Panoramic vision ranging and positioning system and method based on double-layer ring-view binocular array

Abstract

The application discloses a panoramic vision ranging and positioning system and method based on a double-layer ring-view binocular array, aiming at solving the problems of field of view limitation, poor anti-vibration and anti-corrosion, difficult maintenance and insufficient real-time performance of a traditional system; the system comprises a support bottom plate, a central support column, upper and lower two layers of annular camera mounting arms, six groups of binocular industrial camera modules, an outer protective cover and a central control cabin; the central support column is prepared from carbon fiber and aluminum alloy, the layer spacing is adjustable through an annular frame lifting adjustment knob, the camera angle is fine-adjusted through front and rear adjustment knobs, and the protection reaches IP67 level; the central control cabin is integrated with FPGA microsecond-level synchronous triggering and Jetson OrinNX parallel processing; the method realizes closed-loop optimization through closed-loop control of sensing, calculation, fusion and output in combination with vibration and temperature monitoring, and the single-frame processing time is less than 0.5s; the application realizes 360-degree panoramic coverage and millimeter-level ranging, has strong environmental adaptability and is easy to maintain, and is suitable for navigation and obstacle avoidance of inland ships in a complex environment.

Description

Technical Field

[0001] This invention belongs to the field of intelligent sensing and visual ranging technology for autonomous ships, specifically relating to a panoramic visual ranging and positioning system and method based on a dual-layer surround-view binocular array. Background Technology

[0002] Inland waterway vessels face complex scenarios during navigation, including narrow channels, port berthing, low light reflection, and water surface fluctuations. This places extremely high demands on the panoramic coverage, ranging accuracy, and environmental adaptability of visual perception systems. Traditional ship visual perception systems mostly employ monocular cameras or fixed-layout binocular cameras, which present the following key problems:

[0003] (1) Limited field of view coverage: Conventional binocular cameras are mostly arranged in a single layer horizontally, which can only cover a local field of view, resulting in a large number of blind spots around the ship, which cannot meet the requirements of 360° panoramic ranging, especially in narrow waterway turning or complex port environments, which can easily cause collision risks. (2) Poor structural stability and maintainability: Existing system supports mostly adopt ordinary metal welded structures, which are heavy and have weak seismic performance. They are prone to resonance or deformation when impacted by waves or when the ship vibrates, which causes camera viewing angle drift and directly reduces stereo matching accuracy. At the same time, the integrated support design lacks a modular quick-release structure. Camera calibration, replacement or maintenance require overall disassembly and assembly, which is complicated and interrupts system operation, seriously affecting the efficiency of ship operation. (3) Insufficient environmental adaptability: Ordinary metal supports have limited corrosion resistance and waterproof performance. They are prone to rust and deformation in high humidity and salt spray environments for a long time. Camera cables are mostly exposed, lacking centralized protection and electromagnetic shielding. Data transmission is easily interfered with. In addition, under strong water surface reflection and low light conditions, the robustness of traditional stereo matching algorithms (such as BM, SGM basic version) is insufficient, and the depth estimation error increases significantly. (4) Lack of system integration and real-time performance: The low precision of multi-camera data synchronization triggering (millisecond level) leads to poor time consistency of images from different perspectives, and point cloud stitching is prone to misalignment; the data processing adopts a serial architecture, which cannot meet the real-time requirements of ship dynamic obstacle avoidance.

