CN108227712A - The avoidance running method and device of a kind of unmanned boat - Google Patents
The avoidance running method and device of a kind of unmanned boat Download PDFInfo
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Abstract
The present invention provides the avoidance running method and device of a kind of unmanned boat, wherein, this method includes：Obtain target water image；Processing is split to target water image, obtains each waters image-region；Judge whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if so, target travel region of the waters image-region as course line that predetermined threshold value will be less than corresponding to the accounting of barrier；Avoidance mobility operation is carried out based on target travel region.The avoidance running method and device of unmanned boat provided by the invention, behind target travel region in the waters image-region after determining segmentation, avoidance traveling is carried out based on target travel region, effectively prevent the risk that unmanned boat is hit, so that unmanned boat can preferably perform business operation, practicability is preferable.
Description
Technical field
The present invention relates to unmanned boat field, in particular to the avoidance running method and device of a kind of unmanned boat.
Background technology
Unmanned boat is a kind of with contexture by self, autonomous navigation ability, and can independently complete environment sensing, target acquisition
Etc. tasks small-size water surface platform.Relative to unmanned plane, start late to the research of unmanned boat, but it quickly grows.Nobody
Ship is widely used in the fields such as hydrologic monitoring, landforms mapping, military investigation strike.
In general, ship during navigation, can encounter various barriers.In view of there is no work on unmanned boat
Personnel check that ambient conditions with timely avoiding obstacles, cause the barrier on sea to be easy to bring unmanned boat danger
Danger.
As it can be seen that there is an urgent need for a kind of avoidance traveling schemes of unmanned boat to ensure the safety traffic of unmanned boat.
Invention content
In view of this, the purpose of the present invention is to provide the avoidance running method and device of a kind of unmanned boat, pass through image
Processing mode realizes avoidance traveling, effectively prevents the risk that unmanned boat is hit, practicability is preferable.
In a first aspect, the present invention provides a kind of avoidance running method of unmanned boat, the method includes：
Obtain target water image；
Processing is split to the target water image, obtains each waters image-region；
Judge whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if so, will be corresponding
It is less than target travel region of the waters image-region of the predetermined threshold value as course line in the accounting of barrier；
Avoidance mobility operation is carried out based on the target travel region.
With reference to first aspect, the present invention provides the first possible embodiment of first aspect, wherein, it is described to institute
It states target water image and is split processing, obtain each waters image-region, including：
Minimum detection diameter based on the sonar set set on unmanned boat, the target water image is divided into each
Waters image-region.
With reference to first aspect, the present invention provides second of possible embodiment of first aspect, wherein, the judgement
Whether the accounting of barrier is less than before predetermined threshold value in each waters image-region, further includes：
For each waters image-region, gray proces are carried out to the waters image-region, obtain the waters figure
As the half-tone information of pixel each in region；
For each half-tone information, whether the half-tone information is judged in default barrier gray threshold range, if so,
Using the corresponding pixel of the half-tone information as barrier pixel；
The number of the barrier pixel in each waters image-region of statistics, and the obstacle of counting statistics
Ratio in the number of image vegetarian refreshments and the waters image-region between the sum of all pixels point；
Whether the accounting for judging barrier in each waters image-region is less than predetermined threshold value, including：
Judge whether the ratio calculated is less than predetermined threshold value.
With reference to first aspect, the present invention provides the third possible embodiment of first aspect, wherein, described right
The target water image is split processing, described to judge each waters figure after obtaining each waters image-region
Before whether being less than predetermined threshold value as the accounting of barrier in region, further include：
Calculate the area of each waters image-region；
When the area for judging to calculate is less than preset area threshold value, deletion is less than described corresponding to the area calculated
The waters image-region of preset area threshold value.
With reference to first aspect, the present invention provides the 4th kind of possible embodiment of first aspect, wherein, it is described to be based on
The target travel region carries out avoidance mobility operation, including：
It determines to correspond to geographical location information of the target travel region on map；
Based on determining geographical location information structure avoidance traveling strategy；
Strategy is travelled according to the avoidance of structure and carries out avoidance mobility operation.
