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Visual guidance device and method for unmanned surface vehicle recycling

A technology for visual guidance and unmanned boats, applied in the field of transportation, can solve the problems of low level of intelligence and high security requirements, and achieve the effects of complete target information, reliable guidance, and improved accuracy and efficiency.

Inactive Publication Date: 2019-08-23
CHINA SHIP DEV & DESIGN CENT
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Problems solved by technology

The navigation and positioning system of unmanned boats is the key to the deployment and recovery of unmanned boats. At present, the navigation and control of the unmanned boat recovery process is still in the stage of manual remote control, and there are problems such as high guarantee requirements and low intelligence level. The automatic search and guidance technology for boats has become an urgent need

Method used

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  • Visual guidance device and method for unmanned surface vehicle recycling
  • Visual guidance device and method for unmanned surface vehicle recycling
  • Visual guidance device and method for unmanned surface vehicle recycling

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Embodiment 1

[0035] Embodiment 1: The visual guidance device for unmanned boat recovery described in this embodiment includes an unmanned boat, a visual detection module, an environment perception module, a navigation module and a control module, such as figure 1 . The visual detection module is installed in front of the unmanned boat through a bracket, and is used to detect target objects on the water surface, and complete the detection and tracking of moving target objects. The target objects include the outline of the mother ship and the docking guide mark of the mother ship's retractable device; The environment perception module is installed inside the unmanned boat, which is used to process the image of the target object acquired by the visual detection module, analyze the feature points of the target object in the image, and obtain the feature points through binocular vision positioning and 3D reconstruction. The coordinates under the boat visual coordinate system are determined in r...

Embodiment 2

[0041] Embodiment 2: This embodiment is used for the visual guidance method of unmanned boat recovery, such as Figure 7 , Figure 8 As shown, the specific steps are as follows:

[0042] S01, the pan-tilt camera mounted on the unmanned boat rotates and scans to collect images of the sea-sky area, and extracts the target position area of ​​the mother ship in the image of the sea-sky area; the feature parameters of the target position area of ​​the mother ship extracted by the pan-tilt camera are compared with the feature parameters of the template image used for calibration , to confirm the target identity of the mother ship.

[0043] S02, the environment perception module receives the mother ship image collected by the pan-tilt camera, and the environment perception module extracts the feature point matrix of the mother ship image, completes the precise positioning of the mother ship, and judges the relative position, direction and heading of the unmanned vehicle and the moth...

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Abstract

The invention discloses a visual guidance device and method for unmanned surface vehicle recycling. The method comprises the following steps: measuring a relative distance with a mother ship target, adirection and a heading in real time through a pan and tilt camera, thereby realizing the positioning of the mother ship target, combining the relative locations of the unmanned surface vehicle withtwo sidelines in a sailing channel and the offset of the central line, controlling the displacement, direction and deviation angle of the automatic driving of the unmanned surface vehicle in a closed-loop way, and maintaining center line driving state in the unmanned surface vehicle cycling process. If the unmanned surface vehicle deviates from two sidelines of the sailing channel in the sailing,the condition indicates that the unmanned surface vehicle misses the sailing channel, a navigation module of the unmanned surface vehicle re-plans an auxiliary lead line of the unmanned surface vehicle. The method disclosed by the invention is small in external interference and wide in signal detection range, and the acquired target information is complete, and the target motion parameters in thewhole field of view of the visual sensor can be dynamically measured.

Description

technical field [0001] The invention belongs to the technical field of transportation, and in particular relates to a visual guidance device and method for recovering unmanned boats. Background technique [0002] Unmanned Surface Vehicle (USV), also known as a surface robot, has the characteristics of flexible maneuverability and a wide range of activities. It can be carried by the mother ship and delivered to a specific sea area to perform corresponding tasks through a retractable device. The navigation and positioning system of unmanned boats is the key to the deployment and recovery of unmanned boats. At present, the navigation and control of the unmanned boat recovery process is still in the stage of manual remote control, and there are problems such as high guarantee requirements and low intelligence level. The automatic search and guidance technology for boats has become an urgent need. Contents of the invention [0003] The present invention provides a visual guida...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C11/00B63B35/00
CPCB63B35/00B63B2035/006G01C11/00G05D1/0206
Inventor 李传坤刘宇张海燕赵三飞蔡晓雄
Owner CHINA SHIP DEV & DESIGN CENT
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