Image-based unmanned ship recovery method and system

Abstract

The invention belongs to the technical field of unmanned ship recovery and particularly discloses an image-based unmanned ship recovery method and system. The method comprises steps that firstly, a distance between a to-be-recycled unmanned ship and a mother ship is measured, whether the measured distance is within a preset distance range or not is judged, when the measured distance is within thepreset distance range, indicators on the unmanned ship and the mother ship are lightened, and images of the indicators on the opposite sides are shot in real time through respective visual imaging units on the unmanned ship and the mother ship, the images of the indicators on the mother ship and the unmanned ship shot are processed in real time to obtain the real-time course angle information, thereal-time distance information and the real-time deviation angle information, and the course and navigational speed of the unmanned ship are controlled in real time through the real-time course angleinformation, the real-time deviation angle information and the real-time distance information so that the unmanned ship moves to a designated position, and recycling of the unmanned ship is achieved.The method is advantaged in that intelligent, automatic, efficient, stable and safe recovery of the unmanned ship can be achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned boat recovery, and more particularly relates to an image-based unmanned boat recovery method and system. Background technique [0002] When conducting remote sea scientific research and exploration tasks, unmanned boats are often deployed from the mother ship instead of from the dock, and the unmanned boat needs to be recovered after completing the task. The so-called unmanned boat recovery generally refers to recovering the unmanned boat into the stern slideway of the mother ship. [0003] At present, the cantilever device is usually used to hoist the unmanned boat to realize deployment and recovery. For example, Chinese patent CN108482587B discloses a kind of unmanned boat recovery and deployment system, which includes a suspension device installed on the mother ship, and an unmanned boat. The pre-fixed device and self-locking connection device. The above-mentioned technology often has the fo...

AI Technical Summary

Problems solved by technology

The above-mentioned technology often has the following problems in the recovery process of unmanned boats: high requirements on the sea surface environment, and it is easy for unmanned boats to be difficult to hook when there is wind and waves; The bumping of the human boat; the entire recovery process takes too long; it is difficult to automate and requires many people to participate in the recovery process at the same time; it consumes a lot of energy, whether it is a hydraulic drive or an electric drive. provide a lot of energy

The above technology still has the following problems: the lack of some more important attitude information, such as distance and deflection angle, where the distance determines whether the unmanned boat slows down and enters the slope stage, and the combination of deflection angle and distance can calculate the distance between the unmanned boat and the mother ship. The position of the unmanned boat is used for group control of the unmanned boat, so discarding this information and only using the course angle of the unmanned boat as the guide to realize the recovery of the unmanned boat is difficult to apply to the mother ship recovery system

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