Jet flow closed-loop control method based on image processing and monocular vision

Abstract

The invention discloses a jet flow closed-loop control method based on image processing and monocular vision, and the method comprises the steps: S1, obtaining a video frame, and carrying out the tracking of a target ship; S2, calculating the distance between a target ship and a camera through space coordinate conversion; S3, calculating the horizontal deflection angle of a water cannon accordingto the relative positions of the water cannon and the camera; S4, establishing a jet flow track model through a particle motion law, and calculating a pitch angle of the water cannon; S5, identifyingthe jet flow drop point, calculating the deviation between the jet flow drop point and the target frame where the target ship is located, and judging whether the target ship is hit or not according tothe jet flow drop point; and S6, if the target ship is not hit, setting an advanced motion angle according to the jet flow drop point position so as to carry out secondary adjustment on the horizontal deflection angle and the pitch angle of the jet flow, and returning to the step S5 to continue. According to the method, the horizontal deflection angle of the water cannon is calculated through a triangular geometric model, and a jet flow track positioning mode of a particle motion law is combined with computer vision adjustment to form closed-loop control over jet flow.

Description

technical field [0001] The invention relates to the field of jet closed-loop technology, in particular to a jet closed-loop control method based on image processing and monocular vision. Background technique [0002] In recent years, maritime disputes have become more and more intense. Water cannons are an essential protection and rescue device for coast guard ships and firefighting ships because they are less lethal and less likely to cause casualties. The existing water cannons on the sea surveillance ship are mainly controlled manually, which is slow in operation, high in labor intensity, and low in strike accuracy. Achieving fixed-point strikes with water cannons is crucial to further safeguarding national maritime rights and interests. The main method is to track the target through the photoelectric system, provide image coordinate information, and obtain the position information of the target in the actual environment according to the coordinate system conversion. The...

AI Technical Summary

Problems solved by technology

[0005] However, most of the existing jet flow control technologies are open-loop control, and there is no feedback link, that is, the difference between the jet drop point and the target position is adjusted twice to the horizontal angle and pitch angle of the water cannon.

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