An image-based method and system for recovering unmanned boats

Abstract

The invention belongs to the technical field of unmanned boat recovery, and specifically discloses an image-based unmanned boat recovery method and system. It first measures the distance between the unmanned boat to be recovered and the mother ship, and determines whether the measured distance is within the preset value. Within the distance range, when the measured distance is within the preset distance range, the indicators on the unmanned boat and the mother ship are illuminated, and the respective visual imaging units on the unmanned boat and the mother ship are used to capture images of the other party's indicators in real time; process real-time The captured images of the mother ship and the indicators on the unmanned boat obtain real-time heading angle information, real-time distance information and real-time deflection angle information; real-time heading angle information, real-time deflection angle information and real-time distance information are used to control the heading and speed of the unmanned boat in real time , making it move to a designated position to realize the recovery of the unmanned boat. The invention can realize intelligent, automated, efficient, stable and safe recovery of unmanned boats.

Description

technical field [0001] The invention belongs to the technical field of unmanned boat recovery, and more particularly relates to an image-based unmanned boat recovery method and system. Background technique [0002] When conducting remote sea scientific research and exploration tasks, unmanned boats are often deployed from the mother ship instead of from the dock, and the unmanned boat needs to be recovered after completing the task. The so-called unmanned boat recovery generally refers to recovering the unmanned boat into the stern slideway of the mother ship. [0003] At present, the cantilever device is usually used to hoist the unmanned boat to realize deployment and recovery. For example, Chinese patent CN108482587B discloses a kind of unmanned boat recovery and deployment system, which includes a suspension device installed on the mother ship, and an unmanned boat. The pre-fixed device and self-locking connection device. The above-mentioned technology often has the fo...

AI Technical Summary

Problems solved by technology

The above-mentioned technology often has the following problems in the recovery process of unmanned boats: high requirements on the sea surface environment, and it is easy for unmanned boats to be difficult to hook when there is wind and waves; The bumping of the human boat; the entire recovery process takes too long; it is difficult to automate and requires many people to participate in the recovery process at the same time; it consumes a lot of energy, whether it is a hydraulic drive or an electric drive. provide a lot of energy

The above technology still has the following problems: the lack of some more important attitude information, such as distance and deflection angle, where the distance determines whether the unmanned boat slows down and enters the slope stage, and the combination of deflection angle and distance can calculate the distance between the unmanned boat and the mother ship. The position of the unmanned boat is used for group control of the unmanned boat, so discarding this information and only using the course angle of the unmanned boat as the guide to realize the recovery of the unmanned boat is difficult to apply to the mother ship recovery system

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