Unmanned ship autonomous obstacle avoidance system based on binocular vision and millimeter wave radar combination
A technology of binocular vision system and millimeter wave radar, which is applied in control/adjustment system, two-dimensional position/channel control, non-electric variable control, etc., can solve the problems of inaccurate detection results and large light influence, and achieve Reduce the effect of mutual interference
Inactive Publication Date: 2021-07-23
苏州优世达智能科技有限公司
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In the prior art, the visual system is often used to judge obstacles, but it is greatly affected by light, resulting in inaccurate detection results
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[0015] The present invention will be further described below with reference to the accompanying drawings.
[0016] like figure 1 As shown, a unmanned airborne avoidance system based on binding vision and millimeter wave radar, including a shipless control system connected to the unmanned boat, including unmanned ship master control In the power management module, the shipping control system connects the ground base station and the remote control through the wireless link, and the shipless control system also connects the double-dimensional vision system and the millimeters of the millimeters, respectively. The visual vision system includes two stereo cameras including a visual acquisition processing unit that consists of signal transmission and receipt, data acquisition and arithmetic unit.
[0017] Preferably, the bicker vision system communicates with the data fusion system through the CAN bus, the millimeter wave radar system communicates with the data fusion system via the RS2...
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The invention discloses an unmanned ship autonomous obstacle avoidance system based on binocular vision and millimeter wave radar combination. According to the technical scheme, the system comprises an unmanned ship control system connected with an unmanned ship steering engine set, the unmanned ship control system comprises an unmanned ship main controller and a power management module, and the unmanned ship control system is connected with a ground base station and a remote controller through a wireless link; the unmanned ship control system is further connected with the binocular vision system and the millimeter wave radar system through the data fusion system, the binocular vision system comprises two stereo cameras, each stereo camera comprises a vision collecting and processing unit, and the millimeter wave radar system is composed of a signal receiving and transmitting unit, a data collecting unit and an operation unit. According to the scheme provided by the invention, whether obstacle avoidance is needed can be stably and accurately judged.
Description
Technical field [0001] The invention relates to the technical field of obstacle avoidance for unmanned ships, and in particular to an autonomous obstacle avoidance system for unmanned ships based on a combination of binocular vision and millimeter wave radar. Background technique [0002] The unmanned ship is a fully automatic surface robot that can sail on the water according to preset tasks without remote control, with the help of precise satellite positioning and its own sensors. Obstacle avoidance technology, as the name suggests, is the intelligent technology for the unmanned ship to avoid obstacles autonomously. According to The current development of unmanned ship obstacle avoidance technology and its future research trend. Unmanned ship obstacle avoidance technology can be divided into three stages. The first is the obstacle sensing stage; the second is the obstacle bypassing stage; the third is scene modeling and Path search stage. These three stages are actually t...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 叶刚杨薛徐英莹
Owner 苏州优世达智能科技有限公司