Development of Automatic Position Adjustable Elevator for Workboat

浮式结构物、浮标系统和海洋平台广泛应用于海洋调查和观测。操作员必须进行稳定的维护，以确保高质量的数据。然而，由于工作船和工作船都受到海浪的摆动，从工作船移动到平台是困难和危险的，为了实现方便和安全通过，我们研制了一种自动位置可调升降机。安装在工作船上的升降机受到控制，以减小工作船与其他结构物之间的相对位移。利用图像处理技术测量电梯的相对位移，并将其传送给电梯控制器。该相机内置1/2英寸单色逐行扫描CCD芯片，帧速率为60fps(Max)，像素数为659(H)×494(V)。图像处理由安装在个人计算机上的软件(本研究使用的是MVTec软件GmbH的Halcon)执行，而不使用常规的专用图像处理板。通过模型实验验证了系统的性能，获得了成功的结果。此外，还研究了图像处理的稳健性。

Floating structures, buoy systems and ocean platforms are widely used in oceanographic investigation and observations. The operators have to carry out steady maintenance to assure high quality data. However, it is difficult and dangerous to move from a workboat to a platform because both are swung by ocean waves.We developed an automatic position adjustable elevator to realize easy and safe passage. The elevator attached to the workboat is controlled to reduce the relative displacement between the workboat and the other structure. The relative displacement is measured by image processing technique and is sent to the controller of the elevator. The camera houses a 1/2" monochrome progressive scan CCD chip. The frame rate is 60 fps (max) and the number of pixels is 659(h)×494(v). The image processing is performed by the software (in this research, HALCON by MVTec software GmbH was used) installed in the personal computer without using the conventional exclusive image processing board.Model experiments were carried out to verify the performance of the system and successful results were obtained. In addition, robustness of the image processing was researched.