Unmanned ship obstacle avoidance control system and unmanned ship

Abstract

The invention relates to the technical field of unmanned ships, and discloses an unmanned ship obstacle avoidance control system and an unmanned ship. The obstacle avoidance control system comprises:an angle acquiring module, which is used for acquiring an included angle between the axial direction of an image sensor and the horizontal plane; a judgment module, which is used for judging the sizeof an included angle between the axial direction of the image sensor and the horizontal plane and the size of a preset angle; a first control module, which is used for controlling the rotation of theimage sensor in the pitching direction to enable the included angle between the axial direction of the image sensor and the horizontal plane to be equal to a preset angle; an information acquisition module, which is used for acquiring the detection information of the image sensor; and a navigation control module, which is used for controlling the navigation of the unmanned ship according to the detection information. According to the unmanned ship obstacle avoidance control system, the obstacle is prevented from exceeding the detection visual field of the visual obstacle avoidance device, obstacle detection failure of the unmanned ship is avoided, and the navigation safety of the unmanned ship is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned ships, in particular to an unmanned ship obstacle avoidance control system and the unmanned ship. Background technique [0002] In the prior art, the unmanned ship is usually equipped with a visual obstacle avoidance device, which is used to detect obstacles around the unmanned ship and avoid collisions between the unmanned ship and the obstacles. [0003] Since the visual obstacle avoidance device of an unmanned ship has a theoretical detection range in the vertical direction, for example, the theoretical detection range of the visual obstacle avoidance device in the vertical direction is 60°, resulting in the detection angle in the vertical direction being only 10° above and below the hull. 30°. During the sailing process of the unmanned ship, when encountering the influence of waves, the detection angle of the visual obstacle avoidance device on the unmanned ship will change, causing the obst...

AI Technical Summary

Problems solved by technology

During the sailing process of the unmanned ship, when encountering the influence of waves, the detection angle of the visual obstacle avoidance device on the unmanned ship will change, causing the obstacle to exceed the detection field of view of the visual obstacle avoidance device, and the obstacle detection of the unmanned ship will fail. Avoidance

Therefore, when the current unmanned ships sail in complex sea conditions, the visual obstacle avoidance device cannot work normally, which has always been a problem in the drone industry

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