CN101527824A - Maritime search and rescue instrument based on infrared detector - Google Patents
Maritime search and rescue instrument based on infrared detector Download PDFInfo
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Abstract
The invention relates to a maritime search and rescue instrument based on an infrared detector. The search and rescue instrument is arranged on a search and rescue ship, controls the infrared detector by a DSP system and an embedded control system, and detects a target by a machine vision technology. The maritime search and rescue instrument facilitates identifying and tracing small targets such as persons in water or liferafts during maritime search and rescue, makes search at night possible and improves successful search and rescue rate.
Description
Technical field
The present invention relates to a kind of search and rescue with searching and rescuing instrument, particularly a kind of based on Infrared Detectors, be used for the search and rescue instrument of maritime search and rescue.
Background technology
Along with the quick growth of global economy and the acceleration of economical integration process, marine transportation amount rapid growth, according to statistics, the whole world has 90% the trade of goods to finish by marine transportation, the influence of factors such as busy day by day maritime traffic and life at sea, property, environment impels marine transportation to automation, informationization and safe development.Yet in the transportation of water route, though rate of failure along with scientific management and informationalized development decrease, because radix is very big, so the accident quantity that takes place is still very big, can not be ignored.
The search and rescue equipment that present domestic Search and Rescue Organization is equipped with is not perfect, still assist finishing of search-and-rescue work and rely on human eye vision to observe search and rescue by some simple equipment, subjective factor and uncertainty are bigger, and human eye vision is subjected to fatigue and Effect of Environmental easily, finds particularly difficulty of Weak target (persons falling in water, lifeboat raft etc.) under stormy waves and low-light (level) situation.Especially in the time of night, the eyesight of human eye almost can not work, and can not search and rescue basically night at present.
Along with the continuous development of imaging technique, the imaging device that can assist or remedy the human eye deficiency also increases day by day, such as high speed visible light camera, infrared thermoviewer, X line imaging equipment or the like.These equipment can real time record under authentic and valid image information provide reliable and effective data guarantee for subsequent analysis processing.Along with the development of large scale integrated circuit, High Performance DSP (DigitalSignal Processor) the chip development that is used for Video processing is also very rapid, has guaranteed the data acquisition process real-time, high efficiency in addition.
Equipment is not is not also searched and rescued by the boat-carrying of infrared thermoviewer in the field of at sea searching and rescuing at present.
Summary of the invention
Technical problem to be solved by this invention provides a kind of maritime search and rescue instrument based on Infrared Detectors, adopt Infrared Detectors, dsp system and ARM control system, utilize machine vision technique to carry out target detection, be installed in and search and rescue on the ship, help the rescue worker to look for the search and rescue target automatically, make night search and rescue become possibility with convenient the realization to the recognition and tracking of the Weak target of persons falling in water in the maritime search and rescue or survival craft etc., improve the success rate of searching and rescuing.
In order to achieve the above object, the present invention realizes by the following technical solutions:
A kind of maritime search and rescue instrument based on Infrared Detectors, this search and rescue instrument are placed in searches and rescues on the ship, and described search and rescue instrument utilizes machine vision technique to carry out target detection by dsp system and embedded control system control Infrared Detectors again.
Search and rescue instrument based on above-mentioned principle comprises embedded control system, dsp system, display unit, Infrared Detectors, Infrared Detectors control The Cloud Terrace and message input device; Described Infrared Detectors is transferred to dsp system as the sensor acquisition video image by video line, and dsp system is adopted the video that collects and carried out target detection, and testing result is sent to display unit shows; The receive information control information of input unit input of described embedded control system, by the display unit display message, and with the dsp system exchange message; The control information that this embedded control system is imported according to message input device, and control The Cloud Terrace in conjunction with Infrared Detectors and manually control Infrared Detectors, realize searching and rescuing the manual search of instrument; Simultaneously can accept the control information that dsp system sends, and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument in conjunction with Infrared Detectors control The Cloud Terrace.
Described message input device is made up of rocking bar, button and knob, and inserts embedded control system respectively.
