Apparatus and method for identifying floating objects on water and land boundaries based on vision and lidar

Abstract

The invention discloses a detection device based on vision and laser radar for floating objects on the water surface and land boundaries. The device includes a data acquisition layer, a processing discrimination layer and a communication interface layer; the data acquisition layer: includes a laser radar, a Vision system and a visual processing SOC; the processing discrimination layer includes: MCU, human-computer interaction module, pose measurement module, image analysis processing module and deep neural network training module; above-mentioned communication interface layer includes Ethernet SOC, Powerlink module and CAN module. The invention provides a device and method for detecting the boundary between floating objects on the water surface and land based on vision and laser radar, so that the unmanned ship can accurately determine the boundary between the water surface with floating objects and the land or river bank, and can also detect the bottom of the ship at this time. Keep the distance from the river bed and avoid dangers such as stranding in time.

Description

technical field [0001] The invention relates to a device and method for distinguishing water surface floating objects and land boundaries based on vision and laser radar, and belongs to the technical field of state monitoring of industrial intelligent equipment. Background technique [0002] The unmanned ship for surface garbage cleaning is a special equipment that does not need manpower control, and integrates autonomous navigation, detection, positioning, and monitoring to carry out water surface garbage collection and cleaning operations. Due to the development of urbanization and industrialization in our country, the river Pollution is generated, and floating objects such as garbage and floating algae cover a large area of ​​the water surface, resulting in a complicated water surface environment. Unmanned ships cannot accurately determine the boundary between water and land on the water surface, which may cause unmanned ships to work too close to the river bank when opera...

AI Technical Summary

Problems solved by technology

[0002] The unmanned ship for surface garbage cleaning is a special equipment that does not need manpower control, and integrates autonomous navigation, detection, positioning, and monitoring to carry out water surface garbage collection and cleaning operations. Due to the development of urbanization and industrialization in our country, the river Pollution is generated, and floating objects such as garbage and floating algae cover a large area of ​​the water surface, resulting in a complicated water surface environment. Unmanned ships cannot accurately determine the boundary between water and land on the water surface, which may cause unmanned ships to work too close to the river bank when operating in the water. The unmanned ship ran aground and even caused damage to the hull of the unmanned ship

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