[0004] In recent years, although panoramic visual ranging technology has been gradually applied to the field of intelligent ships, existing solutions mostly focus on algorithm optimization, and do not adequately consider the structural layout of the hardware system, seismic and corrosion-resistant design, modular integration, and multi-camera synchronous control, making it difficult to operate stably for a long time in complex inland waterway environments. Therefore, it is necessary to design an integrated system that combines panoramic coverage, high-precision ranging, strong environmental adaptability, and convenient maintenance to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention aims to overcome the shortcomings of existing ship panoramic visual ranging systems in terms of field of view coverage, structural stability, environmental adaptability, and real-time performance. It provides a panoramic visual ranging and positioning system and method based on a dual-layer surround-view binocular array: 360° blind-spot-free perception is achieved through a dual-layer adjustable camera layout; a lightweight composite support and shock-absorbing design enhance seismic and corrosion resistance; a modular quick-release structure simplifies maintenance; and FPGA synchronous triggering and parallel processing optimization ensure real-time data processing. Ultimately, it achieves high-precision panoramic ranging and positioning in complex water environments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array includes a support base plate (1), a fixed support (2), a central support column (3), upper and lower ring camera mounting arms, a binocular industrial camera module (12), an outer protective cover (11), and a central control cabin.

[0008] The bracket base plate (1) is the basic load-bearing component and is fixedly connected to the ship deck through the fixed mounting holes (10); the central support column (3) is vertically installed on the bracket base plate (1) and is connected to the fixed bracket (2) through the flange connecting plate and fastening screws; the central support column (3) is provided with an end cap (4) and an installation platform at the top and has a hollow structure inside.

[0009] The upper and lower ring camera mounting arms are both located around the central support column (3). The layer spacing is adjustable through the telescopic guide rail and the ring frame lifting adjustment knob (6). Three sets of binocular industrial camera modules (12) are evenly distributed on each mounting arm, with a total of six sets on the upper and lower layers to form a 360° panoramic coverage layout. Each set of binocular industrial camera modules (12) is fixed on the U-shaped camera support plate (13). The U-shaped camera support plate (13) is connected to the adjustment knob slide groove (15) through the camera support plate fastening screw (9). The outer protective cover (11) is a transparent structure and is connected to the bracket base plate (1) with screw sealing. It has a transparent optical window (8) inside. The central control cabin is integrated in the cavity structure of the central support column (3) and includes an FPGA module, a power module and a control circuit module. The central support column (3) adopts a carbon fiber and aluminum alloy composite structure. The connection between the outer protective cover (11) and the central support column (3) adopts an IP67 waterproof sealing design.

[0010] In a preferred embodiment of the present invention, the mounting structure of the binocular industrial camera module (12) includes a camera support plate (5), a front and rear adjustment knob (7), a silicone shock-absorbing pad, and a shock-absorbing rubber ring; the camera support plate (5) is fixedly connected to the U-shaped camera support plate (13), and the viewing angle of the binocular industrial camera module (12) can be finely adjusted within a range of ±30° by means of the front and rear adjustment knob (7); the silicone shock-absorbing pad and the shock-absorbing rubber ring are set at the bottom of the U-shaped camera support plate (13) to isolate the hull vibration; the U-shaped camera support plate (13) adopts a modular quick-release structure, and is detachably connected to the adjustment knob slide groove (15) of the ring camera mounting arm by means of the camera support plate fastening screw (9).

[0011] In a preferred embodiment of the present invention, the hollow structure of the central support column (3) is provided with a built-in wiring channel, and the power and signal cables of each binocular industrial camera module (12) are centrally wired through the built-in wiring channel; the central support column (3) is provided with a column mounting slot (14), and the cable is connected to the control circuit module of the central control cabin through a magnetic waterproof plug; the top end cover (4) of the central support column (3) adopts a sealed design, and an air circulation channel and an aluminum alloy heat sink are provided inside.

[0012] In a preferred embodiment of the present invention, the outer protective cover (11) includes a transparent optical window (8) and a protective shell. The transparent optical window (8) is made of tempered optical glass, which has both high light transmittance and impact resistance. The connection surface between the protective shell and the support base plate (1) is provided with a sealing gasket, which is tightened and sealed by screws. The surface of the protective shell is coated with a nano anti-corrosion coating.

