CN106791691B - Control system of unmanned ship - Google Patents
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Abstract
The invention discloses a control system of an unmanned ship, which comprises a head-mounted display device, the unmanned ship and a base station, wherein the unmanned ship and the head-mounted display device are respectively connected with the base station and carry out data interaction through the base station, and the head-mounted display device is used for displaying underwater image information acquired by the unmanned ship in real time. The control system utilizes the head-mounted display device to be connected with the unmanned ship through the base station and performs data interaction, so that on one hand, the three-dimensional display of underwater image information is realized, on the other hand, the control of the unmanned ship is realized through the head-mounted display device, and further the experience and operation of a user are improved.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to a control system of an unmanned ship.
Background
In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.
Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.
Simultaneously, unmanned ship realizes the control of unmanned ship short distance mainly through the remote controller at present, because remote controller control is single, leads to unmanned ship control to experience and feels not good problem.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention mainly utilizes the head-mounted display device to realize data interaction with the unmanned ship through a base station, so that on one hand, the three-dimensional display of underwater image information is realized, on the other hand, the control of the unmanned ship is realized through the head-mounted display device, and further, the experience and operation of a user are improved.
In order to realize the purpose, the invention adopts the following technical scheme: the control system of the unmanned ship comprises a head-mounted display device, the unmanned ship and a base station, wherein the unmanned ship and the head-mounted display device are respectively connected with the base station and perform data interaction through the base station, and the head-mounted display device is used for displaying underwater image information acquired by the unmanned ship in real time.
Further, the head-mounted display device can control the unmanned ship to move or control the unmanned ship to collect underwater image information according to the displayed visual angle.
Further, the head-mounted display device comprises a processing unit, a connecting unit, a sensing unit and a display unit, wherein:
the connection unit is used for carrying out data interaction with the base station;
the sensing unit is used for acquiring sensing information of a user;
the display unit is used for displaying underwater image information acquired by the unmanned ship;
and the processing unit is respectively connected with the connecting unit, the display unit and the sensing unit and coordinates and controls the work of each unit.
Further, the sensing unit comprises a gravity sensing sensor, and/or an acceleration sensor, and/or a gyroscope.
Further, the head-mounted display device further comprises a command unit connected with the processing unit, wherein:
and the command unit is used for acquiring the induction information and generating a corresponding control instruction according to the induction information.
Further, the sensing information corresponds to the control command, and the corresponding relation is stored in the head-mounted display device.
Further, unmanned ship includes data transmission/picture passes unit, image acquisition unit and main control unit, wherein:
the data transmission/graph transmission unit: the base station is used for receiving control instructions of the head-mounted display device and sending underwater image information to the head-mounted display device through the base station;
the image acquisition unit: the underwater image acquisition unit is used for controlling the image acquisition unit to move and rotate according to the control instruction so as to acquire underwater image information at different angles or directions;
the main control unit: and the data transmission/image transmission unit and the image acquisition unit are respectively connected and used for controlling the unmanned ship to move and rotate according to the control instruction so as to acquire underwater image information at different angles or directions and coordinately control the units to work.
Further, unmanned ship still includes preprocessing unit, coding unit, preprocessing unit and coding unit with the main control unit is connected respectively, wherein:
the preprocessing unit: acquiring underwater image information acquired by an image acquisition unit, preprocessing the underwater image information and forming a preprocessed image;
the encoding unit: the method comprises the steps of obtaining a preprocessed image or underwater image information, correspondingly coding the preprocessed image or underwater image information to form image coded data, and then sending the image coded data to a head-mounted display device through a data transmission/image transmission unit.
Further, the head-mounted display device further comprises a decoding unit, a denoising unit and a three-dimensional imaging unit, wherein the decoding unit, the denoising unit and the three-dimensional imaging unit are respectively connected with the processing unit, and wherein:
the decoding unit: the image decoding device is used for acquiring image coded data and decoding the image coded data to form a restored image;
the denoising unit: the image denoising method comprises the steps of obtaining a restored image, and denoising the restored image to form image denoising information;
the three-dimensional imaging unit: and drawing a three-dimensional image or a depth map of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, and displaying the three-dimensional image or the depth map by a display unit.
