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Houseboat unmanned driving method and control system

A technology of unmanned driving and driving method, applied in control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve problems such as increasing cost, achieve high safety performance, good experience, strong The effect of market application prospects

Pending Publication Date: 2021-05-11
上海索尼克游艇码头有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its application is spread all over various fields, especially now that tourism is on the rise, for house boats, full-time drivers are needed, which increases the cost

Method used

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  • Houseboat unmanned driving method and control system
  • Houseboat unmanned driving method and control system
  • Houseboat unmanned driving method and control system

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] This embodiment discloses as figure 1 A kind of unmanned houseboat method shown, comprises the following steps:

[0032] S1 obtains the corresponding spatial position feature points of the calibration object on the image and the lidar, and then uses the feature points to calibrate the external parameters of the camera;

[0033] S2 obtains the spatial alignment of the camera coordinate system and the laser radar coordinate system, and then obtains the positioning of the houseboat on the water surface through the coordinate system;

[0034] S3 binarizes the image collected by the camera, then filters it using the channel model, and clusters the filtered image;

[0035] S4 obtains the waterway line data point, utilizes the least squares method to carry out curve fitting to the waterway line data point;

[0036] S5 calculates and obtains the channel centerline and geometric feature points based on the solved room-boat track line fitting curve, thereby extracting visual gu...

Embodiment 2

[0042] This embodiment predicts whether there will be a collision between the unmanned houseboat and the moving obstacle in the future, and judges whether there is an intersection between the moving track of the moving obstacle and the cone in the cuboid of the space-time coordinate system , if it does not exist, it means that there will be no collision between this moving obstacle and the unmanned houseboat.

[0043] Obstacle occupancy grid map is the main basis for unmanned boat behavior decision-making and path planning. It is not enough to describe the obstacle occupancy information at the current moment or at a specific moment in the environment. Therefore, the space-time obstacle shed proposed in this paper Grid map, when constructing a grid map, instead of using a specific time plane to cut the cuboid, a time plane similar to a cone is used to cut the cuboid.

[0044] If there is an intersection point P(x, y, t), it means that if the unmanned houseboat is moving towards...

Embodiment 3

[0048] This embodiment discloses an automatic control technology based on feedback to form a closed-loop control system to enhance the stability and control precision of the system. Feedback theory includes three parts: measurement, comparison and execution. Constantly periodically measure the value of the variable, so as to compare with the expected value, and then use the control algorithm to reduce the error. So what kind of control algorithm to use to correct the system becomes extremely important.

[0049] In process control, PID controllers have been used in the field of industrial control since their birth in the 1950s, and they are still widely used today. Its principle is simple and easy to understand, easy to implement, widely applicable, relatively independent control parameters, relatively simple selection of parameters, strong adaptability, strong robustness, and no need for accurate system models. With its many unique advantages, PID has been widely and effecti...

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PUM

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Abstract

The invention relates to the technical field of unmanned driving, in particular to a houseboat unmanned driving method and a control system. The houseboat unmanned driving method comprises the steps of: acquiring corresponding spatial position feature points of a calibration object on an image and a laser radar, and acquiring the positioning of a houseboat on the water surface; performing binarization processing on an image acquired by a camera, filtering the image by using a channel model to obtain channel line data points, and performing curve fitting on the channel line data points by using a least square method; extracting visual guidance feature points based on the solved houseboat lane line fitting curve; and mapping a guide point to an environment map by using a camera and three-dimensional laser radar space position conversion relation matrix to guide motion planning and realize unmanned driving of the houseboat. According to the houseboat unmanned driving method, the corresponding visual feature information in the environment model is extracted to guide the motion planning of the unmanned houseboat, so that the finally planned trajectory is anthropomorphic, and the requirements for driving safety and comfort are met in real time.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an unmanned driving method and control system for houseboats. Background technique [0002] Unmanned driving motion planning refers to planning a safe and efficient driving trajectory according to the performance indicators set in advance, based on a certain environmental perception model, according to the target points generated by the behavior decision-making layer, combined with the current state of the boat. [0003] After decades of development, motion planning methods have made remarkable achievements in the field of mobile robots, especially in the direction of unmanned ships. Its application is spread all over various fields, especially now that tourism is on the rise, for house boats, a full-time driver is required to drive, which increases the cost. [0004] Therefore, how to provide an unmanned houseboat technology with higher safety performance, automatic ob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06T7/80
CPCG05D1/0206G06T2207/10044G06T7/80
Inventor 谢承洁
Owner 上海索尼克游艇码头有限公司