An unmanned ship wave perception and maneuvering auxiliary device based on binocular stereo camera

Abstract

The utility model relates to a wave perception technical field, is an unmanned ship wave perception and control auxiliary device based on binocular stereo camera, include: binocular stereo camera group, adjustable support subassembly, tripod support subassembly and integrated box, wherein: binocular stereo camera group is fixed on the triangular support subassembly through adjustable support subassembly, and adjustable support subassembly connects tripod support subassembly through disc, triangular support subassembly is fixed on unmanned ship, binocular stereo camera group, adjustable support subassembly and tripod support subassembly can be stored in integrated box after dismantling. The utility model connects with horizontal adjustment axle through the axle clamp structure and two cameras, realizes that baseline distance is adjustable, and industrial computer connects each hardware module, completes data acquisition, processing, analysis and generates control suggestion.

Description

Technical Field

[0001] This utility model relates to the field of wave sensing technology, and in particular to a wave sensing and maneuvering auxiliary device for unmanned surface vessels based on a binocular stereo camera. Background Technology

[0002] Among existing wave sensing technologies, buoy monitoring can only acquire wave data at a single point, failing to reflect the wave field distribution over a large area of ​​sea. Furthermore, it is easily damaged or drifted under severe sea conditions such as strong typhoons and giant waves, resulting in poor data stability. While radar measurement offers wider coverage, its resolution decreases significantly with distance. In scenarios with severe convective weather, extreme rain or snow, or strong sea surface reflection (such as solar flare areas), signal attenuation is severe, leading to increased measurement errors for key parameters such as wave height and direction, making it difficult to meet the high-precision wave information requirements of unmanned surface vessels (USVs). In addition, traditional wave meters have strict limitations on ship speed, restricting the efficiency and flexibility of data acquisition.

[0003] In addition, existing wave monitoring technologies based on visual imaging (such as monocular cameras or fixed-parameter binocular systems) lack specific designs for dynamic marine environments and perform poorly in complex scenarios: First, the swaying of ships during navigation can cause image translation errors, which can reach more than 15 pixels without compensation, seriously affecting the accuracy of stereo matching; Second, changes in lighting conditions (such as backlighting, cloudy days, and low light at night) can cause overexposure of highlights or loss of details in shadows, reducing the feature point extraction rate by more than 20%, thus affecting the reliability of wave parameter calculation; Third, the specular reflection area of ​​the sea surface (accounting for up to 15%) is prone to mismatches, resulting in noise points in the 3D reconstruction results, and the recognition accuracy of complex wave patterns such as breaking waves is less than 65%.

[0004] Currently, existing technologies mostly focus on wave data acquisition and basic parameter extraction, lacking deep integration with the needs of ship maneuvering. Traditional systems can only output raw wave data, requiring secondary analysis based on human experience or additional systems to transform it into navigation decision suggestions. This results in high data processing latency and application link breaks. For example, in unmanned surface vessel (USV) navigation scenarios, existing systems cannot output specific maneuvering schemes such as speed adjustment and course optimization based on wave characteristics in real time. This leads to a low mission success rate for USVs in complex sea states (e.g., only 47% success rate in sea state 6), making it difficult to meet the needs of intelligent navigation.

[0005] Existing wave sensing devices are mostly assembled from discrete components, lacking integrated design. This results in complex installation and debugging, large space occupation, and difficulty in adapting to small platforms such as unmanned surface vessels (USVs). Furthermore, their hardware protection levels are insufficient, making them prone to failure in the high humidity, high salt spray, and strong vibration environments of the ocean. Maintenance cycles are short (typically less than one year), leading to high long-term operating costs. In addition, existing equipment has not optimized power consumption and computational efficiency for wave monitoring scenarios, making it difficult to achieve long-term continuous operation with the limited energy supply of USVs.

[0006] Therefore, there is a need to provide a device that uses a binocular stereo camera mounted on the bow and side of an unmanned surface vessel to reconstruct the wave field in three dimensions through the principle of parallax, thereby achieving wave perception. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a wave perception and maneuvering assistance device for unmanned surface vessels based on a binocular stereo camera. This invention primarily utilizes a binocular stereo camera assembly, an adjustable support assembly, a tripod assembly, and an integrated housing. The camera is connected to a lateral adjustment axis via a clamp structure, enabling adjustable baseline distance. An industrial control computer connects to each hardware module to complete data acquisition, processing, analysis, and the generation of maneuvering suggestions.

