Unmanned ship obstacle avoiding device and method based on image vision

An image vision, unmanned ship technology, applied in image enhancement, image analysis, image data processing and other directions, to effectively detect and segment water obstacles and improve the accuracy of obstacle avoidance

Inactive Publication Date: 2018-09-18
FUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The object of the present invention is to provide an unmanned ship obstacle avoidance device and method based on image vision, to solve or at least alleviate the above existing problems

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  • Unmanned ship obstacle avoiding device and method based on image vision
  • Unmanned ship obstacle avoiding device and method based on image vision
  • Unmanned ship obstacle avoiding device and method based on image vision

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Embodiment Construction

[0021] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0022] A kind of unmanned ship obstacle avoidance device based on image vision of the present invention comprises camera 1, image processor 2, hull controller 3 and platform 4, and described camera is through image processor and hull controller, and described camera is set It is fixed on the head of the unmanned ship at an angle to the water surface through the control of the cloud head, so as to take images of the water surface in front of the unmanned ship. The camera is a CCD camera, the image processor is a Raspberry Pi 3B control board, the hull controller is an STM32 controller, the CCD camera is connected with the Raspberry Pi 3B control board through a USB interface, and the Raspberry Pi 3B control board Data transmission with STM32 controller through RS232 serial port.

[0023] When the unmanned ship is sailing, the image proces...

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Abstract

The invention relates to an unmanned ship obstacle avoiding device and method based on image vision. When an unmanned ship autonomously sails towards a target point, a camera will acquires image dataof a river face in real time. An image processor not only carries out real-time processing on the acquired image data and stores the shot image into a memory card. After the processor determines the position of an obstacle, the processor will carries out calculation of an obstacle avoiding algorithm. The calculation result is an angle for which the rudder of the unmanned ship should rotates. The processor will send the information to a ship body controller. After the controller receives the information, the rudder will timely rotate to avoid the obstacle. According to the invention, obstacleson a target water surface can be effectively and rapidly detected; the rudder of the unmanned ship is informed to steer or rotates for a certain angle; and the unmanned ship is effectively avoided from colliding the obstacles in the navigation process.

Description

technical field [0001] The invention relates to an unmanned ship obstacle avoidance device and method based on image vision, which is particularly suitable for inland river unmanned ship obstacle avoidance. Background technique [0002] Unmanned ship is a kind of surface autonomous robot. It is small in size, shallow in draft, and flexible in maneuvering. application. Usually, a ship will often encounter various obstacles during navigation. For a ship with a driver, the driver can turn the ship to avoid it after seeing the obstacle. But for unmanned ships, there are no people on board to watch the surrounding conditions. At this time, obstacles on the sea can easily bring great danger to unmanned ships. Therefore, there is an urgent need for a method that can intelligently identify obstacles and effectively avoid them. Contents of the invention [0003] The purpose of the present invention is to provide an unmanned ship obstacle avoidance device and method based on imag...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06T7/11G06T7/181G06T7/66
CPCG05D1/0206G06T7/11G06T7/181G06T7/66G06T2207/10016G06T2207/20032
Inventor 黄宴委邱星云李君弋刘贞毅刘长吉陈少斌黄文超
Owner FUZHOU UNIV
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