Development of Automatic Position Adjustable Elevator for Workboat

工作船自动调位升降机的研制

• 批准号: 14350527
• 负责人: NAKAMURA Masahiko
• 金额: $ 6.14万
• 依托单位: KYUSHU UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350527/
• 关键词: Position adjustable elevator; Control; Image processing; workboat; Ocean observation buoy; Ocean platform; Model experiments; 模型実験

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.

浮式结构物、浮标系统和海洋平台广泛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。但由于工作船和平台在海浪的作用下摇摆不定，从工作船到平台的移动既困难又危险，为此，我们研制了一种位置可自动调节的升降机，以实现轻松安全的通过。控制附接到工作船的升降机以减小工作船与其它结构之间的相对位移。通过图像处理技术测量相对位移，并将其发送到电梯的控制器。相机内置1/2”单色逐行扫描CCD芯片。帧速率为60 fps（最大），像素数为659（h）×494（v）。该系统不使用传统的专用图像处理板，而是使用安装在个人计算机上的软件（本研究中使用MVTec software GmbH的HALCON）进行图像处理，并进行了模型实验以验证系统的性能，取得了成功的结果。此外，还对图像处理的鲁棒性进行了研究。

项目成果

Model Experiments on Motion Measurement of Floating Structure by Image Processing Technique (Part2, Utilization of Mosaic Image and 3D Motion Measurement)

利用图像处理技术进行浮动结构运动测量的模型实验（第二部分，马赛克图像的利用和3D运动测量）

• 发表时间: 2005
• 期刊: Transactions of the West-Japan Society of Naval Architects No.109
• 作者: M.Nakamura;H.Kajiwara;T.Manabe
• 通讯作者: T.Manabe

画像処理を利用した海洋構造物模型の波浪中運動計測(その2 運動計測範囲の拡張と3次元運動計測)

利用图像处理测量海洋结构模型波浪中的运动（第2部分：扩展运动测量范围和三维运动测量）

• 发表时间: 2005
• 期刊: 西部造船会会報 109
• 作者: 中村昌彦;梶原宏之
• 通讯作者: 梶原宏之

Improving Robustness of Motion Measurement by Image Processing Technique

通过图像处理技术提高运动测量的鲁棒性

• 发表时间: 2005
• 期刊: 18^<th> Ocean Engineering Symposium, The Society of Naval Architects of Japan
• 作者: M.Nakamura;H.Kajiwara
• 通讯作者: H.Kajiwara

Position Control of Floating Structure by Neural-Net Controller

神经网络控制器对浮动结构的位置控制

• 发表时间: 2004
• 期刊: Proc.of the 14^<th> Int.Offshore and Polar Engineering Conference
• 作者: M.Nakamura;T.Shima
• 通讯作者: T.Shima

M.Nakamura et al.: "Model Experiments on Dynamic Positioning System using Neural Network Controller"Proc.of the 13^<th> Int.Offshore and Polar Engineering Conference. 203-209 (2003)

M.Nakamura 等人：“使用神经网络控制器的动态定位系统模型实验”第 13 届国际海上和极地工程会议论文集。