Development of Automatic Position Adjustable Elevator for Workboat

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。

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.