CN105068077A - Submarine underwater searching method based on data communication - Google Patents
Submarine underwater searching method based on data communication Download PDFInfo
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- CN105068077A CN105068077A CN201510443968.6A CN201510443968A CN105068077A CN 105068077 A CN105068077 A CN 105068077A CN 201510443968 A CN201510443968 A CN 201510443968A CN 105068077 A CN105068077 A CN 105068077A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a submarine underwater searching method based on data communication. The method comprises the steps that a submarine underwater searching device based on data communication is provided; the searching device comprises a submarine front end fixing bracket, an image detection device and an ultralong wave communication device; the image detection device is located on the submarine front end fixing bracket, and is used for detecting the presence or absence of a human body in water on the front end of a submarine; the submarine transmits related information of the human body to a water platform through the ultralong wave communication device; and the searching device is used for searching. According to the invention, the submarine underwater searching method helps the submarine to search a body or warn visitors to leave the current waters.
Description
Technical field
The present invention relates to submarine civil area, particularly relate to a kind of submarine based on data communication searching method under water.
Background technology
The mode that the search of persons falling in water generally adopts frogman's dive or boats and ships to cruise under water is gone to location, is identified and rescue, but the mode region of search of frogman's search is limited, efficiency is not high, the mode that boats and ships cruise due to boats and ships cannot underwater, the part waters of the contiguous water surface can only be searched for, therefore, above-mentioned two kinds of modes are all with certain limitation.
For this reason, submarine civilian sphere expands by the present invention, propose a kind of submarine based on data communication searching method under water, employing the submarine of position, underwater any waters directly can carry out people search under water, and have employed more high-precision image recognition technology and Technology for Target Location, to realize more accurately, the detection of persons falling in water under water more timely.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of submarine based on data communication searching method under water, arrange in submarine front end on the fixed mount of submarine front end, carry the checkout equipment of persons falling in water, whether human body is there is under water for what detect submarine front end, adopt high-precision image recognition pattern to improve the detection efficiency of human body under water simultaneously, thus can fast and effeciently detect overboard human body in any waters under water.
According to an aspect of the present invention, provide a kind of submarine based on data communication searching method under water, the method comprises: 1) provide a kind of submarine marine searching device based on data communication, described searcher comprises submarine front end fixed mount, image detection device and myriametric wave communication device, described image detection device is positioned on the fixed mount of described submarine front end, whether human body is there is under water, so that submarine transmits human body relevant information by described myriametric wave communication device and above water platform for what detect submarine front end; 2) use described searcher to search for.
More specifically, described based in the submarine marine searching device of data communication, also comprise: positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine; Sound and light alarm device, is connected with embedded processing device, for when receiving sound and light alarm signal, carries out sound and light alarm operation; Static memory devices, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body; Underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead; Image detection device, is arranged on the fixed mount of described submarine front end, comprises the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattered light filtering and target recognin device; The sub-device of described self-adaptation recursive filtering is connected with described CMOS camera, for performing the process of self-adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self-adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range; The sub-device of described scattered light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on human body because the sub-device of floor light irradiates in described human body subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening human body subimage; Described target recognin device is connected respectively with the sub-device of described scattered light filtering and described static memory devices, mated one by one with each anthropoid benchmark masterplate by described sharpening human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type; Embedded processing device, be arranged on the fixed mount of described submarine front end, be connected respectively with described positioning devices, described underwater camera device, described image detection device and described myriametric wave communication device, for when receiving described target body type, described sharpening human body subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression human body subimage, described compression human body subimage, described target body type and described current position determination data are sent to above water platform by described myriametric wave communication device; Wherein, described embedded processing device is when to receive described target body type be remains type, remains alerting signal is sent to described above water platform by described myriametric wave communication device, described flush bonding processor, when to receive described target body type be non-remains type, sends sound and light alarm signal.
More specifically, described based in the submarine marine searching device of data communication: described sound and light alarm device comprises underwater audio and plays sub-device, for when receiving described sound and light alarm signal, play alert audio file.
More specifically, described based in the submarine marine searching device of data communication: described sound and light alarm device comprises sends out photonic device, for when receiving described sound and light alarm signal, carry out flicker according to predeterminated frequency and reporting to the police.
More specifically, described based in the submarine marine searching device of data communication: described sound and light alarm device and described embedded processing device are integrated on one piece of surface-mounted integrated circuit.
More specifically, described based in the submarine marine searching device of data communication: described sound and light alarm device is arranged on the fixed mount of described submarine front end.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the submarine marine searching device based on data communication illustrated according to an embodiment of the present invention.
Reference numeral: 1 submarine front end fixed mount; 2 image detection device; 3 myriametric wave communication devices
Embodiment
Below with reference to accompanying drawings the embodiment of the submarine marine searching device based on data communication of the present invention is described in detail.