Described dsp system comprises image capture module, module of target detection, control module and interface module I, described image capture module is used to gather the video image that Infrared Detectors collects, and video image carried out analog-to-digital conversion process, the vedio data of handling well is transferred to module of target detection; Described module of target detection is carried out target detection and is carried out target following video image according to the characteristics of target, and the result who follows the tracks of is lived target with the form frame of rectangle frame, and delivers to display unit by video image output; Described control module can send corresponding control information to embedded control system by interface module I according to the result that module of target detection detects, and control The Cloud Terrace according to control information in conjunction with Infrared Detectors by embedded control system and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument.
When described module of target detection was carried out target detection to video image, it was as follows to detect step:
(1) current frame image and previous frame image are carried out difference, and, obtain bianry image difference image process threshold process;
(2) bianry image that obtains is carried out target identification, the form of possible target area with rectangle frame showed;
(3) at last image after the target detection and original image are superimposed, and are transferred to display unit by digital-to-analogue conversion with the form of TV signal and show.
When described control module control Infrared Detectors was searched for automatically, the search step of its control Infrared Detectors was as follows:
(I) earlier the control Infrared Detectors carries out horizontal direction 350 degree with the angle of pitch 0 degree and is rotated search, if detect target at this region of search internal object detection module, is tracing object with this target just, controls Infrared Detectors and follows the tracks of;
(II) if do not detect target, just adjust the angle of pitch, carry out horizontal direction 350 degree search again, circulation is carried out.
After module of target detection detected a plurality of targets, control module was according to target following priority in the described step (I), and the target of locking priority maximum is controlled Infrared Detectors and followed the tracks of.
Described embedded control system comprises
One interface module II is used to realize the message transmission with dsp system, Infrared Detectors, Infrared Detectors control The Cloud Terrace;
One system status display module is used to show all state informations of whole embedded control system work at present;
One tracing mode is provided with module, is used to be provided with the tracking mode of whole searching instrument to target, and it can be provided with manual tracking and from two kinds of patterns of motion tracking;
One detector option is provided with module, is used for the running parameter of pyroscan is set;
One threshold value is provided with module, is used to be provided with corresponding data and handles required threshold value;
One The Cloud Terrace manual control module according to the control information of message input device input, is manually controlled the level angle and the vertical angle of The Cloud Terrace.
According to the present invention that technique scheme obtains, project organization is reasonable, and applied hardware technology is stable, and software algorithm is reliable.This search and rescue instrument is a kind of new breakthrough for the maritime search and rescue field, under low-light (level), backlight environment human vision is strengthened, and has overcome the problem of people's kopiopia, and auxiliary rescue worker searches and rescues, and is the auxiliary equipment of maritime search and rescue.
The present invention simultaneously utilizes infrared imaging system to responsive these characteristics of people's body heat source, by infrared video camera carrying out sea when searching and rescuing at sea observes, the vision signal that infrared video camera obtains is carried out target detection by DSP, on video, the prompting rescue worker searches and rescues with detected possibility target designation.Because infrared video camera can pass through the existence of the temperature sensing of human body to persons falling in water, be not subjected to the influence of illumination by comparison with human eye, be not subjected to the influence and the tired influence of backlight,, solve the problem that to search and rescue night so can assist maritime search and rescue preferably.
Description of drawings
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is a maritime search and rescue instrument structural representation of the present invention.
Fig. 2 is the structural representation of embedded control system among the present invention.
Fig. 2 A is an embedded control system show state schematic diagram.
Fig. 2 B is an embedded control system show state schematic diagram.
Fig. 2 C is an embedded control system show state schematic diagram.
Fig. 2 D is an embedded control system show state schematic diagram.
Fig. 2 E is an embedded control system show state schematic diagram.
Fig. 2 F is an embedded control system show state schematic diagram.
Fig. 2 G is an embedded control system show state schematic diagram.
Fig. 2 H is an embedded control system show state schematic diagram.
Fig. 2 I is an embedded control system show state schematic diagram.
Fig. 3 is a design sketch of the invention process.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
In general, human vision system can only be responded to the visible light of wavelength 0.4 μ m～0.75 mu m range.The light that exceeds this scope must be detected by other non-optical detector.Infrared ray belongs to invisible light, and its Wavelength distribution is from the scope of 0.75 μ m～1mm.Human vision system has been extended in the development of infrared thermal imagery system.Development of Infrared Technology is increased to six kinds to the mankind's sense organ by five kinds, utilizes infrared technique that human visual system is strengthened, and remedies the weakness of vision, from early stage Military Application just gradually to civilian development.In addition, as seen general room temperature object, the electromagnetic peak wavelength that comprises the radiation of human body institute not in the human vision limit of power, thereby use the importance that infrared technique is carried out target acquisition near 10 μ m.
