面向水下自主作业的环境安全性态势评估OACSTPCD

The complex marine environment makes underwater autonomous operations face many chal-lenges.Underwater robots need to conduct situation assessments of the marine environment to improve the accuracy of autonomous decision-making.Aiming at the problem of autonomous operation safety situation assessment of underwater robots,this paper proposes an image-based underwater environment safety assessment method.The monocular camera is used to collect images,extract the environmental element information such as the distance between the environmental objects and the main body of the operation,the motion status of the underwater objects,and the complexity of the seabed geology,and realize the information fusion to obtain the situation assessment features,build the situation assessment model,and analyze the assessment results.Level quantification to obtain marine environmental safety status indicators.In addition,to improve the calculation efficiency of environmental situation assess-ment,this paper uses image pyramid and quadtree to optimize the situation assessment algorithm.Ex-periments show that the situation assessment algorithm can quickly and accurately judge whether the underwater environment is suitable for autonomous operations,provide services for refined underwater autonomous operations,and play an important role in supporting ocean development.