Submarine is generally used for military purposes, but when war preparedness at ordinary times, also needs the civil use developing submarine, such as, to meet an urgent need to emergency condition, when occurring that larger amt man overboard needs rescue.
Still do not have submarine in prior art to the technical scheme of persons falling in water search location, meanwhile, the testing mechanism of personnel under water efficiency of the prior art is not high, needs the real-time of the accuracy improved to improve human bioequivalence.
In order to overcome above-mentioned deficiency, the present invention has built a kind of submarine marine searching device based on data communication, submarine front end will be transplanted to by human bioequivalence equipment under water, and expand the civil use of submarine, make submarine persons falling in water can be detected rapidly and accurately in any position under water.
Fig. 1 is the block diagram of the submarine marine searching device based on data communication illustrated according to an embodiment of the present invention, described searcher comprises submarine front end fixed mount, image detection device and myriametric wave communication device, described image detection device is positioned on the fixed mount of described submarine front end, whether human body is there is under water, so that submarine transmits human body relevant information by described myriametric wave communication device and above water platform for what detect submarine front end.
Then, continue to be further detailed the concrete structure of the submarine marine searching device based on data communication of the present invention.
Described searcher also comprises: positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine.
Described searcher also comprises: sound and light alarm device, is connected with embedded processing device, for when receiving sound and light alarm signal, carries out sound and light alarm operation.
Described searcher also comprises: static memory devices, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body.
Described searcher also comprises: underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera comprises the underwater picture of objects ahead with acquisition to objects ahead shooting.
Described searcher also comprises: image detection device, be arranged on the fixed mount of described submarine front end, comprise the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattered light filtering and target recognin device; The sub-device of described self-adaptation recursive filtering is connected with described CMOS camera, for performing the process of self-adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self-adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range; The sub-device of described scattered light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on human body because the sub-device of floor light irradiates in described human body subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening human body subimage; Described target recognin device is connected respectively with the sub-device of described scattered light filtering and described static memory devices, mated one by one with each anthropoid benchmark masterplate by described sharpening human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type; Embedded processing device, be arranged on the fixed mount of described submarine front end, be connected respectively with described positioning devices, described underwater camera device, described image detection device and described myriametric wave communication device, for when receiving described target body type, described sharpening human body subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression human body subimage, described compression human body subimage, described target body type and described current position determination data are sent to above water platform by described myriametric wave communication device.
Described embedded processing device is when to receive described target body type be remains type, remains alerting signal is sent to described above water platform by described myriametric wave communication device, described flush bonding processor, when to receive described target body type be non-remains type, sends sound and light alarm signal.
Alternatively, described based in the submarine marine searching device of data communication: described sound and light alarm device comprises underwater audio and plays sub-device, for when receiving described sound and light alarm signal, play alert audio file; Described sound and light alarm device comprises sends out photonic device, for when receiving described sound and light alarm signal, carrying out flicker report to the police according to predeterminated frequency; Described sound and light alarm device and described embedded processing device are integrated on one piece of surface-mounted integrated circuit; Described sound and light alarm device is arranged on the fixed mount of described submarine front end.
Alternatively, the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattered light filtering and target recognin device can adopt different fpga chips to realize respectively.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to deviser with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, single-chip microcomputer.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the sequential operation of PC or single-chip microcomputer (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD logic gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The key distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's dirigibility, but but have the time delay and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt the submarine marine searching device based on data communication of the present invention, for being deep into the technical matters that human detection is carried out in position, any marine site in prior art fast, the front-end architecture of transformation submarine, submarine front end will be transplanted to by human body detecting device under water, and improve the equipment precision of human bioequivalence and human body location under water, shorten the reaction time of personnel rescuing under water.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1., based on a submarine searching method under water for data communication, the method comprises:
1) a kind of submarine marine searching device based on data communication is provided, described searcher comprises submarine front end fixed mount, image detection device and myriametric wave communication device, described image detection device is positioned on the fixed mount of described submarine front end, whether human body is there is under water, so that submarine transmits human body relevant information by described myriametric wave communication device and above water platform for what detect submarine front end;
2) use described searcher to search for.