The present invention utilizes infrared imaging system to responsive these characteristics of people's body heat source, by infrared video camera carrying out sea when searching and rescuing at sea observes, the vision signal that infrared video camera obtains is carried out target detection by DSP, on video, the prompting rescue worker searches and rescues with detected possibility target designation.Because infrared video camera can pass through the existence of the temperature sensing of human body to persons falling in water, be not subjected to the influence of illumination by comparison with human eye, be not subjected to the influence and the tired influence of backlight,, solve the problem that to search and rescue night so can assist maritime search and rescue preferably.
Based on above-mentioned principle, the search and rescue instrument of the present invention's design utilizes machine vision technique to carry out target detection by dsp system and embedded control system control Infrared Detectors again.Its structure is as shown in Figure 1:
Search and rescue instrument based on above-mentioned principle comprises embedded control system (ARM control system), dsp system, display (being used for display video and relevant operation information), Infrared Detectors (infrared camera), Infrared Detectors control The Cloud Terrace and message input device (it is rocking bar, knob, keyboard etc.).
This Infrared Detectors is used to gather video image as transducer, is transferred to dsp system by video line, and dsp system is adopted the video that collects and carried out target detection, and testing result is sent to display shows.
The receive information control information of input unit input of embedded control system, by the display unit display message, and with the dsp system exchange message; The control information that this embedded control system is imported according to message input device, and control The Cloud Terrace in conjunction with Infrared Detectors and manually control Infrared Detectors, realize searching and rescuing the manual search of instrument; Simultaneously can accept the control information that dsp system sends, and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument in conjunction with Infrared Detectors control The Cloud Terrace.
Message input device among the present invention is made up of rocking bar, button and knob, and inserts embedded control system respectively.
Wherein dsp system comprises image capture module, module of target detection, control module and interface module I, described image capture module is used to gather the video image that Infrared Detectors collects, and video image carried out analog-to-digital conversion process, the vedio data of handling well is transferred to module of target detection; Described module of target detection is carried out target detection and is carried out target following video image according to the characteristics of target, and the result who follows the tracks of is lived target with the form frame of rectangle frame, and delivers to display unit by video image output; Described control module can send corresponding control information to embedded control system by interface module I according to the result that module of target detection detects, and control The Cloud Terrace according to control information in conjunction with Infrared Detectors by embedded control system and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument.
When above-mentioned module of target detection was carried out target detection to video image, it was as follows to detect step:
(1) current frame image and previous frame image are carried out difference, and, obtain bianry image difference image process threshold process;
(2) bianry image that obtains is carried out target identification, the form of possible target area with rectangle frame showed;
(3) at last image after the target detection and original image are superimposed, and are transferred to display unit by digital-to-analogue conversion with the form of TV signal and show.
When control module was searched for automatically according to testing result control Infrared Detectors simultaneously, the search step of its control Infrared Detectors was as follows:
(I) earlier the control Infrared Detectors carries out horizontal direction 350 degree with the angle of pitch 0 degree and is rotated search, if detect target at this region of search internal object detection module, is tracing object with this target just, controls Infrared Detectors and follows the tracks of; After module of target detection detected a plurality of targets, control module was according to target following priority, and the target of locking priority maximum is controlled Infrared Detectors and followed the tracks of.
(II) if do not detect target, just adjust the angle of pitch, carry out horizontal direction 350 degree search again, circulation is carried out.
The ARM embedded control system comprises
One interface module II is used to realize the message transmission with dsp system, Infrared Detectors, Infrared Detectors control The Cloud Terrace;
One system status display module is used to show all state informations of whole embedded control system work at present;
One tracing mode is provided with module, is used to be provided with the tracking mode of whole searching instrument to target, and it can be provided with manual tracking and from two kinds of patterns of motion tracking;
One detector option is provided with module, is used for the running parameter of pyroscan is set;
One threshold value is provided with module, is used to be provided with corresponding data and handles required threshold value;
One The Cloud Terrace manual control module according to the control information of message input device input, is manually controlled the level angle and the vertical angle of The Cloud Terrace.