Second aspect, the present invention also provides a kind of avoidance mobile devices of unmanned boat, described device includes：
Acquisition module, for obtaining target water image；
Divide module, for being split processing to the target water image, obtain each waters image-region；
Judgment module, for judging whether the accounting of barrier in each waters image-region is less than predetermined threshold value,
If so, target travel area of the waters image-region as course line that the predetermined threshold value will be less than corresponding to the accounting of barrier
Domain；
Obstacle avoidance module carries out avoidance mobility operation for being based on the target travel region.
With reference to second aspect, the present invention provides the first possible embodiment of second aspect, wherein, the segmentation
Specifically for the minimum detection diameter based on the sonar set set on unmanned boat, the target water image is divided for module
For each waters image-region.
With reference to second aspect, the present invention provides second of possible embodiment of second aspect, wherein, it further includes：
Ratio calculation module for being directed to each waters image-region, is carried out at gray scale the waters image-region
Reason, obtains the half-tone information of each pixel in the waters image-region；For each half-tone information, the half-tone information is judged
Whether in default barrier gray threshold range, if so, using the corresponding pixel of the half-tone information as barrier pixel
Point；The number of the barrier pixel in each waters image-region of statistics, and the obstacle image of counting statistics
Ratio in the number of vegetarian refreshments and the waters image-region between the sum of all pixels point；
The judgment module is additionally operable to judge whether the ratio that ratio calculation module calculates is less than predetermined threshold value.
With reference to second aspect, the present invention provides the third possible embodiment of second aspect, wherein, it further includes：
Region removing module, for calculating the area of each waters image-region；It is small in the area for judging to calculate
When preset area threshold value, the waters image-region for being less than the preset area threshold value corresponding to the area calculated is deleted.
With reference to second aspect, the present invention provides the 4th kind of possible embodiment of second aspect, wherein, the avoidance
Module, specifically for determining to correspond to geographical location information of the target travel region on map；Described in determining
Geographical location information structure avoidance traveling strategy；Strategy is travelled according to the avoidance of structure and carries out avoidance mobility operation.
The avoidance running method and device of unmanned boat provided by the invention obtain target water image first；Then to mesh
Mark waters image is split processing, obtains each waters image-region；Barrier in each waters image-region is judged again
Accounting whether be less than predetermined threshold value, if so, will corresponding to the accounting of barrier be less than predetermined threshold value waters image-region
Target travel region as course line；It is finally based on target travel region and carries out avoidance mobility operation, that is, it is determining segmentation
Behind the target travel region in the image-region of waters afterwards, avoidance traveling is carried out based on target travel region, effectively prevents nothing
The risk that people's ship is hit, so that unmanned boat can preferably perform business operation, practicability is preferable.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of the avoidance running method for unmanned boat that the embodiment of the present invention is provided；
Fig. 2 shows the flow charts of the avoidance running method of another unmanned boat that the embodiment of the present invention is provided；
Fig. 3 shows the flow chart of the avoidance running method for another unmanned boat that the embodiment of the present invention is provided；
Fig. 4 shows the flow chart of the avoidance running method for another unmanned boat that the embodiment of the present invention is provided；
Fig. 5 shows a kind of structure diagram of the avoidance mobile devices for unmanned boat that the embodiment of the present invention is provided；
Fig. 6 shows the structure diagram of the avoidance mobile devices for another unmanned boat that the embodiment of the present invention is provided.
Main element symbol description：
11st, acquisition module；12nd, divide module；13rd, judgment module；14th, obstacle avoidance module；15th, ratio calculation module；16th, area
Domain removing module.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in middle attached drawing, it is clear that described embodiment is only
It is part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of different.Therefore, below to provide in the accompanying drawings the present invention
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on the embodiment of the present invention, institute that those skilled in the art are obtained under the premise of creative work is not made
There is other embodiment, shall fall within the protection scope of the present invention.