Furthermore, the control system also comprises a mobile terminal and/or a remote controller, wherein the mobile terminal and/or the remote controller are respectively connected with the head-mounted display device and carry out data interaction;
or the mobile terminal and/or the remote controller are respectively connected with the base station and carry out data interaction with the unmanned ship through the base station.
Further, the base station is respectively connected with the unmanned ship and the head-mounted display device in a wired mode and/or a wireless mode;
preferably, the base station is provided with a wireless connection module and is wirelessly connected with the head-mounted display device through the wireless connection module.
Further, the head mounted display device further includes: and the panoramic operation module is used for displaying only the panoramic image acquired by the unmanned ship when the head-mounted display device receives a corresponding instruction given to the panoramic operation module from the outside.
After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the control system of the unmanned ship solves the problems that the unmanned ship is controlled by a remote controller to have single function and cause poor user experience, the control system utilizes the head-mounted display device to be connected with the unmanned ship through the base station and carries out data interaction, the real-time display of underwater conditions by the head-mounted display device is realized, the acquisition of images of the unmanned ship is controlled according to the action of a user, and the acquisition of the required underwater images by the user is facilitated. And further improves the experience and control effect of the user.
2. The invention also realizes the three-dimensional display of the image by processing the underwater image information, thereby enhancing the immersion of the user.
Drawings
Fig. 1 is a block diagram of a control system of the unmanned ship according to the embodiment of the present invention;
FIG. 2 is a block diagram of a control system of the unmanned ship according to another embodiment of the present invention;
fig. 3 is a structural diagram of the head-mounted display device according to the embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 3, the control system of the unmanned ship comprises a head-mounted display device, the unmanned ship and a base station, wherein the unmanned ship and the head-mounted display device are connected through the base station and perform data interaction, and the head-mounted display device is used for displaying underwater image information acquired by the unmanned ship in real time.
Further, the head-mounted display device can control the unmanned ship to move or control the unmanned ship to collect underwater image information according to the displayed visual angle.
Specifically, in this embodiment, the head-mounted display device is mainly used to perform data interaction with the unmanned ship through the base station, and control of the unmanned ship by the head-mounted display device is realized, so that a control system with stronger immersion can be created through the head-mounted display device. Mainly utilize unmanned ship to gather and form image information under water to image information under water in this embodiment, then send image information under water to head mounted display device through the basic station and carry out real-time display, simultaneously, head mounted display device can also gather user's action, for example gather user's action and include that user's head carries out the action of lowering head, raising head, turning left and turning right. And controlling the motion of the unmanned ship according to the action of the user. And further improves the experience and control effect of the user.
And, the image information includes camera image information, sonar image information under water.
Meanwhile, the unmanned ship can be submerged under water and can also move forwards on the water surface.
Further, the head-mounted display device comprises a processing unit, a connecting unit, a sensing unit and a display unit, wherein:
the connection unit is used for carrying out data interaction with the base station;
the sensing unit is used for acquiring sensing information of a user;
the display unit is used for displaying underwater image information acquired by the unmanned ship;
and the processing unit is respectively connected with the connecting unit, the display unit and the sensing unit and coordinates and controls the work of each unit.
Specifically, in this embodiment, the head-mounted display device wirelessly connects to the base station through the connection unit, and performs data interaction. Meanwhile, the processing unit of the head-mounted display device receives underwater image information collected by the unmanned ship through the connecting unit, then forms a three-dimensional image through corresponding image processing, and the three-dimensional image is displayed by the display unit. The user can remold the underwater scene through the image displayed by the display unit, and the user can enjoy the feeling of facing the underwater world.
Meanwhile, in this embodiment, the sensing information of the user may be acquired by the sensing unit, where the sensing information includes head motion information and/or body motion information of the user, and the processing unit further processes the image information according to the sensing information, switches a display angle and/or a display effect of the image, and displays the image by the display unit.
