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Marine navigation path planning method and system based on machine vision

A technology of path planning and machine vision, applied in the direction of two-dimensional position/channel control, etc., can solve problems such as falling into dead zones, achieve growth cycle, improve battery life and energy consumption, and save energy

Active Publication Date: 2021-11-30
GUANGZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies and deficiencies in the prior art, the first object of the present invention is to provide a method of sea navigation path planning based on machine vision. It also avoids partial path planning from falling into a dead zone in special and complicated situations, which makes the quality of the entire path planning better, improves the operating efficiency of Hainan Airlines, and is practical and efficient

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  • Marine navigation path planning method and system based on machine vision
  • Marine navigation path planning method and system based on machine vision
  • Marine navigation path planning method and system based on machine vision

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Embodiment 1

[0063] like figure 1 As shown, the present embodiment provides a method for planning a sea route based on machine vision, the method comprising the following steps:

[0064] S1: Intercept multiple sets of sea surface images in the video for a preset time period, detect each set of sea surface images separately, and identify the type of target object and the type of surrounding environment, where the distance between the target object and itself is lower than the preset distance The detection target at the threshold; in practical application, use yolov4 to detect and judge the sea surface target in the field of view.

[0065] S2: Perform environmental processing on multiple sets of sea surface images according to the type of surrounding environment to obtain multiple sets of pre-processed images, thereby providing a more stable environmental scene for visual recognition processing. The environmental processing specifically includes rain removal processing, night vision processi...

Embodiment 2

[0099] like Figure 5 As shown, the present embodiment provides a sea route planning system based on machine vision, the system includes an image processing module, a visual recognition module, a position detection module, an angular velocity detection module, a communication module and a main control module, an image processing module, a vision The identification module, the position detection module and the angular velocity detection module are respectively connected with the communication module, and the communication module is also connected with the main control module.

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Abstract

The invention discloses a marine navigation path planning method and system based on machine vision. The method comprises the following steps of S1, identifying the type of a target object and the type of a surrounding environment, S2, conducting environment processing on the multiple sets of sea surface images according to the surrounding environment type, and acquiring multiple sets of preprocessed images, S3, performing priority classification according to the types of different types of target objects, and performing priority planning on the object with the highest priority to avoid a route, S4, identifying a sea wave state, S5, analyzing the moving state of the target, S6, according to the priority level, the target moving state and the sea wave state, planning the optimal global path, S7, obtaining next-step driving control information by using the feedback data, and S8, establishing memory data, dividing danger levels according to the memory data, and performing local path planning based on the danger levels. The method prevents local path planning from easily falling into a dead zone under special and complex conditions, so that the whole path planning quality is better.

Description

technical field [0001] The present invention relates to the technical field of route planning, in particular to a method and system for route planning based on machine vision. Background technique [0002] Intelligent robots or small and medium-sized ships that conduct autonomous operations such as detection or garbage collection on the sea surface are often affected by complex and unexpected situations such as animals, waves, other ships, and bad weather on the sea surface. Existing techniques mainly rely on global path planning, local path planning, or a mixture of both. Global path planning needs to obtain electronic charts and environmental charts, and then use the path planning algorithm to optimize the path. It is only suitable for relatively long-distance channel planning and dealing with static obstacles. , marine animals, other ships) play a role; while the existing local path planning on the sea mainly relies on algorithms such as VFH* to deal with local paths and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 刘长红林韦任谢泽文廖梓鹏钟景昌严一尔
Owner GUANGZHOU UNIVERSITY