Based on above-mentioned principle, the present invention specifically implements Fig. 2 to shown in Figure 3:
The whole system framework as shown in Figure 1, wherein the functional structure of dsp system is not given unnecessary details as mentioned above herein.
Wherein the controlled function menu that provided of ARM control system is made up of main menu and each submenu, and main menu comprises 5, and the interface of main menu and each submenu is arrived shown in Fig. 2 I as Fig. 2:
Shown in Fig. 2 A, its main menu comprises: system mode demonstration, tracing mode setting, the setting of detector option, threshold value setting and The Cloud Terrace are manually controlled.
The system mode display interface is shown in Fig. 2 B, and its demonstration comprises tracing mode: automatic/hand; Threshold value pattern: automatic/hand; Detector's status: automatically: X, configuration: X, gain: XXX, brightness: XXXX, amplification: X, polarity: X, filtering: Y, enhancing: Y, correction: XXX; The Cloud Terrace state: level: XXX.X degree, vertical: XX.X degree.
The tracing mode interface is shown in Fig. 2 C, and it is used for the current tracking mode of display system has: manually tracing mode and tracing mode automatically.
The detector option is provided with the interface shown in Fig. 2 D, and its demonstration comprises main control menu, cross-graduation menu, the self-defined setup menu of configuration.
Detector option setting-master controls menu shown in Fig. 2 E: its content displayed comprises automatically: X, and polarity: X, configuration: X, filtering: Y, gain: XXX strengthens: Y, brightness: XXXX, proofread and correct: XXX, amplify: X, preserve.
Detector option setting-cross-graduation menu is shown in Fig. 2 F: its content displayed comprises cursor, directions X position, Y direction position, preservation.
The self-defined setup menu of detector option setting-configuration is shown in Fig. 2 G: its content displayed comprises configuration, gain, brightness, preservation.
Threshold value is provided with the interface shown in Fig. 2 H: its content displayed comprises pattern, and threshold value is preserved.
The The Cloud Terrace manual control interface is shown in Fig. 2 I: its content displayed comprises level angle and vertical angle.
Because dsp system and ARM control system communicate by corresponding interface, wherein:
Dsp system and ARM control system communication protocol are as follows:
1, to issue the information format of ARM control system as follows for dsp system:
| Byte1 | Byte2 | Byte3 | Byte4 | Byte5 | Byte6 | Byte7 | |
| 0xFF | Address code | Command word | 1 | |
|
|
Check code |
Command word is provided with as follows:
2, to issue the information format of dsp system as follows for the ARM control system:
| Byte1 | Byte2 | Byte3 | Byte4 | Byte5 | Byte6 | Byte7 | |
| 0xFF | Address code | Command word | 1 | Angle (high byte) | Angle (low byte) | Threshold value | Check code |
Command word 1 is provided with as follows:
When the searching instrument that obtains based on above-mentioned communication data 26S Proteasome Structure and Function structure carries out work: as shown in Figure 3:
The first step is at first imported relevant control information by distant bar, button and knob that the ARM control system is joined to the ARM system, and relevant control information is sent to dsp system.
In second step, the serial ports on the dsp system is accepted the control information that the ARM control system sends, and this information data is judged, whether sends to dsp system for the ARM control system; If not, will finish communication; If then accept data.
In the 3rd step, dsp system is according to the data that receive, and the data channel of being correlated with is selected, and judges the operator scheme of this Search Control.
If manual operation pattern (Artificial Control pattern), then dsp system does not need to transfer automatic control module (i.e. Nei Bu control function).Control for infrared camera, based on Artificial Control, by the operator by to the manual setting of switching values such as distant bar, button and knob, directly information is sent to the ARM control system, information comprises: the anglec of rotation, luffing angle, gain, brightness etc., thereby the interface by ARM control system and The Cloud Terrace, Infrared Detectors communicates, and realizes the multiple parameters controls such as focusing, gain, brightness to the level of The Cloud Terrace and vertical orientations control and Infrared Detectors; Simultaneously above-mentioned control information and feedback information are shown on display, be convenient to manipulator's operation.