Further, the sensing unit comprises one or any combination of a gravity sensing sensor, and/or an acceleration sensor, and/or a gyroscope.
Specifically, in this embodiment, the gravity sensing sensor in the sensing unit is disposed on the head-mounted display device, and collects head motion information of the user, for example: the user's head performs the actions of lowering, raising, turning left, and turning right. And controlling the image acquisition angle on the unmanned ship according to the head action information.
Meanwhile, an acceleration sensor and a gyroscope in the sensing unit are also arranged on the head-mounted display device, and body movement information of the user, such as direction information, speed information and displacement information of the user movement, is detected according to the acceleration sensor and the gyroscope. And controlling the running direction, speed and position of the unmanned ship according to the body motion information.
And the head-mounted display device can realize the control of the unmanned ship according to the induction information collected by the induction unit. And then improved the control effect between unmanned ship and the head mounted display device to the sense of experience and the sense of immersion of reinforcing user.
Further, the head-mounted display device further comprises a command unit connected with the processing unit, wherein:
and the command unit is used for acquiring the induction information and generating a corresponding control instruction according to the induction information.
Specifically, in this embodiment, the head-mounted display device acquires the sensing information, generates a control command correspondingly, and sends the control command to the base station through the connection unit, the base station sends the control command to the data transmission/image transmission unit, then the main control unit of the unmanned ship receives the control command through the data transmission/image transmission unit, and the main control unit controls the unmanned ship to move and collects underwater image information. Wherein, wear-type display device steerable unmanned ship floats, sinks, rotates etc..
The sensing information corresponds to the control command, and the corresponding relation of the sensing information and the control command is stored in the head-mounted display device.
Specifically, the unmanned ship sends one or any combination of the driving state, the position information and the posture information of the unmanned ship as feedback information to the head-mounted display device, and the head-mounted display device generates the corresponding relation between the sensing information and the control command according to the feedback information. And then the corresponding relation generates a corresponding control instruction for the induction information and controls the unmanned ship.
Or a control range value is set between the induction information and the control instruction, and the control instruction is correspondingly generated according to the range; for example, the upward head-up angle range value of the head-mounted display device is 0-60 ℃, and when the head-up angle is greater than 60 degrees, a control command is generated at the head-up angle of 60 degrees.
And when the induction information is the head action information of the user, generating a control instruction for the unmanned ship camera, correspondingly rotating the unmanned ship camera, or generating a control instruction for the unmanned ship motion, and executing. For example, when a user lowers his head, the angle information of the lowering of the user is acquired through the gravity sensing sensor, and then a control instruction for controlling the unmanned ship to descend is correspondingly generated, and the unmanned ship is controlled to descend by a corresponding distance. When a user raises the head, angle information of the user raising is obtained through the gravity sensing sensor, then a control instruction for controlling the unmanned ship to ascend is correspondingly generated, and the unmanned ship is controlled to ascend by a corresponding distance. When the head of the user rotates leftwards, angle information of the user rotating leftwards is obtained through the gravity sensing sensor, then a control instruction for controlling the unmanned ship to move leftwards is correspondingly generated, and the unmanned ship is controlled to move leftwards by a corresponding distance. When the head of the user rotates rightwards, angle information of the user rotating rightwards is obtained through the gravity sensing sensor, then a control instruction for controlling the unmanned ship to move rightwards is correspondingly generated, and the unmanned ship is controlled to move rightwards by a corresponding distance.
And when the induction information is the body movement information of the user, generating a control instruction corresponding to the body movement information, and correspondingly controlling the movement of the unmanned ship. For example, when the user moves forward at a first speed for a first displacement, a corresponding control instruction is correspondingly generated to control the unmanned ship to move forward at the first speed for the first displacement.