Check that ambient conditions with timely avoiding obstacles, lead to sea in view of there is no staff on unmanned boat
Barrier on face is easy to bring danger to unmanned boat.Based on this, an embodiment of the present invention provides a kind of avoidances of unmanned boat
Running method and device realize that avoidance travels by image procossing mode, effectively prevent the risk that unmanned boat is hit, practicability
Preferably.
Referring to Fig. 1, an embodiment of the present invention provides a kind of avoidance running method of unmanned boat, the executive agent of this method is
The controller of unmanned boat or other control chips, the above method specifically comprise the following steps：
S101, target water image is obtained；
Here, the target water image in the embodiment of the present invention can be that the target water institute that user selects from map is right
The image answered can also be the image obtained by the means such as take photo by plane, can also be the Image Acquisition by being set on unmanned boat
The image of device shooting.Target water image in the embodiment of the present invention both further included barrier including sea.
S102, processing is split to target water image, obtains each waters image-region；
Here, after target water is split processing by the embodiment of the present invention, several waters image-regions are obtained.Its
In, above-mentioned dividing processing can be split according to User Defined, can also be and (set on such as unmanned boat based on preset parameter
The minimum detection diameter for the sonar set put) it is split, it is also based on carrying out barrier to above-mentioned target water image
Testing result is split.For User Defined segmentation, it can be impartial segmentation, can also be irregular fractionated；It is right
It is for preset parameter segmentation, then general using impartial segmentation；For being split according to the testing result of barrier, this
The mode that inventive embodiments can be extracted based on gray scale determines each barrier, and the size for being then based on barrier carries out image point
It cuts, that is, the waters image-region of segmentation can include barrier in itself.
S103, judge whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if so, will be corresponding
It is less than target travel region of the waters image-region of predetermined threshold value as course line in the accounting of barrier；
Here, for each waters image-region after segmentation, the embodiment of the present invention is based on the waters image-region
The accounting of middle barrier judges which above-mentioned waters image-region is barrier zone, which is target travel region.
S104, avoidance mobility operation is carried out based on target travel region.
Here, avoidance traveling is carried out according to determining target travel region, avoids above-mentioned barrier automatically during traveling
Hinder region, so as to avoid the risk that unmanned boat is hit, practicability is preferable.
The avoidance running method of unmanned boat provided in an embodiment of the present invention obtains target water image first；Then to mesh
Mark waters image is split processing, obtains each waters image-region；Barrier in each waters image-region is judged again
Accounting whether be less than predetermined threshold value, if so, will corresponding to the accounting of barrier be less than predetermined threshold value waters image-region
Target travel region as course line；It is finally based on target travel region and carries out avoidance mobility operation, that is, it is determining segmentation
Behind the target travel region in the image-region of waters afterwards, avoidance traveling is carried out based on target travel region, effectively prevents nothing
The risk that people's ship is hit, so that unmanned boat can preferably perform business operation, practicability is preferable.
The avoidance running method of unmanned boat provided in an embodiment of the present invention can be applied to hydrologic monitoring, landforms mapping, army
The fields such as thing investigation strike.In above-mentioned each application field, sonar set is as most widely used, most important in marine acoustics
A kind of device is widely used, and therefore, the embodiment of the present invention can the minimum detection based on the sonar set set on unmanned boat
Target water image is divided into each waters image-region by diameter, and cutting is simple, can while smaller calculation amount is ensured
Achieve the purpose that effectively to divide.In addition, above-mentioned sonar set can be applied in landforms mapping in measure rivers, lake, reservoir,
The plan-position and elevation of bay and coastal waters bottom point, to draw the mapping operations of underwater topographic map, further ensure and keep away
Hinder the mapping operations in driving process, practicability is more preferably.