[0008] The technical means adopted in this utility model are as follows:

[0009] A wave sensing and maneuvering assistance device for an unmanned surface vessel (USV) based on a binocular stereo camera includes: a binocular stereo camera assembly, an adjustable support assembly, a tripod assembly, and an integrated housing. The binocular stereo camera assembly is fixed to the tripod assembly via the adjustable support assembly, and the adjustable support assembly is connected to the tripod assembly via a disc. The tripod assembly is fixed to the USV. The binocular stereo camera assembly, the adjustable support assembly, and the tripod assembly can be disassembled and stored in the integrated housing.

[0010] Furthermore, the binocular stereo camera assembly includes a first camera and a second camera, which are respectively fixedly mounted on the adjustable bracket assembly via camera bases; rotatable polarizing filters are installed on the first camera and the second camera.

[0011] Furthermore, the adjustable support assembly includes: a lateral adjustment shaft, a shaft clamping block, a connecting tube seat, and a lower fixed support, wherein:

[0012] Camera bases are fixed to both ends of the horizontal adjustment shaft, which has millimeter-level graduations. Two shaft clamping blocks are slidably mounted on the horizontal adjustment shaft and fixed by a locking knob. A lower fixing bracket is inserted and fixed between the two shaft clamping blocks, and the plane of the horizontal adjustment shaft is perpendicular to the plane of the lower fixing bracket. A connecting tube seat is slidably mounted on the lower fixing bracket and fixed by a locking knob to control and fix the height of the shaft clamping blocks on the lower fixing bracket. The lower fixing bracket is fixed at the center of the disc.

[0013] Furthermore, the tripod assembly includes a tripod, a level, and shock-absorbing pads, wherein the tripod is mounted below the disc, the level is positioned at the center below the disc, and the shock-absorbing pads are positioned at the ends of the tripod to reduce vibration interference during ship navigation.

[0014] Furthermore, the integrated enclosure includes an upper enclosure and a lower enclosure. A display is installed inside the upper enclosure, and a power supply, a tabletop cover, an industrial computer, a router, a touchpad, a first camera placement slot, and a second camera placement slot are fixed inside the lower enclosure with shock-absorbing foam. A signal interface group is also installed on the outside of the lower enclosure.

[0015] Furthermore, a support storage bucket is provided on the outside of the integrated housing at the hinge joint between the upper and lower housings for storing the adjustable support assembly and the tripod assembly.

[0016] Furthermore, the integrated enclosure is also equipped with a data transmission module, which includes a first signal interface and a second signal interface, used to connect to a router and external communication, respectively.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] The wave perception and manipulation auxiliary device for unmanned surface vessels provided by this utility model, based on a binocular stereo camera, realizes full-domain three-dimensional reconstruction of the wave field through binocular stereo vision technology, and simultaneously acquires nine parameters such as wave height, wave direction, and period. The spatial resolution reaches the centimeter level (two orders of magnitude higher than the accuracy of traditional buoy instruments), and the coverage range dynamically expands as the unmanned surface vessel sails, solving the core problems of "single-point monitoring" and "insufficient accuracy" of traditional technologies.

[0019] This invention integrates wave data acquisition, parameter extraction and control suggestion generation, directly transforming raw data into executable decisions such as speed adjustment and course optimization, thereby improving the mission success rate of unmanned surface vessels in complex sea conditions (e.g., mission success rate in sea state 6 increases from 47% to 92%). Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera in this utility model.

[0022] Figure 2 This is a schematic diagram of the internal structure of the integrated box in this utility model.

[0023] Figure 3 This is a schematic diagram of the shaft clamping block structure in this utility model.