Further, unmanned ship includes data transmission/picture passes unit, image acquisition unit and main control unit, wherein:
the data transmission/graph transmission unit: the base station is used for receiving control instructions of the head-mounted display device and sending underwater image information to the head-mounted display device through the base station;
the image acquisition unit: the underwater image acquisition unit is used for controlling the image acquisition unit to move and rotate according to the control instruction so as to acquire underwater image information at different angles or directions;
the main control unit: and the data transmission/image transmission unit and the image acquisition unit are respectively connected and used for controlling the unmanned ship to move and rotate according to the control instruction so as to acquire underwater image information at different angles or directions and coordinately control the units to work.
Specifically, the data transmission/image transmission unit of the unmanned ship receives the control instruction sent by the head-mounted display device and then transmits the control instruction to the main control unit, and the main control unit controls the image acquisition unit to acquire the image at the corresponding position according to the control instruction, transmits the image to the data transmission/image transmission unit through the main control unit, and then feeds the image back to the head-mounted display device for real-time display. Meanwhile, the base station sends the control information to a data transmission/image transmission unit, then a main control unit of the unmanned ship receives the control instruction through the data transmission/image transmission unit, and the main control unit controls the unmanned ship to move and collects underwater image information.
The head-mounted display device can also change the angle acquired by the image acquisition unit by controlling the movement of the image acquisition unit.
Further, unmanned ship still includes preprocessing unit, coding unit, preprocessing unit and coding unit with the main control unit is connected respectively, wherein:
the preprocessing unit: acquiring underwater image information acquired by an image acquisition unit, preprocessing the underwater image information and forming a preprocessed image;
the encoding unit: the method comprises the steps of obtaining a preprocessed image or underwater image information, correspondingly coding the preprocessed image or underwater image information to form image coded data, and then sending the image coded data to a head-mounted display device through a data transmission/image transmission unit.
Specifically, camera, sonar on the unmanned ship in this embodiment gather image under water in real time, through preprocessing unit, coding unit with the image information under water who gathers generate image coding data all the way, image coding data transmit data transmission/picture transmission unit behind the main control unit, then transmit for the basic station after being converted by data transmission/picture transmission unit, pass through the basic station by the basic station and pass to wear-type display device, the user can watch the situation under water in real time through wear-type display device.
Wherein, the data transmission/image transmission unit is an image transmission/data transmission circuit;
preferably, the data transmission/map transmission unit is a DDL map number integral transmission module.
Meanwhile, the unmanned ship can acquire image information through the unmanned ship, and the image information acquired by the image acquisition unit is subjected to denoising processing, gray level correction, image feature extraction and compression and packaging through the preprocessing unit to be subjected to preliminary processing to form a preprocessed image. And then the preprocessed image is coded to form coded data of the image and the coded data is sent to the head-mounted display device through the base station. The imaging system can carry out primary processing on the acquired image information through the preprocessing unit on the unmanned ship, compress and pack the image information and send the image information to the mobile terminal, so that the safety of image information transmission can be further ensured, the image information transmission rate can be increased, and the time delay effect of real-time image display of the mobile terminal can be shortened.
Further, the head-mounted display device further comprises a decoding unit, a denoising unit and a three-dimensional imaging unit, wherein the decoding unit, the denoising unit and the three-dimensional imaging unit are respectively connected with the processing unit, and wherein:
the decoding unit: the image decoding device is used for acquiring image coded data and decoding and restoring an image;
the denoising unit: the image denoising method comprises the steps of obtaining a restored image, and performing denoising processing to form image denoising information;
the three-dimensional imaging unit: and drawing a three-dimensional image or a depth map of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, and displaying the three-dimensional image or the depth map by a display unit.
Specifically, the control system according to this embodiment mainly integrates image data through the head-mounted display device to generate and display a three-dimensional image. The head-mounted display device in the embodiment is provided with a decoding unit, a denoising unit and a three-dimensional imaging unit, wherein the decoding unit is mainly used for decoding image coding data sent by an unmanned ship through a base station to obtain image information corresponding to the head-mounted display device, the denoising unit is used for correspondingly denoising to obtain a denoised image and form a data format matched with a display module of the head-mounted display device, and finally the three-dimensional imaging unit is used for obtaining three-dimensional image information according to the denoised image, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, drawing a three-dimensional image of an underwater environment according to the three-dimensional image information and displaying the three-dimensional image by the display unit.