The video image that image capture module in the dsp system is directly gathered infrared camera and collected, and video image carried out analog-to-digital conversion process, the vedio data of handling well is transferred to module of target detection.Module of target detection is carried out target detection and is carried out target following video image according to the characteristics of target, and the result who follows the tracks of is lived target with the form frame of rectangle frame, and delivers to the display demonstration by video image output.
When module of target detection detects, the threshold value that wherein relates to is provided with and adopts artificial the setting, i.e. adjustment by switching values such as distant bar, button and knobs, obtain the threshold value that information manually is provided with by the ARM control board, send module of target detection in the dsp system to by interface, module of target detection is carried out binary conversion treatment according to this threshold value.
If judge that the operator scheme that obtains is automatic tracing mode (automatic control mode), dsp system calls automatic control module (being automatic control function) and realizes.
Automatic control module is according to predefined function, controls infrared camera automatically and carries out horizontal direction 350 degree with the angle of pitch 0 degree earlier and be rotated search; If module of target detection in this hunting zone, detects and is found to target, is tracing object with this target just, control infrared camera automatically and follow the tracks of; If module of target detection in this hunting zone, detects and is not found to target, just adjust the angle of pitch, carry out level 350 degree search again, circulation is carried out.
After DSP detects target, according to target following priority, the target of locking priority maximum, the control infrared camera is followed the tracks of.
This moment, information was that interface by dsp system and ARM control system transmits, and by ARM control system control The Cloud Terrace and Infrared Detectors work, allowed its tracking target move up and down again, to guarantee tracking target.
Under this mode of operation, when module of target detection detected in the dsp system, the threshold value that relates to was provided with the mode that adopts self adaptation to be provided with.Promptly select the threshold value of binaryzation according to the relevant detection algorithm by the module of target detection in the dsp system, i.e. default value, module of target detection is carried out the two according to this threshold value to image again and is changed processing.
Fig. 4 is the effect of search and rescue instrument result of the test on the waters of obtaining based on above-mentioned technical characterstic, one width of cloth sectional drawing of the vision signal that this figure obtains during for the invention process, white box in the image is the tracking frame that obtains after instrument is handled by searching and rescuing, white portion in the frame is the head of personnel in the water that obtains of Infrared Detectors, because the head temperature of the people in the water is higher relatively, obvious characteristics is arranged in infrared image, and this feature is not subjected to the influence of illumination, can bring into play well effect at night.From then on can clearly see the feature of personnel in the water that Infrared Detectors obtains in the example and, reach the effect that vision strengthens according to the objective result that algorithm of target detection finds.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (8)
1, a kind of maritime search and rescue instrument based on Infrared Detectors, this search and rescue instrument are placed in searches and rescues on the ship, it is characterized in that, described search and rescue instrument utilizes machine vision technique to carry out target detection by dsp system and embedded control system control Infrared Detectors again.
2, a kind of maritime search and rescue instrument according to claim 1 based on Infrared Detectors, it is characterized in that described search and rescue instrument comprises embedded control system, dsp system, display unit, Infrared Detectors, Infrared Detectors control The Cloud Terrace and message input device; Described Infrared Detectors is transferred to dsp system as the sensor acquisition video image by video line, and dsp system is adopted the video that collects and carried out target detection, and testing result is sent to display unit shows; The receive information control information of input unit input of described embedded control system, by the display unit display message, and with the dsp system exchange message; The control information that this embedded control system is imported according to message input device, and control The Cloud Terrace in conjunction with Infrared Detectors and manually control Infrared Detectors, realize searching and rescuing the manual search of instrument; Simultaneously can accept the control information that dsp system sends, and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument in conjunction with Infrared Detectors control The Cloud Terrace.
3, a kind of maritime search and rescue instrument based on Infrared Detectors according to claim 2 is characterized in that described message input device is made up of rocking bar, button and knob, and inserts embedded control system respectively.
