Real time perception obstacle evading system and method for unmanned hydrographical survey ship obstacles

An obstacle and surveying ship technology, which is applied in the field of real-time obstacle avoidance system for unmanned channel surveying ships, can solve the problems of large manpower and material resources, personal safety, low work efficiency, etc., achieve safe and smooth work, reduce use costs, improve The effect of safety factor and work efficiency

CN106909145AInactive Publication Date: 2017-06-30WUHAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2017-06-30
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a real time perception obstacle evading system for unmanned hydrographical survey ship obstacles. The system comprises a ship positioning unit, an environment perception unit, a route planning unit and a control unit, wherein the environment perception unit employs at least two kinds of environment perception sensors to sense information of obstacles in a certain scope, obstacle information detected by all environment perception sensors are subjected to data fusion operation, zones of detection superposition are subjected to object matching and superposing operation, an obstacle map is generated based on real time ship coordinates, an obstacle influence zone in which lines are blocked is planned while a round zone with a certain radius is set as a route and a detected obstacle position is used as the center, and therefore a map for route planning is formed; the route planning unit is used for planning a navigation route on a set ship route based on the map for route planning, and the control unit is used for controlling a ship to navigate according to a planned navigation route. Via the obstacle evading system, an unmanned ship is enabled to be capable of autonomous navigation, autonomous perception, autonomous programming, autonomous obstacle avoidance and autonomous returning to the navigation route; a safety factor and work efficiency of unmanned hydrographical survey ship can be improved.
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Description

technical field

[0001] The invention belongs to the field of environment perception and path planning, and in particular relates to a real-time obstacle avoidance system and method for an unmanned channel measuring ship. Background technique

[0002] In recent years, with the advancement of science and technology, more and more new technologies have been applied to hydrographic survey operations, greatly improving the efficiency of hydrographic survey. Channel measurement provides ship drivers with the position and height of obstacles such as reefs in the channel by measuring the underwater topography, which is very important for safe and smooth shipping. At present, most of the waterway survey work is done manually, which requires a lot of manpower and material resources, and the work efficiency is low, and it is easy to cause personal safety problems when measuring shoals and depressions. Measurement work, but it requires a special person to monitor whether there are obst...

Examples

Embodiment Construction

[0030] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0031] The invention provides a real-time obstacle avoidance system for an unmanned waterway surveying ship, which includes:

[0032] The ship positioning unit is used for real-time positioning of the ship and obtaining the real-time coordinates of the ship. In this embodiment, GPS and inertial navigation system are used.

[0033] Environmental awareness units such as figure 2 As shown, it is used to sense obstacle information within a certain range by using at least two kinds of environmental perception sensors, data fusion of obstacle information detected by each environmental perception sensor, target matching and superimposition for detection overlapping areas, and combined with ship real-time Coordinates, generate an obstacle map, center on the detected obstacle position, set a circular area with a certain radius as the obstacle-affected area ...