Meanwhile, in this embodiment, the unmanned ship further comprises a motion acquisition unit, and the motion acquisition unit is connected with the main control unit and acquires motion information of the unmanned ship. The motion control unit comprises one or any combination of a speed sensor, a gyroscope attitude sensing device and a GPS device. In addition, in this embodiment, the image acquisition unit of the unmanned ship acquires a two-dimensional image in real time, and acquires speed information of the unmanned ship in real time according to the movement speed of the unmanned ship, movement attitude information of the unmanned ship and position data of the unmanned ship, wherein the movement speed of the unmanned ship acquires the speed information of the unmanned ship in real time through a speed sensor arranged on the unmanned ship, the attitude information of the unmanned ship acquires the attitude information of the unmanned ship in real time through a gyroscope attitude sensing device arranged on the unmanned ship, and the position data of the unmanned ship is mainly the position data acquired through a GPS device arranged on the unmanned ship and is sent to the head-mounted display device through the base station. And according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, corresponding the acquired image information to a corresponding region of the underwater environment, and then drawing a three-dimensional image of the underwater environment of the corresponding region.
Further, the base station is respectively connected with the unmanned ship and the head-mounted display device in a wired mode and/or a wireless mode;
preferably, the base station is provided with a wireless connection module and is wirelessly connected with the head-mounted display device through the wireless connection module.
Specifically, in this embodiment, the unmanned ship is connected to the base station by wire, so that the effect of transmitting underwater image information by the unmanned ship can be improved, and the effect of displaying in real time by the head-mounted display device can be improved.
In summary, the control system of the unmanned ship in this embodiment has the following advantages:
1. this embodiment unmanned ship's control system has solved and has been controlled unmanned ship function singleness by the remote controller to lead to user experience to feel not good problem, in this embodiment control system utilizes wear-type display device and unmanned ship to pass through the basic station and is connected, and carries out data interaction, realizes that wear-type display device shows situation under water in real time, and according to user's action control the collection of unmanned ship image more is favorable to the user to acquire required image under water. And further improves the experience and control effect of the user.
2. In the embodiment, the three-dimensional display of the image is realized by processing the underwater image information, so that the immersion feeling of the user is enhanced.
Example two
The difference between this embodiment and the above embodiments is that the head-mounted display device of this embodiment further includes a database, an identification unit, and a pseudo-color unit, where the database, the identification unit, and the pseudo-color unit are respectively connected to the processing unit; wherein the content of the first and second substances,
the database is: storing characteristic information parameters corresponding to three-dimensional imaging;
the identification unit: acquiring image denoising information, and comparing the image denoising information with the characteristic information parameters to obtain identification information of the underwater environment;
the identification unit: obtaining identification information according to the identification information, and corresponding to the identification;
the pseudo color unit: and acquiring color information according to the identification information, and coloring correspondingly.
Further, the characteristic information parameter includes one or any combination of terrain image information, plant image information and fish image information.
Further, the identification information corresponds to the identification information, and the corresponding relation is stored in a database;
preferably, the identification information corresponds to color information, and the correspondence is stored in a database.
Specifically, the control system of the embodiment can utilize the recognition unit to recognize the image information, and correspondingly identify and color the image information according to the recognition information, and correspondingly display the image information, so that the three-dimensional image is richer, and a user can conveniently and effectively obtain the required information.
Further, the head-mounted display device further comprises an induction switching unit, the induction switching unit is connected with the processing unit, wherein:
the induction switching unit: and acquiring induction data, and switching the display angle of the three-dimensional image according to the induction data.