4, a kind of maritime search and rescue instrument according to claim 2 based on Infrared Detectors, it is characterized in that, described dsp system comprises image capture module, module of target detection, control module and interface module I, described image capture module is used to gather the video image that Infrared Detectors collects, and video image carried out analog-to-digital conversion process, the vedio data of handling well is transferred to module of target detection; Described module of target detection is carried out target detection and is carried out target following video image according to the characteristics of target, and the result who follows the tracks of is lived target with the form frame of rectangle frame, and delivers to display unit by video image output; Described control module can send corresponding control information to embedded control system by interface module I according to the result that module of target detection detects, and control The Cloud Terrace according to control information in conjunction with Infrared Detectors by embedded control system and control Infrared Detectors automatically, realize searching and rescuing the automatic search of instrument.
5, a kind of maritime search and rescue instrument based on Infrared Detectors according to claim 4 is characterized in that, when described module of target detection was carried out target detection to video image, it was as follows to detect step:
(1) current frame image and previous frame image are carried out difference, and, obtain bianry image difference image process threshold process;
(2) bianry image that obtains is carried out target identification, the form of possible target area with rectangle frame showed;
(3) at last image after the target detection and original image are superimposed, and are transferred to display unit by digital-to-analogue conversion with the form of TV signal and show.
6, a kind of maritime search and rescue instrument based on Infrared Detectors according to claim 4 is characterized in that, when described control module control Infrared Detectors was searched for automatically, the search step of its control Infrared Detectors was as follows:
(I) earlier the control Infrared Detectors carries out horizontal direction 350 degree with the angle of pitch 0 degree and is rotated search, if detect target at this region of search internal object detection module, is tracing object with this target just, controls Infrared Detectors and follows the tracks of;
(II) if do not detect target, just adjust the angle of pitch, carry out horizontal direction 350 degree search again, circulation is carried out.
7, a kind of maritime search and rescue instrument according to claim 6 based on Infrared Detectors, it is characterized in that, in the described step (I) after module of target detection detects a plurality of targets, control module is according to target following priority, the target of locking priority maximum, the control Infrared Detectors is followed the tracks of.
8, a kind of maritime search and rescue instrument based on Infrared Detectors according to claim 2 is characterized in that described embedded control system comprises
One interface module II is used to realize the message transmission with dsp system, Infrared Detectors, Infrared Detectors control The Cloud Terrace;
One system status display module is used to show all state informations of whole embedded control system work at present;
One tracing mode is provided with module, is used to be provided with the tracking mode of whole searching instrument to target, and it can be provided with manual tracking and from two kinds of patterns of motion tracking;
One detector option is provided with module, is used for the running parameter of pyroscan is set;
One threshold value is provided with module, is used to be provided with corresponding data and handles required threshold value.
One The Cloud Terrace manual control module according to the control information of message input device input, is manually controlled the level angle and the vertical angle of The Cloud Terrace.
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| CN102580269A (en) * | 2011-01-14 | 2012-07-18 | 富泰华工业（深圳）有限公司 | Electronic device with function of calling for help and method for calling for help of electronic device |
| CN103139482A (en) * | 2013-03-08 | 2013-06-05 | 上海海事大学 | Marine peril search and rescue machine vision system |
| CN104092961A (en) * | 2014-07-24 | 2014-10-08 | 成都市晶林科技有限公司 | Maritime search and rescue system and method |
| CN104967832A (en) * | 2015-07-25 | 2015-10-07 | 刘纪君 | Method for detecting under-ship water area based on image processing |
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| CN107697243A (en) * | 2017-09-30 | 2018-02-16 | 中山市民众镇新平小学 | A kind of drowned fast searching lifesaving appliance of visual |
| CN107748011A (en) * | 2017-09-20 | 2018-03-02 | 南京航空航天大学 | The test system and method for testing of medium-wave infrared detector image-forming time delay |
| CN108919800A (en) * | 2018-06-22 | 2018-11-30 | 武汉理工大学 | A kind of ship intelligently lines up navigation system |
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| CN109993744A (en) * | 2019-04-09 | 2019-07-09 | 大连海事大学 | A kind of infrared target detection method under sea backlight environment |
| CN110022438A (en) * | 2019-04-09 | 2019-07-16 | 广州恒威电子科技有限公司 | A kind of emergency rescue system waterborne |
| CN110622080A (en) * | 2018-03-26 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Tracking processing method and control terminal of unmanned aerial vehicle |
| CN112297028A (en) * | 2020-11-05 | 2021-02-02 | 中国人民解放军海军工程大学 | Overwater U-shaped intelligent lifesaving robot control system and method |
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2009
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