[0024] In the diagram: 1. First camera; 2. Second camera; 3. Camera base; 4. Horizontal adjustment axis; 5. Axis clamp; 6. Connecting tube seat; 7. Lower fixed bracket; 8. Disc; 9. Tripod; 10. Anti-vibration pad; 11. Upper housing; 12. Monitor; 13. First signal interface; 14. Second signal interface; 15. Power supply; 16. Tabletop cover; 17. Industrial computer; 18. Router; 19. Touchpad; 20. Lower housing; 21. Bracket placement bucket; 22. First camera placement slot; 23. Second camera placement slot; 24. Signal interface group; 25. Level. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0029] like Figure 1 As shown, this utility model provides a wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera, including: a binocular stereo camera group, an adjustable support assembly, a tripod assembly, and an integrated housing. The binocular stereo camera group is fixed to the tripod assembly via the adjustable support assembly, and the adjustable support assembly is connected to the tripod assembly via a disc 8. The tripod assembly is fixed to the unmanned surface vessel. The binocular stereo camera group, the adjustable support assembly, and the tripod assembly can be disassembled and stored in the integrated housing.

[0030] In a preferred embodiment, the binocular stereo camera assembly includes a first camera 1 and a second camera 2, which are respectively fixedly mounted on an adjustable bracket assembly via a camera base 3. Rotatable polarizing filters are mounted on both the first and second cameras. In practice, the first and second cameras are two symmetrically arranged global shutter CMOS cameras. The rotatable polarizing filters are driven by a stepper motor and can dynamically adjust their polarization angle (0-90°) according to the light intensity to suppress specular reflection from the sea surface and improve image quality.

[0031] Employing a global shutter CMOS binocular camera (4096×2160 resolution) combined with an adjustable baseline of 0.3-0.8m, it accurately calculates depth information using the parallax principle. For long-distance observation, the baseline is increased to ensure accuracy, while for close-range observation, it is decreased to avoid blind spots, adapting to wave monitoring needs under different sea conditions. Hardware costs are reduced by 65% ​​compared to radar systems. A stepper motor-driven polarizing filter is added to the outside of the lens, achieving a specular reflection suppression rate of over 85% in backlight and solar flare scenarios, and improving the feature point retention rate from 62% to 89%, thus solving the imaging quality problems caused by strong sea surface reflection.

[0032] In a preferred embodiment, the adjustable bracket assembly includes: a horizontal adjustment shaft 4, shaft clamping blocks 5, a connecting tube seat 6, and a lower fixed bracket 7. Specifically: a camera base 3 is fixed to both ends of the horizontal adjustment shaft 4, and millimeter-level graduations are provided on the horizontal adjustment shaft 4; two shaft clamping blocks 5 are slidably disposed on the horizontal adjustment shaft 4 and fixed by a locking knob; the lower fixed bracket 7 is inserted and fixed between the two shaft clamping blocks 5, and the plane of the horizontal adjustment shaft 4 is perpendicular to the plane of the lower fixed bracket 7; the connecting tube seat 6 is slidably disposed on the lower fixed bracket 7 and fixed by a locking knob, used to control and fix the height of the shaft clamping blocks 5 on the lower fixed bracket 7; the lower fixed bracket 7 is fixed at the center position of the disc 8.

[0033] In a specific implementation, as a preferred embodiment, the tripod assembly includes: a tripod 9, a level 25, and shock-absorbing feet 10, wherein:

[0034] Tripod 9 is installed below disc 8, level 25 is set at the center below disc 8, and anti-vibration pads 10 are set at the end of tripod 9 to reduce vibration interference during ship navigation. In practice, anti-vibration pads 10 are made of nitrile rubber with a resonance frequency ≤5Hz. When the roll angle is ±10°, the image translation error is reduced from 15 pixels to <2 pixels, adapting to the high vibration and high salt spray environment of the ocean, and the maintenance cycle is extended to 3 years.

[0035] In a preferred embodiment, the integrated enclosure uses an IP65 waterproof and dustproof shell, comprising an upper enclosure 11 and a lower enclosure 20. The upper enclosure 11 houses a display 12. The lower enclosure 20 contains a power supply 15, a tabletop cover 16, an industrial computer 17, a router 18, a touchpad 19, a first camera placement slot 22, and a second camera placement slot 23, all secured by shock-absorbing foam. The lower enclosure 20 also houses a signal interface group 24. This signal interface group 24 includes four power supply interfaces, two CameraLink camera interfaces, one HDMI interface, two USB interfaces, a power interface, and a network interface.