For the ease of judging whether the accounting of barrier in the image-region of waters is less than predetermined threshold value, the embodiment of the present invention is also
Obstacle is determined by carrying out gray proces to waters image-region, and according to the mode of gray proces result progress pixel statistics
The accounting of object, specifically, referring to Fig. 2, the avoidance running method of unmanned boat provided in an embodiment of the present invention is true as follows
Determine the accounting of barrier：
S201, for each waters image-region, gray proces are carried out to the waters image-region, obtain waters image district
The half-tone information of each pixel in domain；
S202, for each half-tone information, whether judge the half-tone information in default barrier gray threshold range, if
It is, then using the corresponding pixel of the half-tone information as barrier pixel；
The number of obstacle image vegetarian refreshments in S203, each waters image-region of statistics, and the barrier pixel of counting statistics
Ratio in the number of point and the waters image-region between the sum of all pixels point.
Here, the embodiment of the present invention obtains the waters image first against the gray proces result of each waters image-region
The half-tone information of each pixel in region, then again for each half-tone information in above-mentioned waters image-region, determining should
Whether the corresponding pixel of half-tone information is barrier pixel, if so, counting the number of all barrier pixels, and base
It is divided by the number and the sum of all pixels point of statistics, is accounted for obtaining corresponding to barrier in each waters image-region
Than.
The comparison result of accounting and predetermined threshold value of the embodiment of the present invention also based on above-mentioned barrier determines target travel area
Domain, to ensure that unmanned boat carries out avoidance mobility operation according to the target travel region.
The embodiment of the present invention from all waters image-regions before target travel region is determined, also first to all waters
It is deleted in the narrow region in edge in image-region.Referring to Fig. 3, above-mentioned zone is deleted process and is specifically comprised the following steps：
S301, the area for calculating each waters image-region；
S302, when the area for judging to calculate is less than preset area threshold value, delete be less than corresponding to the area calculated it is pre-
If the waters image-region of area threshold.
Here, the embodiment of the present invention compares the area of each waters image-region with preset area threshold value, deletes
Area is less than the waters image-region of preset area threshold value, further to reduce the calculation amount of follow-up deterministic process.
Referring to Fig. 4, the avoidance running method of unmanned boat provided in an embodiment of the present invention is kept away especially by following steps realization
Barrier traveling：
S401, it determines to correspond to geographical location information of the target travel region on map；
S402, strategy is travelled based on determining geographical location information structure avoidance；
S403, strategy progress avoidance mobility operation is travelled according to the avoidance of structure.
Here, it is contemplated that the target travel region in the embodiment of the present invention is really the figure being made of some row pixels
Picture, a geographical location information being corresponding with for any one pixel in the image on map, then, corresponding to one
For a target travel region, then multiple geographical location information are corresponding with, the embodiment of the present invention is based in target travel region
The corresponding geographical location information of imago vegetarian refreshments carries out course line traveling.Wherein, the avoidance traveling strategy in the embodiment of the present invention can
To include the geographical location information of the current geographic position information of unmanned boat and each target travel region, unmanned boat is first
It is travelled from current geographic position information to first aim running region, then traverses other target travel regions successively to avoid
Barrier zone is travelled, so that it is guaranteed that unmanned boat can reach each destination in course line.In addition, in each target travel region
It can be surveyed and drawn, final mapped results can be spliced by the mapped results in each target travel region, practicability
Preferably.
The avoidance running method of unmanned boat provided in an embodiment of the present invention obtains target water image first；Then to mesh
Mark waters image is split processing, obtains each waters image-region；Barrier in each waters image-region is judged again
Accounting whether be less than predetermined threshold value, if so, will corresponding to the accounting of barrier be less than predetermined threshold value waters image-region
Target travel region as course line；It is finally based on target travel region and carries out avoidance mobility operation, that is, it is determining segmentation
Behind the target travel region in the image-region of waters afterwards, avoidance traveling is carried out based on target travel region, effectively prevents nothing
The risk that people's ship is hit, so that unmanned boat can preferably perform business operation, practicability is preferable.
