Binocular vision-based autonomous detection system for obstacles on water of unmanned ship
A binocular vision system and binocular vision technology are applied in the field of autonomous detection systems for unmanned ships on water based on binocular vision, which can solve the problems of inaccurate positioning, low precision of unmanned ships, and cumbersome data collection, etc. Strong stealth effect
Pending Publication Date: 2020-08-07
北京优世达科技有限公司
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Problems solved by technology
With manual remote control or fully automatic autonomous navigation, it can reach most areas of the water body during navigation. Traditional unmanned ships have low precision, inaccurate positioning, and cumbersome data collection.
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[0012] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0013] see Figure 1~3 , in an embodiment of the present invention, an autonomous detection system for unmanned ships based on binocular vision, including binocular vision system 1, other sensor modules 2, navigation control system 3, GPS4, IMU5, flow rate sensor 6, gyroscope 7. A stereo camera 8 and a vision acquisition processing unit 9; the unmanned ship is equipped with a binocular vision system 1, other sensor modules 2 and a navigation control system 3. ...
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The invention discloses a binocular vision-based autonomous detection system for obstacles on water of an unmanned ship. A binocular vision system, other sensor modules and a navigation control systemare loaded on the unmanned ship. The binocular vision system is composed of two stereo cameras and a vision collecting and processing unit. The other sensor modules are composed of a GPS, an IMU, a flow velocity sensor and a gyroscope. The binocular vision system is connected with other sensor units and laser; active measurement modes such as radar and ultrasound are compared; mutual interferenceof a plurality of measuring devices in the detection process can be reduced; the probability of being found when the method is used in certain specific environments can be reduced, the system is highin concealment, the three-dimensional coordinates of the target environment can be directly recovered by stereoscopic vision information generated by binocular vision, the depth information of the environment can be obtained, and the system has important practical significance in detecting obstacles and potential collisions in unknown navigation environments.
Description
technical field [0001] The invention relates to an unmanned ship, in particular to an autonomous detection system for obstacles on the water of an unmanned ship based on binocular vision. Background technique [0002] An unmanned ship is a fully automatic surface robot that can navigate on the water surface according to preset tasks with the help of precise satellite positioning and self-sensing without remote control. The English abbreviation is USV. Unmanned ships can be used in environmental protection, hydrology and other industries. When dealing with surface water emergencies such as lakes, reservoirs, rivers, and coastal waters, use GPS positioning, autonomous navigation and control equipment, and can be equipped with continuous flow analyzers, multi-parameter water quality analyzers and sampling modules according to the needs of monitoring work. With manual remote control or fully automatic autonomous navigation, it can reach most areas of the water body during naviga...
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IPC IPC(8): G06T7/277G06T7/593B63B35/00
CPCG06T7/277G06T7/593B63B35/00B63B2035/007
Inventor 杨薛徐英莹
Owner 北京优世达科技有限公司