HARDWARE AND SOFTWARE IMPLEMENTATION OF A REMOTELY OPERATED UNMANNED UNDERWATER VEHICLE OF THE MICRO-CLASS

Abstract

In modern underwater robotics, the tasks of control, increasing autonomy, increasing the functions performed and the possibility of import substitution are relevant. The paper considers an example of building a remotely controlled unmanned underwater vehicle (RCUV) of the micro class, the main purpose of which is to use for educational purposes, in particular for involving schoolchildren in engineering and programming, students in programming microcontrollers, practical study of control systems, digital image processing using wavelet transform. The article presents the basic principles and features of the design, hardware, algorithmic and software implementation of a robotic designer based on a RCUV of the micro class. The justification for the application of the design solution for using the RCUV for educational purposes is given, the principles of algorithmic movement of the underwater unit are considered. Based on the two-dimensional wavelet transform for processing underwater images, an algorithm was developed and verified. The wavelet transform is a modern and effective tool for identifying local features of signals and image processing. The use of two-dimensional wavelet decomposition, which is the process of decomposing a signal into high-frequency and low-frequency components, allows us to form four matrices of wavelet coefficients containing approximating ones with lowfrequency components and detailing coefficients (high-frequency) of three types: carrying information about the vertical, horizontal and diagonal parameters of the analyzed image. In the process of image processing after applying the wavelet transform, the approximation coefficients are changed to increase the image contrast, then the RGB components are determined based on the approximation matrix of the wavelet coefficients based on grayscale and the average and maximum values are calculated for each of the components. Then the color rendering coefficient and improvement coefficients are calculated, on the basis of which a modified matrix of wavelet coefficients is formed and the inverse transform is applied. As a result of applying the algorithm to test images, the possibility of color correction was demonstrated, in particular, the reduction of the influence of green and blue components by 8.6%. The results obtained can be used in the construction of image recognition systems in the underwater environment and the design of autonomous unmanned underwater vehicles.