Furthermore, the head-mounted display device also comprises an unmanned ship body drawing unit, the unmanned ship body drawing unit is connected with the processing unit, and the unmanned ship body drawing unit acquires the ship body information of the unmanned ship to draw and display the three-dimensional image of the unmanned ship;
preferably, the unmanned ship hull drawing unit acquires position information of the unmanned ship and correspondingly displays the position information in the three-dimensional image of the underwater environment.
Further, the hull information of the unmanned ship corresponds to the three-dimensional image, and the corresponding relation of the hull information and the three-dimensional image is stored in a database;
preferably, the hull information of the unmanned ship includes a shape of the unmanned ship, and/or a model of the unmanned ship.
EXAMPLE III
The difference between the present embodiment and the above embodiments is that the control system further includes a mobile terminal and/or a remote controller, and the mobile terminal and/or the remote controller are respectively connected with the head-mounted display device and perform data interaction;
or the mobile terminal and/or the remote controller are respectively connected with the base station and carry out data interaction with the unmanned ship through the base station.
Specifically, in this embodiment, data interaction is performed between the mobile terminal and the head-mounted display device and/or between the remote controller and the head-mounted display device, and image information formed in the head-mounted display device is sent to the mobile terminal and/or the remote controller. The head-mounted display device is used for processing underwater image information, generating corresponding image information, and meanwhile sending the image information to the mobile terminal and/or the remote controller for displaying, so that the imaging effect of the control system is improved, and the experience of a user is enhanced.
Or, in this embodiment, the remote controller and the head-mounted display device control the unmanned ship in a priority mode; for example, the remote control has priority over the head mounted display device.
Or, in this embodiment, the mobile terminal and the head-mounted display device may be matched to jointly implement processing of an image, so as to reduce the processing load of the processing unit of the head-mounted display device and ensure the display effect of the head-mounted display device.
Example four
The present embodiment is different from the above-described embodiments in that the head-mounted display device further includes: and the panoramic operation module is used for displaying only the panoramic image acquired by the unmanned ship when the head-mounted display device receives a corresponding instruction given to the panoramic operation module from the outside. Specifically, the panoramic control module is used for controlling a mobile phone display screen or a VR display screen or an IPAD display screen to enter full-screen playing. Use the VR display screen as an example, during the use, the user only needs to trigger the panoramic control module on the remote controller, and the VR display screen just gets into full screen broadcast, and real-time scene shows for the user through the full screen mode under water, panoramic control module is the button, for example, the user sees unmanned ship when fishing under water through the VR display screen, in order to see the detailed process of whole fishing more clearly, can start panoramic control module, lets the VR display screen carry out full screen broadcast to the fishing process under water, gives the user experience of being personally on the spot, greatly promotes user experience.
The embodiments in the above embodiments can be further combined or replaced, and the embodiments are only used for describing the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solution of the present invention by those skilled in the art without departing from the design idea of the present invention belong to the protection scope of the present invention.
