Autonomous cruising system and autonomous cruising method of water surface robot

Abstract

The invention discloses an autonomous cruising system and an autonomous cruising method of a water surface robot. A user can control the water surface robot to establish a water area map through a monitoring station through wireless network communication, learn the water surface environment, and prepare for autonomous navigation of a subsequent water surface robot; an integrated navigation technology is applied to autonomous navigation of the water surface robot to realize autonomous planning of a driving path; the combination of laser scanning point cloud processing and computer vision calculation is used for autonomous searching of a floating target on the water surface, so that autonomous planning of the driving path in the operation process is realized. The disclosed autonomous cruising method for the floating target on the water surface, which utilizes the synergistic effect of a water surface target detection laser radar and a water surface target detection camera, is particularly suitable for the situation that the number and the positions of the target points are uncertain, and the inverted reflection in water and water wave interference caused by illumination can be effectively eliminated. According to the method, the autonomous operation capability of the water surface robot is enhanced, the workload of manned operation is effectively reduced, and the water surface operation efficiency is improved.

Description

technical field [0001] The invention relates to the field of robot cruising, in particular to a water surface robot autonomous cruising system and method. Background technique [0002] Surface robots are emerging products that apply robot technology to the hull of surface operations, which can improve the efficiency of surface operations and reduce the intensity of personnel work. In water surface cleaning, water body monitoring, fish farming and other operation scenarios, surface robots have a very broad application prospect. As a key technology for the autonomous operation of surface robots, autonomous cruise can effectively support the robot to plan driving paths, autonomously avoid collisions, and search for surface operation targets without being on duty. [0003] Autonomous navigation relies on robots to independently plan navigation paths, autonomously avoid collisions, and search for surface targets. However, due to the particularity of the water environment, it is ...

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Problems solved by technology

[0004] Aiming at the above-mentioned deficiencies in the prior art, an autonomous cruising system and method for a surface robot provided by the present invention solves the problem that the current surface robot is very difficult to search for operating targets during autonomous navigation, autonomously planning the navigation path, autonomously avoiding collisions and searching the water surface. The problem of poor ability to target

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