Self-parking positioning method, device and related components for unmanned ship

A positioning method and technology for unmanned ships, which are applied in measurement devices, two-dimensional position/channel control, vehicle position/route/altitude control, etc., and can solve problems such as poor parking positioning accuracy.

Active Publication Date: 2022-05-17
陕西欧卡电子智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a self-parking positioning method, device and related components of an unmanned ship, aiming to solve the problem of poor positioning accuracy of the existing unmanned ships

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  • Self-parking positioning method, device and related components for unmanned ship
  • Self-parking positioning method, device and related components for unmanned ship
  • Self-parking positioning method, device and related components for unmanned ship

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.

[0026] It should also be understood that the terminology used ...

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Abstract

The invention discloses a self-parking positioning method, device and related components of an unmanned ship. The method includes measuring the relative positional relationship between markers and the return destination; using radar to detect each marker, and obtaining the point cloud of the corresponding marker in the radar point cloud coordinate system; taking the center point of each marker as the coordinate origin, establishing Northeast coordinate system, calculate the coordinates of the unmanned ship in the Northeast coordinate system, and convert the current latitude and longitude coordinates of the unmanned ship according to the conversion relationship between the Northeast coordinate system and the geographic coordinate system; take the current latitude and longitude coordinates of the unmanned ship The coordinates are the starting point of control, and the unmanned ship is controlled to travel to the longitude and latitude coordinates of the return destination, and the unmanned ship stops driving after reaching the return destination. This method has a high positioning accuracy for the relative position of the ship and the shore base in the unmanned ship berthing scene, and can accurately locate the ship based on the markers on the shore base to ensure that the unmanned ship is accurately parked at the end of the return voyage.

Description

technical field [0001] The invention relates to the field of perception and control of carrier equipment, in particular to an autonomous ship positioning method, device and related components. Background technique [0002] In recent years, with the rapid development of intelligent technology and the continuous iteration of hardware equipment, the level of intelligence of unmanned driving has continued to increase. The current way of berthing ships is still dominated by manual control. Even if some ships are able to berth autonomously, they must be It is carried out in a very ideal environment, some require the shore base to have a longer extension arm to assist the berthing of the ship, and some require the installation of a large number of sensors on the shore base to assist the ship's positioning. How to rely on the ship's own positioning system to complete the berthing task while reducing the dependence on the shore base is a technical difficulty in the field of unmanned ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01S13/06
CPCG05D1/0206G01S13/06
Inventor 程宇威朱健楠张豪杰池雨豪虞梦苓
Owner 陕西欧卡电子智能科技有限公司
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