[0013] In a preferred embodiment of the present invention, the central control cabin further includes a signal synchronization unit and a data processing module. The FPGA module is used to realize microsecond-level synchronous exposure triggering of six binocular industrial camera modules (12). The data processing module is built on the Jetson OrinNX embedded platform and supports multi-threaded parallel processing. The built-in wiring groove of the central support column (3) is provided with an electromagnetic shielding layer to reduce interference in cable signal transmission.

[0014] In a preferred embodiment of the present invention, the telescopic guide rails of the upper and lower ring camera mounting arms are positioned by a locking mechanism, and the interlayer spacing is finely adjusted within the range of 0-15cm by the ring frame lifting adjustment knob (6); the connection between the ring camera mounting arm and the central support column (3) is provided with a scale ring structure to assist in calibrating the geometric position of the camera array.

[0015] In a preferred embodiment of the present invention, the upper binocular industrial camera module (12) is used for distance measurement of distant targets, and the lower binocular industrial camera module (12) is used for near-range stereo perception; the six sets of binocular industrial camera modules (12) are evenly distributed along the ring camera mounting arm at equal angles, and the field of view overlap rate of two adjacent sets of camera modules is not less than 15%.

[0016] This invention provides a panoramic visual ranging and positioning closed-loop control method based on the above system, comprising the following steps:

[0017] Step 1, perception stage: The FPGA module of the central control cabin triggers six sets of binocular industrial camera modules (12) to expose synchronously and collect 360° panoramic multi-view images; the layer spacing between the upper and lower ring camera mounting arms is adjusted by the ring frame lifting adjustment knob (6), and the pitch angle of the binocular industrial camera module (12) is finely adjusted by the front and rear adjustment knob (7) to adapt to the current ranging scenario.

[0018] Step 2, Calculation stage: Based on the mechanical reference point and scale ring structure of the central support column (3), the acquired image is corrected for posture. A unified global coordinate system is established through checkerboard calibration and BundleAdjustment optimization. The image after distortion correction is input into the SGM stereo matching algorithm, and combined with ORB feature point sparse auxiliary matching, a high-precision depth map is generated.

[0019] Step 3, Fusion stage: The depth maps generated by each binocular industrial camera module (12) are converted into local point cloud sets. The ICP iterative nearest point algorithm is used to align the point clouds. Abnormal matching points are removed by the RANSAC random consistent sampling algorithm to achieve high-precision fusion of multi-viewpoint point clouds.

[0020] Step 4, Output Stage: The fused 3D point cloud and pose information are output to the shipborne navigation system to form a real-time 3D environment model; the central control cabin continuously monitors the vibration, temperature and protection status of the support structure, and dynamically adjusts the interlayer spacing or camera angle according to environmental changes to achieve closed-loop optimization and stable output.

[0021] In a preferred embodiment of the present invention, in step (1), the synchronous exposure triggering accuracy of the binocular industrial camera module (12) is not less than 1 microsecond; the layer spacing is adjusted adaptively based on the target ranging range, the layer spacing is adjusted to 3-5cm when measuring at close range, and the layer spacing is adjusted to 10-15cm when measuring at long range; the silicone damping pad and the anti-vibration rubber ring at the bottom of the U-shaped camera support plate (13) isolate the high-frequency vibration of the hull in real time to ensure the stability of image acquisition.

[0022] In a preferred embodiment of the present invention, in step (2), sparse auxiliary matching of ORB feature points is performed using the formula: , and These are the individual bits of the descriptor vector; in step (3), the ICP algorithm minimizes the error function: , These are points in the source point cloud; In the target point cloud Corresponding points Represents rotation and translation parameters;

[0023] Steps 2-3 employ a multi-threaded parallel processing architecture for computation, and the computational model is evaluated as follows:

[0024] ,in, Image acquisition time, For stereo matching and depth calculation time, For point cloud fusion and 3D reconstruction time, To accelerate the compensation time in parallel, The total processing time, after optimization, is reduced to an average processing time per frame. This meets the real-time ranging requirements of intelligent ships.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) Panoramic Coverage and High-Precision Ranging: This invention employs a double-layer adjustable surround-view camera bracket, achieving stable multi-view arrangement through telescopic guide rails and angle fine-tuning mechanisms. The carbon fiber and aluminum alloy composite structure effectively suppresses vibration and deformation, ensuring geometric consistency between multiple viewpoints and significantly improving the accuracy of stereo ranging and spatial reconstruction. Six sets of binocular cameras are evenly distributed in a ring, achieving 360° blind-spot-free panoramic perception. The stitched images are continuous and natural, solving the problems of limited field of view and insufficient accuracy in traditional systems.