[0036] The industrial control computer 17 has a built-in preprocessing unit, a feature extraction unit, and a control suggestion generation unit. The preprocessing unit performs Gaussian filtering for noise reduction, Zhang Zhengyou calibration for distortion correction, and epipolar alignment on the images acquired by the camera. The feature extraction unit calculates the disparity map based on the improved SGBM algorithm, generates a depth map by combining baseline distance and focal length parameters, and extracts feature parameters such as wave height, wave direction, and period through Fourier transform. The control suggestion generation unit combines wave parameters with the ship dynamics model to output the speed adjustment threshold (±5%) and the heading optimization angle (±10°), which are displayed in real time on the display 12.

[0037] During operation, power supply 15 supplies power to all system components. The binocular stereo camera acquires sea surface images and transmits them to the industrial control computer 17. After preprocessing and feature extraction, wave parameters are obtained. The control suggestion generation unit outputs navigation optimization suggestions, which are synchronized to the unmanned surface vessel control system via display 12 and signal interface group 24. Users can manually adjust system parameters, such as baseline distance and image frame rate (adjustable from 15-30fps), via interactive touchpad 19.

[0038] During implementation, the lower housing 20 is equipped with a built-in thermal conductive silicone pad and an axial flow cooling fan. Combined with the efficient processing capabilities of the industrial control computer, the end-to-end data processing latency is controlled within 40ms, supporting unmanned surface vessels to operate 24 hours a day. This solves the problems of poor environmental adaptability and frequent maintenance of traditional equipment, ensuring stable operation of the equipment in the high vibration and high humidity environment of the ocean.

[0039] Human-computer interaction is achieved through an 18-inch display 12 and a touchpad 19, which visualizes the three-dimensional point cloud of waves, parameter data and operation suggestions, and supports users to manually adjust system parameters, taking into account both intelligent and manual intervention needs, and reducing the operational burden on crew members.

[0040] In a specific implementation, as a preferred embodiment, a bracket placement bucket 21 is also provided at the hinged joint of the upper box 11 and the lower box 20 on the outside of the integrated box, for storing the adjustable bracket assembly and the tripod assembly.

[0041] In a specific implementation, as a preferred embodiment, the integrated housing is also equipped with a data transmission module. The data transmission module includes a first signal interface 13 and a second signal interface 14, which are used to connect the router 18 and external communication, respectively. It can realize local data storage and remote data upload, and support real-time data interaction with the unmanned surface vessel control system.

[0042] Combining local storage with 4G / 5G remote transmission, the data synchronization latency is ≤100ms, enabling real-time transmission back to the shore-based command center. It also supports offline data retrospective analysis, providing high-frequency, high-precision measured data for marine engineering research and disaster early warning, and promoting the engineering application of wave sensing technology in marine monitoring.

[0043] Example 1

[0044] like Figure 1 As shown, this embodiment is a working example of the wave perception and manipulation assistance device for unmanned surface vessels based on binocular stereo cameras in this utility model, including an initialization stage, a data acquisition and preprocessing stage, a feature extraction and analysis stage, and a manipulation suggestion generation and output stage.

[0045] During the initialization phase, when the unmanned surface vessel (USV) is docked at the pier, the operator uses a tripod to fix the system to the foredeck, adjusts the level to ensure the equipment's horizontal error is ≤1°, and sets the baseline distance to 0.5m (adapted for medium-range wave observation) via the interactive touchpad. After the system starts up, the binocular stereo camera automatically completes calibration (reprojection error 0.07 pixels), the polarization filter initialization angle is set to 45°, the industrial control computer loads the preprocessing algorithm and wave parameter extraction model, and the power module enters a stable power supply state (output voltage 12V, power consumption ≤3.8W).

[0046] During the data acquisition and preprocessing phase, the unmanned surface vessel (USV) navigated to the target sea area (sea state 2, wave height 0.5-1.0m), and the binocular stereo camera simultaneously acquired sea surface images at a frame rate of 30fps. Due to strong midday sunlight, the system detected a brightness V>0.8 via the light sensor, automatically triggering the polarization filter to adjust to 60°, reducing the proportion of highlight areas from 15% to 5%. After distortion correction and epipolar alignment, the original image showed an epipolar deviation of <0.5 pixels, laying the foundation for stereo matching.