Based on same inventive concept, nothing corresponding with the avoidance running method of unmanned boat is additionally provided in the embodiment of the present application
The avoidance mobile devices of people's ship, due to the principle that the device in the embodiment of the present application solves the problems, such as and the above-mentioned nothing of the embodiment of the present application
The avoidance running method of people's ship is similar, therefore the implementation of device may refer to the implementation of method, and overlaps will not be repeated.Such as figure
Shown in 5, by the avoidance mobile devices schematic diagram for the unmanned boat that the embodiment of the present application provides, the avoidance mobile devices of the unmanned boat
Including：
Acquisition module 11, for obtaining target water image；
Divide module 12, for being split processing to target water image, obtain each waters image-region；
Judgment module 13, for judging whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if
It is target travel region of the waters image-region as course line that then will be less than predetermined threshold value corresponding to the accounting of barrier；
Obstacle avoidance module 14 carries out avoidance mobility operation for being based on target travel region.
In specific implementation, above-mentioned segmentation module 12, specifically for the minimum based on the sonar set set on unmanned boat
Diameter is detected, target water image is divided into each waters image-region.
As shown in fig. 6, the avoidance mobile devices of above-mentioned unmanned boat further include：
For being directed to each waters image-region, gray proces are carried out to the waters image-region for ratio calculation module 15,
Obtain the half-tone information of each pixel in the image-region of waters；For each half-tone information, judge whether the half-tone information is located
In default barrier gray threshold range, if so, using the corresponding pixel of the half-tone information as barrier pixel；Statistics
The number of obstacle image vegetarian refreshments in the image-region of each waters, and the number of the barrier pixel of counting statistics and the waters figure
As the ratio between the sum of all pixels point in region；
Judgment module 13 is additionally operable to judge whether the ratio that ratio calculation module 15 calculates is less than predetermined threshold value.
As shown in fig. 6, the avoidance mobile devices of above-mentioned unmanned boat further include：
Region removing module 16, for calculating the area of each waters image-region；It is less than in the area for judging to calculate
During preset area threshold value, the waters image-region for being less than preset area threshold value corresponding to the area calculated is deleted.
In specific implementation, above-mentioned obstacle avoidance module 14, specifically for determining to correspond to target travel region on map
Geographical location information；Based on determining geographical location information structure avoidance traveling strategy；According to the avoidance of structure traveling strategy into
Row avoidance mobility operation.
The avoidance mobile devices of unmanned boat provided in an embodiment of the present invention obtain target water image first；Then to mesh
Mark waters image is split processing, obtains each waters image-region；Barrier in each waters image-region is judged again
Accounting whether be less than predetermined threshold value, if so, will corresponding to the accounting of barrier be less than predetermined threshold value waters image-region
Target travel region as course line；It is finally based on target travel region and carries out avoidance mobility operation, that is, it is determining segmentation
Behind the target travel region in the image-region of waters afterwards, avoidance traveling is carried out based on target travel region, effectively prevents nothing
The risk that people's ship is hit, so that unmanned boat can preferably perform business operation, practicability is preferable.
The computer program product of the method for the avoidance traveling for the progress unmanned boat that the embodiment of the present invention is provided, including depositing
The computer readable storage medium of program code is stored up, the instruction that said program code includes can be used for performing previous methods implementation
Method described in example, specific implementation can be found in embodiment of the method, and details are not described herein.
The unmanned boat that the embodiment of the present invention is provided avoidance traveling device can be equipment on specific hardware or
Software or firmware for being installed in equipment etc..The technology effect of the device that the embodiment of the present invention is provided, realization principle and generation
Fruit is identical with preceding method embodiment, and to briefly describe, device embodiment part does not refer to part, can refer to preceding method implementation
Corresponding contents in example.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description
The specific work process of system, device and unit can refer to the corresponding process in above method embodiment, no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Volume function divides, and can have other dividing mode in actual implementation, in another example, multiple units or component can combine or can
To be integrated into another system or some features can be ignored or does not perform.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
To be that each unit is individually physically present, can also two or more units integrate in a unit.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of avoidance running method of unmanned boat, which is characterized in that including：
Obtain target water image；
Processing is split to the target water image, obtains each waters image-region；
Judge whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if so, barrier will be corresponded to
The accounting of object is hindered to be less than target travel region of the waters image-region of the predetermined threshold value as course line；
Avoidance mobility operation is carried out based on the target travel region.