[0027] (2) Strong environmental adaptability: The support surface adopts a nano anti-corrosion coating and IP67-level sealing design, which can maintain stable operation in complex environments such as high humidity, strong reflection and low light. Combined with a waterproof and breathable membrane and shock-absorbing base, the system can still maintain ranging accuracy and structural integrity for a long time in wave impact, salt spray and high temperature environments.

[0028] (3) Convenient maintenance and high reliability: The system achieves microsecond-level camera collaborative acquisition through the FPGA hardware synchronous triggering mechanism in the central control cabin, ensuring the consistency of data time from multiple perspectives. The bracket integrates heat dissipation and waterproof design, ensuring that the system's single-frame processing time is less than 0.5 seconds at 1920×1080 resolution, which can stably meet the real-time obstacle avoidance and dynamic monitoring requirements of intelligent ships.

[0029] (4) The system is highly scalable and maintainable: the modular design supports distributed edge computing expansion, and the lens status monitoring and automatic correction mechanism improves the system's reliability and long-term operation capability. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of a panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array, provided in an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the installation structure of the central support column and the bracket base plate provided in an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram of the structure of an upper-layer camera array and mounting module provided in an embodiment of the present invention.

[0034] Figure 4 This is a schematic diagram of the structure of an outer protective cover provided in an embodiment of the present invention.

[0035] Reference numerals: 1. Base plate of bracket; 2. Fixed bracket; 3. Central support column; 4. End cap; 5. Camera support plate; 6. Annular frame lifting adjustment knob; 7. Camera front and rear adjustment knob; 8. Transparent optical window; 9. Camera support plate fastening screw; 10. Fixed mounting hole; 11. Outer protective cover; 12. Binocular industrial camera module; 13. U-shaped camera support plate; 14. Column mounting groove; 15. Adjustment knob slide groove. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the device or functional component in this embodiment during use.

[0037] like Figures 1-4As shown, this embodiment of the invention provides a panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array, including a support base plate 1, a fixed support 2, a central support column 3, upper and lower ring camera mounting arms, a binocular industrial camera module 12, an outer protective cover 11, and a central control cabin; each functional component is precisely mechanically connected and electrically integrated to form an integrated ranging system.

[0038] The base plate 1 is the basic load-bearing component, which is fixedly connected to the ship's deck through the mounting holes 10 to ensure the system is installed securely. The central support column 3 is a hollow cylindrical structure. The central support column 3 is vertically installed on the base plate 1 and connected to the fixed bracket 2 through flange connecting plates and fastening screws. The top of the central support column 3 is equipped with an end cap 4 and an installation platform. The interior is a hollow structure, and the end cap 4 prevents rainwater from entering.

[0039] Both upper and lower ring-shaped camera mounting arms are located around the central support column 3. The layer spacing is adjustable via telescopic guide rails and ring frame lifting adjustment knobs 6. Three sets of binocular industrial camera modules 12 are evenly distributed on each mounting arm, with a total of six sets on both upper and lower layers to form a 360° panoramic coverage layout. Each set of binocular industrial camera modules 12 is fixed on a U-shaped camera support plate 13. The U-shaped camera support plate 13 is connected to the adjustment knob slide groove 15 via camera support plate fastening screws 9. The outer protective cover 11 is a transparent structure and is connected to the bracket base plate 1 by screw sealing. It has a transparent optical window 8 inside.