[0047] In the feature extraction and analysis stage, the preprocessed image is input into the feature extraction module, where the inventor's improved SGBM algorithm is used to calculate the disparity map. The dynamic window is adjusted to 9×9 according to the wave frequency (balancing accuracy and efficiency). After generating a depth map from the disparity map, the system combines FFT spectrum analysis to extract parameters: wave height 0.72m, wave direction 315° (northwest), and period 4.5s. The real-time monitoring module smooths the data using Kalman filtering to confirm the absence of abnormal interference (noise density 0.8dB / Hz).

[0048] During the maneuver suggestion generation and output phase, the maneuver suggestion module is based on wave parameter analysis: the current wave direction is at an angle of 60° to the UAV's heading (high wave-facing component), and it is suggested that the heading be slightly adjusted to 330° (15° deviation from the wave direction), and the speed be reduced from 12 knots to 10 knots (a 17% reduction). The results are visualized on a display and simultaneously synchronized to the shore-based center via a 4G module. After receiving the suggestions, the UAV control system automatically adjusts the navigation parameters.

[0049] This invention employs an improved semi-global block matching algorithm (SGBM), which, through dynamic window adjustment (5×5 to 15×15) and multi-directional cost aggregation, increases the disparity matching accuracy from 80% to 88% in low-texture areas (such as calm water surfaces), and reduces the disparity map calculation time to 13.74ms (72.78fps), meeting real-time requirements.

[0050] Combining wave spectrum analysis (PM spectrum, JONSWAP spectrum) and linear wave theory equations, the wave height measurement error is ≤5%, the period calculation error is ±0.4s, the wave direction deviation is ≤8° (after compensation), and the parameter extraction accuracy is better than the wave monitoring equipment standard (MAE≤0.2m) set by the International Maritime Organization (IMO).

[0051] Based on the fusion analysis of wave parameters and ship dynamics model, the system outputs the speed adjustment threshold (±5%) and heading optimization angle (±10°) in real time. In sea states of level 3 and above, it can recommend a speed reduction of 15%-20% to avoid a heading of 45°-90° facing the waves, which can significantly improve navigation safety.

[0052] Table 1 presents a quantitative comparison of the effects of the device of this invention and traditional technologies in terms of data acquisition, stereo matching, parameter extraction, environmental adaptation, and support. As can be seen from Table 1, the device of this invention has improved upon existing technologies in various dimensions, and can realize an integrated function from wave data acquisition and parameter extraction to the generation of manipulation suggestions.

[0053] Table 1 Comparison of the effects of this utility model and traditional technology

[0054]

[0055] Example 2

[0056] This embodiment illustrates the circuit connections and operational description of this utility model. The control circuit of this device is centered around the industrial computer 17, and the connection relationships of each module are as follows:

[0057] Power module: A 12V DC power supply is connected to the industrial computer, binocular stereo camera, stepper motor driver and cooling fan through the terminal block power supply interface, with a total power consumption of ≤15W.

[0058] Data transmission links: The stereo camera is connected to the industrial PC's PCIe acquisition card via the CameraLink interface; the stepper motor driver communicates with the industrial PC via the RS485 interface; the monitor is connected to the industrial PC via the HDMI interface; and the 4G module is connected to the industrial PC via the USB interface to achieve network transmission.

[0059] Control signal link: The industrial computer's GPIO interface outputs a PWM signal to the stepper motor driver to control the polarization filter angle; the touchpad interacts with the industrial computer via the USB-HID protocol to set parameters.

[0060] The circuit operation process includes: signal acquisition stage, control signal output stage, feedback and closed-loop control stage, and power consumption optimization process.

[0061] During the signal acquisition phase, the stereo camera has a built-in light sensor (sampling frequency 10Hz) to collect real-time sea surface light intensity (unit: Lux). The data is transmitted to the industrial control computer via I2C bus. When a backlight scene is detected (light intensity > 10 lux), the camera will detect the backlighting. (When the proportion of the highlight area is >15%), the industrial control computer triggers the lighting adjustment process.

[0062] During the control signal output phase, the industrial computer outputs a 50Hz PWM signal to the stepper motor driver via the GPIO interface. The pulse frequency is set to 1000Hz, and the target angle is 60° (initial angle 45°). After receiving the signal, the driver drives the 28BYJ-48 stepper motor to rotate (step angle 5.625° / 64), which in turn drives the polarizing filter to rotate via a reduction gear set (reduction ratio 1:64). The adjustment process takes 2 seconds (speed 30° / s).

