Addressing the issue of underwater anchor chain pose estimation,this study introduces a pose recognition method based on optical images.This approach utilizes an optical camera to capture localized images of the underwater anchor chain,extracts the chain's contour features through image processing techniques,and deduces the complete anchor chain's pose information from localized optical images based on the catenary equation model of the underwater anchor chain.The basic principles and procedures of this method are explicated,and a scaled-down flume experiment was designed and conducted.The efficacy of this method was verified through both dynamic and static anchor chain pose recognition experiments.Experimental results indicated that the error in the horizontal span of the static anchor chain during pose recognition trials did not exceed 5%.Under uniform motion conditions at the water surface mooring point,the dynamic chain's motion state recognition was essentially consistent with the actual motion trend,with an error of 2.393%.The research findings attest to the reliability of this underwater anchor chain pose recognition method,laying a theoretical foundation for subsequent practical engineering applications.
underwater inspectionunderwater anchor chaincatenary equationimage processingexperimental research
NETL
NSTL
万方数据