[0040] The central control cabin is integrated into the cavity structure of the central support column 3, including an FPGA module, a power module, and a control circuit module; the fixed bracket 2 adopts a carbon fiber and aluminum alloy composite structure, and the connection between the outer protective cover 11 and the central support column 3 adopts an IP67 waterproof sealing design.

[0041] The mounting structure of the binocular industrial camera module 12 includes a camera support plate 5, a front and rear adjustment knob 7, a silicone shock-absorbing pad, and a shock-absorbing rubber ring. The camera support plate 5 is fixedly connected to the U-shaped camera support plate 13, and the viewing angle of the binocular industrial camera module 12 can be finely adjusted within a range of ±30° by adjusting the front and rear adjustment knob 7. The silicone shock-absorbing pad and the shock-absorbing rubber ring are set at the bottom of the U-shaped camera support plate 13 to isolate the hull vibration. The U-shaped camera support plate 13 adopts a modular quick-release structure and can be detachably connected to the adjustment knob slide 15 of the ring camera mounting arm by the camera support plate fastening screw 9.

[0042] The central control cabin also includes a signal synchronization unit and a data processing module. The FPGA module is used to realize the microsecond-level synchronous exposure triggering of six sets of binocular industrial camera modules 12. The data processing module is built on the Jetson OrinNX embedded platform and supports multi-threaded parallel processing. The built-in wiring channel of the central support column 3 is equipped with an electromagnetic shielding layer to reduce interference in cable signal transmission.

[0043] The hollow structure of the central support column 3 is equipped with a built-in cable tray, through which the power and signal cables of each binocular industrial camera module 12 are centrally routed; the central support column 3 is equipped with a column mounting slot 14, and the cables are connected to the control circuit module of the central control cabin through a magnetic waterproof plug; the top end cover 4 of the central support column 3 adopts a sealed design, and is equipped with an air circulation channel and an aluminum alloy heat sink inside.

[0044] The outer protective cover 11 includes a transparent optical window 8 and a protective shell. The transparent optical window 8 is made of tempered optical glass, which has both high light transmittance and impact resistance. The connection surface between the protective shell and the bracket base plate 1 is provided with a sealing gasket, which is tightened and sealed by screws. The surface of the protective shell is coated with a nano anti-corrosion coating.

[0045] The telescopic guide rails of the upper and lower ring camera mounting arms are positioned by a locking mechanism, and the interlayer spacing can be finely adjusted within the range of 0-15cm by the ring frame lifting adjustment knob 6; the connection between the ring camera mounting arm and the central support column 3 is equipped with a scale ring structure to assist in calibrating the geometric position of the camera array.

[0046] The upper binocular industrial camera module 12 is used for distance measurement of distant targets, and the lower binocular industrial camera module 12 is used for near-range stereo perception. The six binocular industrial camera modules 12 are evenly distributed along the ring camera mounting arm at equal angles, and the field of view overlap rate of two adjacent camera modules is not less than 15% to avoid perception blind spots.

[0047] This invention also provides a panoramic visual ranging and positioning closed-loop control method based on the above system, with perception-computation-fusion-output as the core process, and realizing full-process closed-loop control through a central control cabin, including the following steps:

[0048] Step 1, Perception Phase: The FPGA module in the central control cabin triggers six sets of binocular industrial camera modules 12 to simultaneously expose and acquire 360° panoramic multi-view images; the layer spacing between the upper and lower ring camera mounting arms is adjusted by the ring frame lifting adjustment knob 6, and the pitch angle of the binocular industrial camera module 12 is finely adjusted by the front and rear adjustment knob 7 to adapt to the current ranging scenario.

[0049] Step 2, Calculation Stage: Based on the mechanical reference point and scale ring structure of the central support column 3, the acquired image is subjected to attitude correction. A unified global coordinate system is established through checkerboard calibration and Bundle Adjustment optimization. The distortion-corrected image is input into the SGM stereo matching algorithm, and combined with ORB feature point sparse auxiliary matching, a high-precision depth map is generated.

