Ship berthing system and method based on unmanned aerial vehicle

Abstract

The invention relates to a ship berthing system and method based on an unmanned aerial vehicle, the system comprises the unmanned aerial vehicle and a berthing device, the unmanned aerial vehicle comprises: a video acquisition module, wherein the video acquisition module is used for acquiring target object information, obstacle information and wharf berth information on a flight path of the unmanned aerial vehicle; a buoy module which is used for collecting environmental parameters and hydrological information of a ship berthing area; a local map establishing module which is used for establishing a ship local map; a path planning module which is used for planning a ship driving path according to the ship local map; and a berthing device which is used for controlling the ship to berth according to the planned ship driving path. According to the method, the unmanned aerial vehicle is used for planning the path, and compared with platform end transformation and shore base end transformation of an existing unmanned ship, the cost is greatly reduced; and on the other hand, compared with an unmanned ship, the unmanned aerial vehicle has a wider visual field and a wider communication distance, one unmanned aerial vehicle can guide multiple ships to berth at the same time, and the berthing efficiency is greatly improved.

Description

technical field [0001] The invention relates to the field of ship berthing, in particular to a system and method for berthing a ship based on an unmanned aerial vehicle. Background technique [0002] In the field of ship berthing, automatic berthing is a common application scenario as it involves unmanned ship berthing. By sensing the surrounding environment, planning the berthing path and controlling the actions of the unmanned ship, the unmanned ship will eventually automatically dock the unmanned ship at the designated berth. The current automatic berthing scheme mainly has two technical routes: one is the transformation of the unmanned ship platform, and the other is the transformation of the shore-side. [0003] The transformation of the unmanned ship platform mainly refers to strengthening the perception ability of the unmanned ship platform by adding equipment such as laser radar, camera, GPS device and ultrasonic sensor, and further combining high-precision maps and...

AI Technical Summary

Problems solved by technology

[0004] For the unmanned ship platform-side transformation plan, since the back-end modification of each unmanned ship is required, its universality is poor and it is difficult to promote

In addition, in order to achieve accurate environmental perception and ship positioning, it is generally necessary to install lidar and build a high-precision map, which is relatively difficult and costly; A large number of lidars are deployed at the base end, and the transformation cost is relatively high; in addition, due to the poor infrastructure construction, harsh environment, and unknown hydrological conditions of some berths, unmanned ships berthing under these conditions, there is a greater risk

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