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Unmanned ship autonomous tracking system based on combination of binocular vision and radar

A binocular vision, autonomous tracking technology, applied in control/adjustment systems, non-electric variable control, instruments, etc., can solve the problem of difficult to accurately obtain and track the target driving trajectory.

Pending Publication Date: 2021-08-20
苏州优世达智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that traditional unmanned ships generally rely on the vision system or a single radar system, it is difficult to accurately obtain the trajectory of the tracking target. The purpose of this invention is to provide an unmanned ship autonomous tracking system based on binocular vision and radar.

Method used

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  • Unmanned ship autonomous tracking system based on combination of binocular vision and radar
  • Unmanned ship autonomous tracking system based on combination of binocular vision and radar

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Experimental program
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Embodiment 1

[0019] Such as figure 1 , an unmanned ship autonomous tracking system based on the combination of binocular vision and radar, including an unmanned ship control system, the unmanned ship control system is respectively connected with the binocular vision system, the radar system and the unmanned ship rudder unit;

[0020] The unmanned ship control system includes an unmanned ship master controller for comprehensively processing data, and the unmanned ship master controller is connected with a power module for providing electric energy for the operation of the unmanned ship. The master controller of the ship is also connected with an extended Kalman filter for calculating the real-time trajectory of the tracking target. The master controller of the unmanned ship is also connected with a data bus of the unmanned ship for connecting with external devices. The extended Kalman filter A navigation control system is connected to transmit the real-time trajectory of the tracking target...

Embodiment 2

[0027] Such as figure 2 , the tracking process of the unmanned ship autonomous tracking system is as follows:

[0028] Obtain the environmental image in front of the unmanned ship through the binocular vision system; identify whether there is a target object in front of the unmanned ship according to the acquired environmental image; if there is a target object, based on the current position and attitude information of the unmanned ship and according to The depth value of the target object acquired by the environment image is used to determine whether the target object in front is the target to be tracked; Angle, use the extended Kalman filter to calculate the real-time trajectory of the tracking target, and send it to the navigation control system, which controls the real-time target tracking of the unmanned ship.

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Abstract

The invention discloses an unmanned ship autonomous tracking system based on the combination of binocular vision and a radar. The system comprises an unmanned ship control system which is connected with a binocular vision system, a radar system, and an unmanned ship steering engine set; the unmanned ship control system comprises an unmanned ship main controller, the unmanned ship main controller is connected with a power supply module, the unmanned ship main controller is further connected with an extended Kalman filter, the unmanned ship main controller is also connected with an unmanned ship data bus, the extended Kalman filter is connected with a navigation control system, and the unmanned ship main controller is also connected with a wireless transceiver module; the binocular vision system comprises two stereo cameras, and the two stereo cameras are connected with a vision collecting and processing unit. The invention belongs to the technical field of unmanned ships. According to the unmanned ship autonomous tracking system based on the combination of the binocular vision and the radar, the problem that a traditional unmanned ship is difficult to accurately obtain the driving track of a tracking target due to the fact that the traditional unmanned ship generally only depends on a visual system or a single radar system is solved.

Description

technical field [0001] The invention relates to the technical field of unmanned ships, in particular to an autonomous tracking system for unmanned ships based on the combination of binocular vision and radar. Background technique [0002] It is generally difficult for traditional unmanned ships to accurately obtain the trajectory of the tracking target by relying on the vision system or a single radar system alone. A single binocular vision system can only obtain the recognized target and coordinates, and it is difficult to obtain the speed and angle information of the target. A single radar system , can not identify the target to be tracked, laser obstacle avoidance is easily disturbed by water on the water surface, some radar equipment is relatively bulky and expensive, and it is inconvenient to mount on a small unmanned ship, ultrasonic ranging is easily interfered, the signal is unstable, and the ranging Short, and can't get the target to track. [0003] So we invented ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 叶刚杨薛黄海滨
Owner 苏州优世达智能科技有限公司