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Autonomous docking and recovery method of unmanned ship based on Tiny-YOLOship target detection algorithm

A technology of target detection algorithm and recovery method, which is applied in the field of self-recovery of unmanned boats, can solve problems such as unfavorable autonomous docking and recovery of unmanned boats, sharp fluctuations in steering angles, and increased errors, achieving strong real-time performance and improved accuracy , Improve the effect of docking accuracy

Active Publication Date: 2019-11-08
SHANGHAI UNIV
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Problems solved by technology

However, the disadvantage of this scheme is that the steering angle calculated by GPS and inertial navigation will increase with the approach of the unmanned boat and the bracket, and the error will continue to increase. Accurate control signals control the throttle, which is not conducive to the autonomous docking and recovery of unmanned boats

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  • Autonomous docking and recovery method of unmanned ship based on Tiny-YOLOship target detection algorithm
  • Autonomous docking and recovery method of unmanned ship based on Tiny-YOLOship target detection algorithm
  • Autonomous docking and recovery method of unmanned ship based on Tiny-YOLOship target detection algorithm

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Embodiment Construction

[0045] Such as Figure 1~6 A method for autonomous docking and recovery of unmanned boats based on the Tiny-YOLOship target detection algorithm is shown, such as figure 1 shown, including the following steps:

[0046] (1) Collect image data sets of unmanned boats and recovery brackets and divide the data sets into training set, verification set and test set. The specific process is as follows,

[0047] The camera set on the unmanned boat collects the video of the recovery bracket, and the camera set on the recovery bracket collects the video of the unmanned boat, and the collection is in different scenes such as the East China Sea, the Yellow Sea, Dingshan Lake, the South China Sea, and Meilan For the unmanned boat video and recovery bracket video under the lake, a picture is extracted every 15 frames of the video as a data set, and the target is marked with a label frame. The final unmanned boat data set has 2842 pieces, and the recovery bracket The dataset has 3743 images....

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Abstract

The invention belongs to the technical field of autonomous recovery of unmanned ships, and particularly relates to an autonomous docking and recovery method of an unmanned ship based on a Tiny-YOLOship target detection algorithm. An unmanned ship image is acquired by a bracket camera, and a recovery bracket image is acquired by an unmanned ship camera; based on the Tiny-YOLOship target detection algorithm, the positions of the unmanned ship and recovery bracket in the images are detected in real time, and accurate position information of the unmanned ship and recovery bracket in the images areobtained; combined with the internal reference of the camera, the steering angles of the unmanned ship and recovery bracket are accurately acquired, the steering angles are taken as control signals to effectively assist the unmanned ship and the recovery bracket in keeping centering, and the unmanned ship sails into the bracket to achieve autonomous recovery of the unmanned ship. Compared with atraditional autonomous docking and recovery method of an unmanned ship, the autonomous docking and recovery method of the unmanned ship based on the Tiny-YOLOship target detection algorithm significantly improves the docking precision between the unmanned ship and the recovery bracket and improves the accuracy of the autonomous docking and recovery of the unmanned ship.

Description

technical field [0001] The invention belongs to the technical field of autonomous recovery of unmanned boats, and in particular relates to a method for autonomous docking and recovery of unmanned boats based on a Tiny-YOLOship target detection algorithm. Background technique [0002] The unmanned boat is a new type of small intelligent ship, which can carry multiple sensors to complete a variety of tasks: maritime search and rescue, hydrological detection, environmental detection, port patrol, etc. The advantages of the unmanned vehicle's small size and difficulty being detected by radar can also allow it to perform military reconnaissance missions. With continuous development, unmanned boats will have richer functions and wider applications. [0003] The autonomous docking and recovery of the unmanned boat means that after the unmanned boat completes the task on the water, the unmanned boat and the recovery bracket are kept aligned with each other in a certain way, and at ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06K9/62
CPCG05D1/0206G06F18/23213G06F18/241
Inventor 谢少荣徐海彬李小毛陈加宏彭艳蒲华燕罗均
Owner SHANGHAI UNIV
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