[0050] Step 3, Fusion Stage: The depth maps generated by each binocular industrial camera module 12 are converted into local point cloud sets. The ICP iterative nearest point algorithm is used to align the point clouds, and the RANSAC random consistent sampling algorithm is used to remove abnormal matching points, thereby achieving high-precision fusion of multi-viewpoint point clouds.

[0051] Step 4, Output Stage: The fused 3D point cloud and pose information are output to the shipborne navigation system to form a real-time 3D environment model; the central control cabin continuously monitors the vibration, temperature and protection status of the support structure, and dynamically adjusts the interlayer spacing or camera angle according to environmental changes to achieve closed-loop optimization and stable output.

[0052] In step 1, the synchronous exposure triggering accuracy of the binocular industrial camera module 12 is no less than 1 microsecond; the layer spacing adjustment is adaptively adjusted based on the target ranging range, with the layer spacing adjusted to 3-5cm for close-range ranging and 10-15cm for long-range ranging; the silicone shock-absorbing pads and anti-vibration rubber rings at the bottom of the U-shaped camera support plate 13 isolate the high-frequency vibration of the hull in real time to ensure the stability of image acquisition.

[0053] In step 2, ORB feature point sparse auxiliary matching is performed using the formula: , and These are the individual bits of the descriptor vector; the matching results will be processed by RANSAC (Random Consistent Sampling Algorithm) to remove outlier matching points, thereby ensuring that feature constraints can provide geometric consistency support for depth map calculation.

[0054] In step 3, the system converts multiple sets of depth maps into local point cloud sets. Point cloud alignment is then performed using the ICP (Iterative Closest Point) algorithm. The ICP algorithm minimizes the error function: , These are points in the source point cloud; In the target point cloud Corresponding points Represents rotation and translation parameters;

[0055] The system is built on the Jetson Orin NX embedded platform and achieves high-efficiency operation through the following technologies: Synchronous acquisition: Microsecond-level multi-camera synchronization is achieved using FPGA hardware triggering. Parallel processing: A multi-threaded parallel processing architecture is adopted to execute data acquisition, stereo matching, and point cloud fusion tasks in parallel. Real-time control: The central control unit monitors the latency and synchronization error of the data stream in real time and dynamically schedules processing threads to form a highly efficient closed-loop control system.

[0056] Steps 2-3 employ a multi-threaded parallel processing architecture for computation, and the computational model is evaluated as follows:

[0057] ,in, Image acquisition time, For stereo matching and depth calculation time, For point cloud fusion and 3D reconstruction time, To accelerate the compensation time in parallel, The total processing time, after optimization, is reduced to an average processing time per frame. This meets the real-time ranging requirements of intelligent ships.

