大学控制科学与工程学院，济南250061；
3. 山东大学软件学院，济南250101)
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
Autonomous Avoidance System of Underwater Robot Based on Image Recognition Qin Feng1, Liu Tiantian1, You Haipeng2, Mai Yuting3, Zhao Liming3, Chen Yanjun1
(1. Engineering Training Center, Shandong University, Jinan 250002, China;
2. School of Control Science & Engineering, Shandong University, Jinan 250061, China;
3. College of Software, Shandong University, Jinan 250101, China)
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.
Key words: image recognition; underwater robot; edge detection algorithm; OpenCV
0 引言
近年来，水下机器人已成为机器人领域的重要研究方向之一[1]，水下机器人比赛也逐渐发展成国际性大赛，越来越多大学生参与到水中机器人的制作和研究中。水下机器人也称作潜水器(underwater vehicle)。按照水下机器人的控制策略，将其分为遥控水下机器人(remotely operated vehicles，ROV)和自主水下机器人(autonomous underwater vehicle，AUV)。笔者针对中国水中机器人大赛的要求，设计了基于图像识别的水下机器人自主避障系统，实现了自主的水底探测和避障。1 嵌入式图像采集及处理
机器人在检测水下障碍物时，先采用摄像头拍摄水下环境以获取相应的视频信号，用LM1881视频分离芯片分离该视频信号，再通过AD转换将视频信号转换成数字信号，最后采取边缘检测图像处理算法识别障碍物。
1.1 硬件设计
目前市场的模拟摄像头有2大主流：CCD和CMOS，两者都是利用感光二极管进行光电转换，将图像转换为数字数据，其主要差异是数字数据传
收稿日期：2012-06-29；修回日期：2012-07-26
作者简介：秦峰(1975—)，男，山东人，本科，工程师，从事电子设计教学与竞赛研究。