[0063] During the feedback and closed-loop control phase, the camera acquires the adjusted image in real time, calculates the highlight area ratio (reduced to 5%) through the image analysis module, and feeds the result back to the industrial control computer. The industrial control computer compares the result with the target threshold (<8%), and stops the motor drive after confirming that the adjustment is effective, maintaining the current filter angle; if the target is not met, it continues to fine-tune (in 1° increments) until the imaging requirements are met.

[0064] During the power consumption optimization process, after the adjustment is completed, the industrial control computer reduces the camera exposure time (from 30ms to 10ms) through the power management module, and at the same time shuts down the power supply to redundant sensors, so that the system power consumption is reduced from 4.2W to 3.5W, extending the endurance by 18% in the battery-powered mode of the unmanned surface vessel.

[0065] Through the circuit design and workflow described above, the system achieves coordinated control of hardware modules, improving environmental adaptability while ensuring real-time performance, and providing stable hardware support for wave sensing and manipulation assistance functions.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wave perception and maneuvering assistance device for an unmanned surface vehicle based on a binocular stereo camera, characterized in that, include: The system comprises a binocular stereo camera assembly, an adjustable support bracket, a tripod bracket, and an integrated housing, including: The binocular stereo camera group is fixed to the tripod assembly via an adjustable bracket assembly, and the adjustable bracket assembly is connected to the tripod assembly via a disc (8); the tripod assembly is fixed to the unmanned surface vessel; the binocular stereo camera group, the adjustable bracket assembly and the tripod assembly can be stored in the integrated box after disassembly.

2. The binocular stereo camera based unmanned surface vehicle wave perception and maneuvering assistance device according to claim 1, wherein, The binocular stereo camera group includes a first camera (1) and a second camera (2). The first camera (1) and the second camera (2) are respectively fixedly mounted on the adjustable bracket assembly via a camera base (3). Rotatable polarizing filters are installed on the first camera (1) and the second camera (2).

3. The wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera according to claim 1, characterized in that, The adjustable support assembly includes: a lateral adjustment shaft (4), a shaft clamp (5), a connecting tube seat (6), and a lower fixed support (7), wherein: The camera base (3) is fixed at both ends of the horizontal adjustment shaft (4), and the horizontal adjustment shaft (4) is provided with millimeter-level scale; the two shaft clamps (5) are slidably disposed on the horizontal adjustment shaft (4) and fixed by locking knob; the lower fixing bracket (7) is inserted and fixed between the two shaft clamps (5), and the plane of the horizontal adjustment shaft (4) is perpendicular to the plane of the lower fixing bracket (7); the connecting tube seat (6) is slidably disposed on the lower fixing bracket (7) and fixed by locking knob, used to control and fix the height of the shaft clamps (5) on the lower fixing bracket (7); the lower fixing bracket (7) is fixed at the center position of the disc (8).

4. The wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera according to claim 1, characterized in that, The tripod assembly includes: a tripod (9), a level (25), and shock-absorbing pads (10), wherein: The tripod (9) is installed below the disc (8), the level (25) is set at the center below the disc (8), and the anti-vibration pad (10) is set at the end of the tripod (9) to reduce vibration interference during ship navigation.

5. The wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera according to claim 1, characterized in that, The integrated enclosure includes an upper enclosure (11) and a lower enclosure (20). The upper enclosure (11) has a display (12) inside. The lower enclosure (20) has a power supply (15), a tabletop cover (16), an industrial computer (17), a router (18), a touchpad (19), a first camera placement slot (22), and a second camera placement slot (23) inside, which are fixed with shock-absorbing foam. The lower enclosure (20) also has a signal interface group (24) on its outer side.

6. The wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera according to claim 1, characterized in that, On the outside of the integrated housing, a bracket placement bucket (21) is also provided at the hinge joint between the upper housing (11) and the lower housing (20) for storing the adjustable bracket assembly and the tripod assembly.

7. The wave perception and manipulation auxiliary device for unmanned surface vessels based on a binocular stereo camera according to claim 1, characterized in that, The integrated enclosure is also equipped with a data transmission module, which includes a first signal interface (13) and a second signal interface (14), which are used to connect the router (18) and external communication, respectively.

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