[0058] The present invention has the following innovations: (1) Panoramic ranging layout of double-layer surround-view binocular camera array: The present invention adopts a ring layout of six binocular industrial cameras in two layers at the hardware level to achieve 360° panoramic coverage. The bracket is about 50cm in diameter and adopts a lightweight carbon fiber and aluminum alloy composite structure, which has both anti-corrosion and anti-vibration performance, and is suitable for stable installation on ships in limited space. The distance between the upper and lower layer cameras is adjustable, and the near and far distance ranging is adaptive through telescopic guide rails and angle fine adjustment mechanism, providing a stable and reliable hardware foundation for the system. (2) Multi-camera structure calibration and geometric stability control mechanism: The system realizes the precise positioning of the multi-camera array through the mechanical reference point and scale ring structure built into the bracket, and adjusts the attitude of each camera synchronously in combination with the automatic calibration program to establish a unified global coordinate system. This structure significantly improves the geometric stability and anti-interference ability of the multi-camera system, reduces pose drift during long-term operation, and ensures the high precision consistency of the panoramic ranging system. (3) Multi-viewpoint collaborative ranging and three-dimensional modeling structure: The present invention proposes a multi-viewpoint collaborative ranging and three-dimensional modeling system based on a double-layer surround-view camera bracket. The support provides a stable geometric baseline and symmetrical layout, and six sets of cameras can simultaneously acquire multi-angle images. The system uses the central control cabin to achieve data fusion and registration, generate a continuous three-dimensional environment model, and maintain high accuracy and stability under complex lighting and dynamic water surface conditions, providing reliable visual input for intelligent ship navigation and obstacle avoidance. (4) Real-time fusion mechanism of parallel processing and central control: The present invention adopts a power supply and signal synchronization module integrated in the central control cabin, combined with FPGA hardware triggering to realize synchronous exposure of cameras, which significantly improves the real-time performance and reliability of the system operation.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array, characterized in that, It includes a bracket base plate (1), a fixed bracket (2), a central support column (3), upper and lower ring camera mounting arms, six sets of binocular industrial camera modules (12), an outer protective cover (11), and a central control cabin; The bracket base plate (1) is the basic load-bearing component and is fixedly connected to the ship deck through the fixed mounting holes (10); the central support column (3) is vertically installed on the bracket base plate (1) and is connected to the fixed bracket (2) through the flange connecting plate and fastening screws; the central support column (3) is provided with an end cap (4) and an installation platform at the top and has a hollow structure inside. The upper and lower ring-shaped camera mounting arms are both located around the central support column (3). The layer spacing is adjustable through the telescopic guide rail and the ring frame lifting adjustment knob (6). Three sets of binocular industrial camera modules (12) are evenly distributed on each mounting arm, with a total of six sets on the upper and lower layers to form a 360° panoramic coverage layout. Each set of binocular industrial camera modules (12) is fixed on the U-shaped camera support plate (13). The U-shaped camera support plate (13) is connected to the camera support plate (5) through the front and rear adjustment knob (7) and the adjustment knob groove. (15) Connection; The outer protective cover (11) is a transparent structure and is connected to the support base plate (1) by screw sealing. It has a transparent optical window (8) inside; The central control cabin is integrated into the cavity structure of the central support column (3) and includes an FPGA module, a power module and a control circuit module; The central support column (3) adopts a carbon fiber and aluminum alloy composite structure, and the connection between the outer protective cover (11) and the central support column (3) adopts an IP67 waterproof sealing design; The mounting structure of the binocular industrial camera module (12) includes a camera support plate (5), a front and rear adjustment knob (7), a silicone shock-absorbing pad, and a shock-absorbing rubber ring. The camera support plate (5) is connected to the U-shaped camera support plate (13), and the viewing angle of the binocular industrial camera module (12) can be finely adjusted within a range of ±30° by means of the front and rear adjustment knob (7). The silicone shock-absorbing pad and the shock-absorbing rubber ring are set at the bottom of the U-shaped camera support plate (13) to isolate the vibration of the ship hull.

2. The panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array according to claim 1, characterized in that, The hollow structure of the central support column (3) is provided with a built-in wiring channel, through which the power and signal cables of each binocular industrial camera module (12) are centrally routed; the central support column (3) is provided with a column mounting slot (14), and the cable is connected to the control circuit module of the central control cabin through a magnetic waterproof plug; the top end cover (4) of the central support column (3) adopts a sealed design, and is provided with an air circulation channel and an aluminum alloy heat sink inside.

3. The panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array according to claim 2, characterized in that, The outer protective cover (11) includes a transparent optical window (8) and a protective shell. The transparent optical window (8) is made of tempered optical glass, which has both high light transmittance and impact resistance. The connection surface between the protective shell and the bracket base plate (1) is provided with a sealing gasket, which is tightened and sealed by screws. The surface of the protective shell is coated with a nano anti-corrosion coating.

