System and method for real-time perception and avoidance of obstacles on unmanned hydrographic vessel

Abstract

The invention provides a real time perception obstacle evading system for unmanned hydrographical survey ship obstacles. The system comprises a ship positioning unit, an environment perception unit, a route planning unit and a control unit, wherein the environment perception unit employs at least two kinds of environment perception sensors to sense information of obstacles in a certain scope, obstacle information detected by all environment perception sensors are subjected to data fusion operation, zones of detection superposition are subjected to object matching and superposing operation, an obstacle map is generated based on real time ship coordinates, an obstacle influence zone in which lines are blocked is planned while a round zone with a certain radius is set as a route and a detected obstacle position is used as the center, and therefore a map for route planning is formed; the route planning unit is used for planning a navigation route on a set ship route based on the map for route planning, and the control unit is used for controlling a ship to navigate according to a planned navigation route. Via the obstacle evading system, an unmanned ship is enabled to be capable of autonomous navigation, autonomous perception, autonomous programming, autonomous obstacle avoidance and autonomous returning to the navigation route; a safety factor and work efficiency of unmanned hydrographical survey ship can be improved.

Description

technical field [0001] The invention belongs to the field of environment perception and path planning, and in particular relates to a real-time obstacle avoidance system and method for an unmanned channel measuring ship. Background technique [0002] In recent years, with the advancement of science and technology, more and more new technologies have been applied to hydrographic survey operations, greatly improving the efficiency of hydrographic survey. Channel measurement provides ship drivers with the position and height of obstacles such as reefs in the channel by measuring the underwater topography, which is very important for safe and smooth shipping. At present, most of the waterway survey work is done manually, which requires a lot of manpower and material resources, and the work efficiency is low, and it is easy to cause personal safety problems when measuring shoals and depressions. Measurement work, but it requires a special person to monitor whether there are obst...

AI Technical Summary

Problems solved by technology

At present, most of the waterway survey work is done manually, which requires a lot of manpower and material resources, and the work efficiency is low, and it is easy to cause personal safety problems when measuring shoals and depressions. Measurement work, but it requires a special person to monitor whether there are obstacles in front of the shore console. If there are obstacles, it needs to be switched to manual control. After avoiding obstacles, it can enter the automatic driving state

This method is inseparable from human supervision, and it is easy to cause accidents due to inattention of the console personnel, and it is difficult to realize functions such as autonomous environment perception, autonomous obstacle avoidance, and autonomous return to the route after obstacle avoidance.

Images