2. according to the method described in claim 1, it is characterized in that, described be split processing to the target water image,
Each waters image-region is obtained, including：
Minimum detection diameter based on the sonar set set on unmanned boat, each waters is divided by the target water image
Image-region.
3. according to the method described in claim 1, it is characterized in that, described judge barrier in each waters image-region
Accounting whether be less than predetermined threshold value before, further include：
For each waters image-region, gray proces are carried out to the waters image-region, obtain the waters image district
The half-tone information of each pixel in domain；
For each half-tone information, whether the half-tone information is judged in default barrier gray threshold range, if so, should
The corresponding pixel of half-tone information is as barrier pixel；
The number of the barrier pixel in each waters image-region of statistics, and the obstacle image of counting statistics
Ratio in the number of vegetarian refreshments and the waters image-region between the sum of all pixels point；
Whether the accounting for judging barrier in each waters image-region is less than predetermined threshold value, including：
Judge whether the ratio calculated is less than predetermined threshold value.
4. according to the method described in claim 1, it is characterized in that, place is split to the target water image described
Reason, after obtaining each waters image-region, whether the accounting for judging barrier in each waters image-region is small
Before predetermined threshold value, further include：
Calculate the area of each waters image-region；
When the area for judging to calculate is less than preset area threshold value, deletion is less than described default corresponding to the area calculated
The waters image-region of area threshold.
5. according to the method described in claim 1, it is characterized in that, described carry out avoidance traveling based on the target travel region
Operation, including：
It determines to correspond to geographical location information of the target travel region on map；
Based on determining geographical location information structure avoidance traveling strategy；
Strategy is travelled according to the avoidance of structure and carries out avoidance mobility operation.
6. a kind of avoidance mobile devices of unmanned boat, which is characterized in that including：
Acquisition module, for obtaining target water image；
Divide module, for being split processing to the target water image, obtain each waters image-region；
Judgment module, for judging whether the accounting of barrier in each waters image-region is less than predetermined threshold value, if so,
Target travel region of the waters image-region as course line that then will be less than the predetermined threshold value corresponding to the accounting of barrier；
Obstacle avoidance module carries out avoidance mobility operation for being based on the target travel region.
7. device according to claim 6, which is characterized in that the segmentation module, specifically for being based on setting on unmanned boat
The minimum detection diameter for the sonar set put, each waters image-region is divided by the target water image.
8. device according to claim 6, which is characterized in that further include：
Ratio calculation module for being directed to each waters image-region, carries out gray proces to the waters image-region, obtains
The half-tone information of each pixel into the waters image-region；For each half-tone information, whether the half-tone information is judged
In default barrier gray threshold range, if so, using the corresponding pixel of the half-tone information as barrier pixel；System
The number of the barrier pixel in each waters image-region of meter, and the barrier pixel of counting statistics
Ratio in number and the waters image-region between the sum of all pixels point；
The judgment module is additionally operable to judge whether the ratio that ratio calculation module calculates is less than predetermined threshold value.
9. device according to claim 6, which is characterized in that further include：
Region removing module, for calculating the area of each waters image-region；It is less than in the area for judging to calculate pre-
If during area threshold, delete the waters image-region for being less than the preset area threshold value corresponding to the area calculated.
10. device according to claim 6, which is characterized in that the obstacle avoidance module, it is described specifically for determining to correspond to
Geographical location information of the target travel region on map；Based on determining geographical location information structure avoidance traveling plan
Slightly；Strategy is travelled according to the avoidance of structure and carries out avoidance mobility operation.
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