4. The panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array according to claim 3, characterized in that, The central control cabin also includes a signal synchronization unit and a data processing module. The FPGA module is used to realize the microsecond-level synchronous exposure triggering of six binocular industrial camera modules (12). The data processing module is built on the Jetson OrinNX embedded platform and supports multi-threaded parallel processing. The built-in wiring groove of the central support column (3) is equipped with an electromagnetic shielding layer to reduce interference in cable signal transmission.

5. The panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array according to claim 4, characterized in that, The telescopic guide rails of the upper and lower ring camera mounting arms are positioned by a locking mechanism, and the interlayer spacing can be finely adjusted within the range of 0-15cm by the ring frame lifting adjustment knob (6); the connection between the ring camera mounting arm and the central support column (3) is provided with a scale ring structure to assist in calibrating the geometric position of the camera array.

6. The panoramic visual ranging and positioning system based on a dual-layer surround-view binocular array according to claim 5, characterized in that, The upper binocular industrial camera module (12) is used for distance measurement of distant targets, and the lower binocular industrial camera module (12) is used for near-range stereo perception; the six binocular industrial camera modules (12) are evenly distributed along the ring camera mounting arm at equal angles, and the field of view overlap rate of two adjacent camera modules is not less than 15%.

7. A panoramic visual ranging and positioning closed-loop control method based on the system described in claim 6, characterized in that, Includes the following steps: Step 1, perception stage: The FPGA module of the central control cabin triggers six sets of binocular industrial camera modules (12) to expose synchronously and collect 360° panoramic multi-view images; the layer spacing between the upper and lower ring camera mounting arms is adjusted by the ring frame lifting adjustment knob (6), and the pitch angle of the binocular industrial camera module (12) is finely adjusted by the front and rear adjustment knob (7) to adapt to the current ranging scenario. Step 2, Calculation stage: Based on the mechanical reference point and scale ring structure of the central support column (3), the acquired image is corrected for posture. A unified global coordinate system is established through checkerboard calibration and BundleAdjustment optimization. The image after distortion correction is input into the SGM stereo matching algorithm, and combined with ORB feature point sparse auxiliary matching, a high-precision depth map is generated. Step 3, Fusion stage: The depth maps generated by each binocular industrial camera module (12) are converted into local point cloud sets. The ICP iterative nearest point algorithm is used to align the point clouds. Abnormal matching points are removed by the RANSAC random consistent sampling algorithm to achieve high-precision fusion of multi-viewpoint point clouds. Step 4, Output Stage: The fused 3D point cloud and pose information are output to the shipborne navigation system to form a real-time 3D environment model; the central control cabin continuously monitors the vibration, temperature and protection status of the support structure, and dynamically adjusts the interlayer spacing or camera angle according to environmental changes to achieve closed-loop optimization and stable output.

8. The panoramic visual ranging and positioning closed-loop control method according to claim 7, characterized in that, In step 1, the synchronous exposure triggering accuracy of the binocular industrial camera module (12) is not less than 1 microsecond; the layer spacing adjustment is adaptively adjusted based on the target ranging range, the layer spacing is adjusted to 3-5cm when measuring at close range, and the layer spacing is adjusted to 10-15cm when measuring at long range; the silicone damping pad and anti-vibration rubber ring at the bottom of the U-shaped camera support plate (13) isolate the high-frequency vibration of the hull in real time to ensure the stability of image acquisition.

9. The panoramic visual ranging and positioning closed-loop control method according to claim 7, characterized in that, In step 2, ORB feature point sparse auxiliary matching is performed using the formula: , and These are the individual bits of the descriptor vector; in step 3, the ICP algorithm minimizes the error function: , These are points in the source point cloud; In the target point cloud Corresponding points Represents rotation and translation parameters; Steps 2-3 employ a multi-threaded parallel processing architecture for computation, and the computational model is evaluated as follows: ,in, Image acquisition time, For stereo matching and depth calculation time, For point cloud fusion and 3D reconstruction time, To accelerate the compensation time in parallel, The total processing time, after optimization, is reduced to an average processing time per frame. This meets the real-time ranging requirements of intelligent ships.

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