2., as claimed in claim 1 based on the submarine searching method under water of data communication, it is characterized in that, described searcher also comprises:
Positioning devices, comprise inertial navigation locator device and the sub-device of water acoustic navigation, described inertial navigation locator device and the sub-device of described water acoustic navigation is used to carry out co-located, based on the output of described inertial navigation locator device and the sub-device of described water acoustic navigation, determine the current position determination data of described submarine;
Sound and light alarm device, is connected with embedded processing device, for when receiving sound and light alarm signal, carries out sound and light alarm operation;
Static memory devices, human body tonal range and each anthropoid benchmark masterplate are prestored, described human body tonal range is used for the human body in image and background separation, and described each anthropoid benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark human body;
Underwater camera device, be arranged on the fixed mount of described submarine front end, comprise semisphere watertight transparent cover, the sub-device of floor light, CMOS camera and the sub-device of ultrasonic ranging, described semisphere watertight transparent cover is for holding the sub-device of described floor light and described CMOS camera, the sub-device of described ultrasonic ranging is used for objects ahead range finding to obtain objects ahead distance, the sub-device of described floor light provides floor light for the underwater photograph technical of described CMOS camera, described CMOS camera to objects ahead shooting to obtain the underwater picture comprising objects ahead;
Image detection device, is arranged on the fixed mount of described submarine front end, comprises the sub-device of self-adaptation recursive filtering, the sub-device of medium filtering, change of scale enhancer device, the sub-device of Target Segmentation, the sub-device of scattered light filtering and target recognin device; The sub-device of described self-adaptation recursive filtering is connected with described CMOS camera, for performing the process of self-adaptation recursive filtering to described underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains self-adaptation recursive filtering image; The sub-device of described medium filtering is connected with the sub-device of described self-adaptation recursive filtering, for performing medium filtering process to described self-adaptation recursive filtering image, with the water particle scattering composition in self-adaptation recursive filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer device is connected with the sub-device of described medium filtering, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; The sub-device of described Target Segmentation is connected with described change of scale enhancer device, by all pixel groups adult body subimages of grey scale pixel value in described enhancing image in described human body tonal range; The sub-device of described scattered light filtering is connected respectively with the sub-device of described Target Segmentation, the sub-device of described ultrasonic ranging and the sub-device of described floor light, to obtain floor light brightness described in described objects ahead Distance geometry, and remove the scattered light composition formed on human body because the sub-device of floor light irradiates in described human body subimage based on floor light brightness described in described objects ahead Distance geometry, to obtain sharpening human body subimage; Described target recognin device is connected respectively with the sub-device of described scattered light filtering and described static memory devices, mated one by one with each anthropoid benchmark masterplate by described sharpening human body subimage, human body type corresponding to output matching successful human body benchmark masterplate is as target body type;
Embedded processing device, be arranged on the fixed mount of described submarine front end, be connected respectively with described positioning devices, described underwater camera device, described image detection device and described myriametric wave communication device, for when receiving described target body type, described sharpening human body subimage is carried out the image compression encoding based on MPEG-4 compression standard, to obtain compression human body subimage, described compression human body subimage, described target body type and described current position determination data are sent to above water platform by described myriametric wave communication device;
Wherein, described embedded processing device is when to receive described target body type be remains type, remains alerting signal is sent to described above water platform by described myriametric wave communication device, described flush bonding processor, when to receive described target body type be non-remains type, sends sound and light alarm signal.
3., as claimed in claim 2 based on the submarine searching method under water of data communication, it is characterized in that:
Described sound and light alarm device comprises underwater audio and plays sub-device, for when receiving described sound and light alarm signal, plays alert audio file.
4., as claimed in claim 2 based on the submarine searching method under water of data communication, it is characterized in that:
Described sound and light alarm device comprises sends out photonic device, for when receiving described sound and light alarm signal, carrying out flicker report to the police according to predeterminated frequency.
5., as claimed in claim 2 based on the submarine searching method under water of data communication, it is characterized in that:
Described sound and light alarm device and described embedded processing device are integrated on one piece of surface-mounted integrated circuit.
6., as claimed in claim 2 based on the submarine searching method under water of data communication, it is characterized in that:
Described sound and light alarm device is arranged on the fixed mount of described submarine front end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510443968.6A CN105068077A (en) | 2015-07-24 | 2015-07-24 | Submarine underwater searching method based on data communication |
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| CN201510443968.6A CN105068077A (en) | 2015-07-24 | 2015-07-24 | Submarine underwater searching method based on data communication |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107516081A (en) * | 2017-08-23 | 2017-12-26 | 无锡北斗星通信息科技有限公司 | A kind of canned vehicle image recognition method |
| CN107908196A (en) * | 2017-11-14 | 2018-04-13 | 青岛乐爱创意科技有限公司 | A kind of method and system of the underwater submarine action control mechanism based on machine vision |
| CN115507747A (en) * | 2022-10-20 | 2022-12-23 | 昆山国通新能源科技有限公司 | Method for identifying and positioning images of floating objects in water |
-
2015
- 2015-07-24 CN CN201510443968.6A patent/CN105068077A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107516081A (en) * | 2017-08-23 | 2017-12-26 | 无锡北斗星通信息科技有限公司 | A kind of canned vehicle image recognition method |
| CN107516081B (en) * | 2017-08-23 | 2018-05-18 | 赵志坚 | A kind of canned vehicle image recognition method |
| CN107908196A (en) * | 2017-11-14 | 2018-04-13 | 青岛乐爱创意科技有限公司 | A kind of method and system of the underwater submarine action control mechanism based on machine vision |
| CN115507747A (en) * | 2022-10-20 | 2022-12-23 | 昆山国通新能源科技有限公司 | Method for identifying and positioning images of floating objects in water |
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