Claims (6)
1. A control system of an unmanned ship is characterized in that: the control system comprises a head-mounted display device, an unmanned ship and a wireless connection module, wherein the unmanned ship and the head-mounted display device are connected through the wireless connection module and perform data interaction, the head-mounted display device controls the unmanned ship to move and acquire underwater image information, and the underwater image information is displayed in real time;
head-mounted display device includes processing unit, wireless connection unit, induction element, display element and command unit, wherein:
the wireless connection unit is used for carrying out data interaction with the wireless connection module;
the sensing unit is used for acquiring sensing information of a user, wherein the sensing information comprises head action information and/or body movement information of the user;
the display unit is used for displaying underwater image information acquired by the unmanned ship;
the processing unit is respectively connected with the wireless connection unit, the display unit and the induction unit and coordinates and controls the work of each unit;
the command unit is connected with the processing unit and used for acquiring the induction information and generating a corresponding control instruction according to the induction information;
the head-mounted display device also comprises a database, an identification unit and a pseudo color unit, wherein the database, the identification unit and the pseudo color unit are respectively connected with the processing unit; wherein the content of the first and second substances,
the database is: storing characteristic information parameters corresponding to three-dimensional imaging;
the identification unit: acquiring image denoising information, and comparing the image denoising information with the characteristic information parameters to obtain identification information of the underwater environment;
the identification unit: obtaining identification information according to the identification information, and corresponding to the identification;
the pseudo color unit: acquiring color information according to the identification information, and coloring correspondingly;
the sensing unit comprises one or any combination of a gravity sensing sensor, an acceleration sensor and/or a gyroscope,
the induction information corresponds to the control command, the corresponding relation is stored in the head-mounted display device,
the unmanned ship comprises a data transmission/image transmission unit, an image acquisition unit and a main control unit, wherein:
the data transmission/graph transmission unit: the wireless connection module is used for receiving a control instruction of the head-mounted display device and sending underwater image information to the head-mounted display device through the wireless connection module;
the image acquisition unit: the underwater image acquisition device is used for acquiring underwater image information according to the control instruction;
the main control unit: the data transmission/image transmission unit and the image acquisition unit are respectively connected and are used for coordinately controlling the work of each unit;
the gravity sensing sensor in the sensing unit collects head action information of a user, controls the image collection angle on the unmanned ship according to the head action information, detects body movement information of the user according to the acceleration sensor and the gyroscope in the sensing unit, and controls the running direction, speed and position of the unmanned ship according to the body movement information.
2. The control system of an unmanned ship according to claim 1, wherein: the unmanned ship further comprises a preprocessing unit and a coding unit, wherein the preprocessing unit and the coding unit are respectively connected with the main control unit, and the unmanned ship comprises:
the preprocessing unit: acquiring underwater image information acquired by an image acquisition unit, preprocessing the underwater image information and forming a preprocessed image;
the encoding unit: the method comprises the steps of obtaining a preprocessed image or underwater image information, correspondingly coding the preprocessed image or underwater image information to form image coded data, and then sending the image coded data to a head-mounted display device through a data transmission/image transmission unit.
3. The control system of an unmanned ship according to claim 2, wherein: the head-mounted display device further comprises a decoding unit, a denoising unit and a three-dimensional imaging unit, wherein the decoding unit, the denoising unit and the three-dimensional imaging unit are respectively connected with the processing unit, and the head-mounted display device comprises:
the decoding unit: the image decoding device is used for acquiring image coded data and decoding the image coded data to form a restored image;
the denoising unit: the image denoising method comprises the steps of obtaining a restored image, and performing denoising processing to form image denoising information;
the three-dimensional imaging unit: and drawing a three-dimensional image or a depth map of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, and displaying the three-dimensional image or the depth map by a display unit.
4. The control system of an unmanned ship according to claim 1 or 2, wherein: the control system further comprises a mobile terminal and/or a remote controller, and the mobile terminal and/or the remote controller are respectively connected with the head-mounted display device and perform data interaction;
or the mobile terminal and/or the remote controller are respectively connected with the wireless connection module and perform data interaction with the unmanned ship through the wireless connection module.
5. The control system of an unmanned ship according to claim 1 or 2, wherein: the unmanned ship is in wired and/or wireless connection with the wireless connection module.
6. The control system of an unmanned ship according to claim 1 or 2, wherein: the control system further comprises a base station, and the wireless connection module is arranged on the base station and is in wired connection with the unmanned ship through the base station.
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| CN107123158B (en) * | 2017-04-06 | 2020-12-29 | 北京臻迪科技股份有限公司 | Imaging system of unmanned ship |
| CN108873898A (en) * | 2018-06-26 | 2018-11-23 | 武汉理工大学 | A kind of long-range Ride Control System of immersion and method based on real time data interaction |
| CN110505682B (en) * | 2019-08-28 | 2023-01-03 | 郑州轻工业学院 | Image display device control information transmission method and system based on Internet of things and computer readable medium |
| CN115412722A (en) * | 2022-08-16 | 2022-11-29 | 中国检验认证集团河北有限公司 | Unmanned water gauge observation system, method and device |
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