声光联合引导UUV回收系统光学子系统研究

Research on the optical sub-system within acoustic-optical composite guidingUUV retracting system

当今水下无人航行器(UUV)在军事与民用领域都有着广泛的应用前景,布放与回收技术是影响UUV实际应用的一项关键技术。目前主要回收引导方式有声学导引、光学导引、电磁导引这3种,而各自都存在明显的优缺点。本文针对声光联合导引机械臂回收系统光学子系统进行研究,设计一组可在水下200 m、0.05~10 m范围工作的机器视觉镜头及其配合使用的靶标,并完成了系统的仿真。该系统可在环境要求下准确地提取出靶标特征点。

Unmanned underwater vehicle(UUV)enjoys a wide prospect in both military and civilian application.The deployment and retracting technology are essential when affecting the practical application of UUV.At present,there are three main retracting guidance methods:acoustic guidance,optical guidance,and electromagnetic guidance.Each has obvious pros and cons.This paper studies the design process of the optical sub-system in the robotic arm retracting system guided by the acoustic-optical composite method,and a machine vision lens that can be submerged 200 meters.The working distance is in the range of 0.05~10 m and a set of matching used the target were designed.Then the simulation of the system is completed.The system is advanced with the accurate extraction of the target’s feature points under the environmental requirements.