A visual guidance method for unmanned boat lifting and recovery

A technology for visual guidance and unmanned boats, applied in the field of image processing, can solve the problems of high risk and low efficiency, and achieve the effects of reliable results, increased reliability, and reduced possibility of being hijacked.

Active Publication Date: 2019-09-27
JIANGSU UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the deployment and recovery of unmanned boats can only be carried out manually under low speed and low sea conditions, which is inefficient and dangerous

Method used

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  • A visual guidance method for unmanned boat lifting and recovery
  • A visual guidance method for unmanned boat lifting and recovery
  • A visual guidance method for unmanned boat lifting and recovery

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Embodiment 1

[0027] In this embodiment, when the unmanned boat is far away from the mother ship, rotate the gimbal on the unmanned boat to scan and collect images of the sea-sky area, use hough to transform the sea-antenna position, and extract the suspected mother ship target location area in the sea-sky junction area; extract the suspected mother ship Target feature parameters. Because the characteristic parameters of the ship change with the change of the waterline, in order to improve the stability of the characteristic parameters, the deck position of the ship is detected (used at the position of the mother ship, the longest straight line above the sea antenna is used as the deck position), and the extracted The horizontal and vertical projection of the building structure above the deck and the complexity of the outer contour are used as characteristic parameters, compared with the characteristic parameters of the mother ship to confirm the identity of the mother ship;

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Abstract

The invention discloses a visual guidance method for lifting and recycling of an unmanned surface vehicle. The visual guidance method comprises the following steps of when the unmanned surface vehicleis driven away from a mother ship, rotating a cradle head to scan and collect images in sea and air areas, determining the target position area, extracting target feature parameters, comparing with the feature parameters of the mother ship, and verifying the identity of the mother ship; measuring the distance and azimuth of the mother ship, and guiding the unmanned surface vehicle to one positioning position near the mother ship according to the azimuth of the mother ship; collecting the images of the mother ship, finding a positioning marker on the mother ship, determining the unmanned surface vehicle to bypass the mother ship or approach to or drive away from the mother ship according to the image of the positioning marker, collecting the positions of the unmanned surface vehicle and the mother ship when the image of the positioning marker is matched with the image of the positioning marker collected at the correct lifting position of the unmanned surface vehicle, and waiting for alifting device to lift and recycle the unmanned surface vehicle.

Description

technical field [0001] The invention relates to image processing technology, in particular to a visual guidance method for hoisting and recovering an unmanned boat. Background technique [0002] The use of unmanned boats has the characteristics of flexible maneuverability, good concealment, wide range of activities, and low cost of use. At present, the number of unmanned surface vehicles in service is very small, and they are mainly used to perform military tasks such as maritime surveillance and reconnaissance, anti-mine warfare, and electronic warfare. With the continuous improvement of intelligence, unmanned boats will be widely used in marine engineering and marine military fields in the future. At present, the deployment and recovery of unmanned boats can only be carried out manually under low speed and low sea conditions, which is inefficient and dangerous. A safe, reliable, and fast autonomous deployment and recovery system for unmanned boats is a bottleneck that ur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C21/16G01C3/00
Inventor 李忠国许晨唐炜迟睿王佳罗元康马旭
Owner JIANGSU UNIV OF SCI & TECH
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