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Environment sensing system and method based on coordinated USV (Unmanned Surface Vessel) group

An environment perception and unmanned boat technology, applied in the field of environment perception system, can solve the problems of insufficient information accuracy and limited environmental perception ability of a single unmanned boat, so as to enhance the ability of environment perception, enhance the scope and accuracy of environment perception , easy-to-achieve effects

Inactive Publication Date: 2017-07-07
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The purpose of the present invention is to provide an environment perception system and method based on a collaborative unmanned boat group, to solve the problems of a single unmanned boat with limited environmental perception ability and insufficient accuracy of perceived information.

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  • Environment sensing system and method based on coordinated USV (Unmanned Surface Vessel) group
  • Environment sensing system and method based on coordinated USV (Unmanned Surface Vessel) group
  • Environment sensing system and method based on coordinated USV (Unmanned Surface Vessel) group

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Embodiment Construction

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout.

[0022] Such as figure 1 As shown, an environment perception system based on a cooperative unmanned boat group includes a single boat perception module 7 , a cooperative control system module 3 , a wireless transmission module 4 , a GPS / IMU module 1 and a single boat control system module 8 . Such as figure 2 As shown, the GPS / IMU module 1 is installed on the unmanned boat 2, and is used to obtain the position information and attitude information of each unmanned boat in real time, assisting the normal operation of other systems, and is an important unit for the autonomous control of the unmanned boat. The single boat perception module 7 includes a camera 6 and a laser radar 5, the laser radar 5 is used for obst...

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Abstract

The invention discloses an environment sensing system and method based on a coordinated USV group. The environment sensing system comprises single-vessel sensing modules, a coordinated control system, wireless communication modules, GPS / IMU modules and single-vessel control modules. Each single-vessel sensing module comprises a camera and a laser radar, the laser radar obtains position and motion information of an object, and the camera identifies the object. The coordinated control system comprises a coordinated control unit and a coordinated sensing unit, the coordinated control unit carries out a coordinated control algorithm to command motion of the USV group, and the coordinated sensing unit coordinates states of the single-vessel sensing modules. The wireless communication modules upload state information and environment sensing information of vessels to the coordinated control system, and also transmits instructions of the coordinated control system. Each GPS / IMU module obtains position and attitude information of the corresponding vessel, and assists in normal operation of other systems. The environment sensing system is reasonable in design, high in system hierarchy, and is easy to realize in the aspects of hardware and software.

Description

technical field [0001] The invention relates to an environment perception system and method based on a cooperative unmanned boat group, and belongs to the field of environment perception of unmanned boats and the field of multi-sensor technology fusion. Background technique [0002] The unmanned surface vessel (USV) is a small unmanned surface platform that has emerged in recent years. It is equipped with GPS, inertial navigation, radar, sonar, ultrasonic and other sensing equipment, which can realize autonomous navigation, Autonomous obstacle avoidance, autonomous tracking and other functions, and can complete special tasks such as mine sweeping, mine hunting, and anti-submarine. In order to realize the above-mentioned various autonomous functions, the surface unmanned vehicle must have good environmental perception capabilities to obtain the position information and motion information of obstacles and targets. However, due to the limited environmental perception ability o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0206
Inventor 陈加宏彭艳李小毛
Owner SHANGHAI UNIV
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