CN106791691A - A kind of control system of unmanned boat - Google Patents
A kind of control system of unmanned boat Download PDFInfo
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- CN106791691A CN106791691A CN201710005300.2A CN201710005300A CN106791691A CN 106791691 A CN106791691 A CN 106791691A CN 201710005300 A CN201710005300 A CN 201710005300A CN 106791691 A CN106791691 A CN 106791691A
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/261—Image signal generators with monoscopic-to-stereoscopic image conversion
Abstract
The invention discloses a kind of control system of unmanned boat, the control system includes head-mounted display apparatus, unmanned boat and base station, the unmanned boat and head-mounted display apparatus are connected with base station respectively, and data interaction is carried out by the base station, wherein, the head-mounted display apparatus are used in real time show the underwater picture information that unmanned boat is gathered.The present invention is solved only by remote control control unmanned boat unitary function, and cause the not good problem of Consumer's Experience sense, heretofore described control system is connected with unmanned boat using head-mounted display apparatus by base station, and carry out data interaction, on the one hand the stereoscopic display of underwater picture information is realized, on the other hand the control to unmanned boat is realized by head-mounted display apparatus, and then improves the experience sense and operation sense of user.
Description
Technical field
The present invention relates to unmanned boat field, especially a kind of control system of unmanned boat.
Background technology
Robotics development is rapid in recent years, a large amount of unmanned machine such as unmanned planes for being applicable varying environment, unmanned vehicle, nothing
People's ship etc., but these equipment are limited also without extensively into civil area by factors such as technologies.It is existing by taking unmanned boat as an example
Unmanned boat is mostly military, such as completes investigation tasks, long-range attack task dispatching.Also there are some for scientific research field, such as ocean number
According to monitoring, experiment sample collection etc..Industrially it is used for the aspects such as the remote maintenance of equipment in some water, commercial mining.It is civilian
The application of aspect is also very limited, at present in addition to the unmanned boat as recreational use, for go fishing unmanned boat in civilian city
The demand of field is increasing, therefore proposes higher and higher requirement for fishing unmanned boat.
Some fishing in the market are not high with unmanned boat technical indicator, unitary function, it is impossible to provide comprehensive specialty
Fishing experience.And difference is little compared with tradition fishing, does not have revolutionary change.
Meanwhile, current unmanned boat is mainly to be realized to the short-range control of unmanned boat by remote control, due to remote control control
System is single, causes unmanned boat to control the not good problem of experience sense.
In view of this, it is special to propose the present invention.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided a kind of control system of unmanned boat
System, the present invention mainly uses the head-mounted display apparatus to realize data interaction by base station with unmanned boat, on the one hand realizes
The stereoscopic display of underwater picture information, on the other hand realizes the control to unmanned boat, and then improve by head-mounted display apparatus
The experience sense and operation sense of user.
In order to realize the purpose, the present invention is adopted the following technical scheme that：A kind of control system of unmanned boat, the control system
System includes head-mounted display apparatus, unmanned boat and base station, and the unmanned boat and head-mounted display apparatus are connected with base station respectively, and
Data interaction is carried out by the base station, wherein, the head-mounted display apparatus are used for the water that display unmanned boat is gathered in real time
Hypograph information.
Further, the visual angle that the head-mounted display apparatus show according to it can control the unmanned boat motion or control
Unmanned boat gathers underwater picture information.
Further, the head-mounted display apparatus include processing unit, connection unit, sensing unit and display unit,
Wherein：
The connection unit, for carrying out data interaction with base station；
The sensing unit, the induction information for gathering user；
The display unit, the underwater picture information for showing the unmanned boat collection；
The processing unit, is connected with connection unit, display unit and sensing unit respectively, and coordinates to control each unit work
Make.
Further, the sensing unit includes gravity sensing sensor, and/or acceleration transducer, and/or gyro
Instrument.
Further, the head-mounted display apparatus also include order unit, and the order unit is connected with processing unit,
Wherein：
The order unit, for obtaining induction information, and generates corresponding control instruction according to induction information.
Further, the induction information is corresponding with control instruction, and its corresponding relation is stored in head-mounted display apparatus
In.
Further, the unmanned boat includes number biography/figure leaflet unit, image acquisition units and main control unit, wherein：
Number biography/figure leaflet the unit：For receiving the control instruction of head-mounted display apparatus and for underwater picture to be believed
Breath is sent to head-mounted display apparatus through base station；
Described image collecting unit：For controlling the motion of described image collecting unit according to control instruction, rotating to gather
Different angles or the underwater picture information in direction；
The main control unit：It is connected with the number biography/figure leaflet unit and described image collecting unit respectively, for basis
The control instruction controls the unmanned boat motion, rotates to gather the underwater picture information of different angles or direction, and assists
Regulation and control each unit work processed.
Further, the unmanned boat also includes pretreatment unit, coding unit, the pretreatment unit and the coding
Unit is connected with the main control unit respectively, wherein：
The pretreatment unit：The underwater picture information of image acquisition units collection is obtained, is entered according to underwater picture information
Row pretreatment simultaneously forms pretreatment image；
The coding unit：Obtaining pretreatment image or underwater picture information carries out correspondence coding and forms image volume
Code data, then send to head-mounted display apparatus through number biography/figure leaflet unit.
Further, the head-mounted display apparatus also include decoding unit, denoising unit and three-dimensional imaging unit, described
Decoding unit, denoising unit and three-dimensional imaging unit are connected with processing unit respectively, wherein：
The decoding unit：Original image is gone back for obtaining image coded data and carrying out decoding formation；
The denoising unit：Original image is gone back for obtaining, and pair go back original image and carry out denoising and form image denoising letter
Breath；
The three-dimensional imaging unit：According to image denoising information, the position data of unmanned boat, the movable information of unmanned boat and
The attitude information of unmanned boat, draws the 3-D view or depth map of underwater environment, and is shown by display unit.
Further, the control system also includes mobile terminal, and/or remote control, the mobile terminal, and/or distant
Control device is connected with head-mounted display apparatus and carries out data interaction respectively；
Or, the mobile terminal, and/or remote control are connected with base station respectively, and carry out data through base station and unmanned boat
Interaction.
Further, the base station respectively with unmanned boat and head-mounted display apparatus wired connection, and/or wireless connection；
Preferably, the base station is provided with wireless connection module, and is shown by the wireless connection module and wear-type
Device wireless connection.
Further, the head-mounted display apparatus also include：Pan operation module, outside head-mounted display apparatus are received
When portion gives pan operation module and instructs accordingly, head-mounted display apparatus only show the panoramic picture that unmanned boat is collected.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art：
1st, the control system of unmanned boat of the present invention is solved by remote control control unmanned boat unitary function, and causes to use
The not good problem of family experience sense, heretofore described control system is connected with unmanned boat using head-mounted display apparatus by base station
Connect, and carry out data interaction, realize head-mounted display apparatus display in real time situation under water, and according to the action control of user
The collection of unmanned boat image, is more beneficial for image under water needed for user obtains.And then improve experience and the control effect of user
Really.
2nd, also by the treatment to underwater picture information in the present invention, the Three-dimensional Display of image is realized, and then strengthen user
Feeling of immersion.
Brief description of the drawings
The structure chart of the control system of unmanned boat described in Fig. 1, the embodiment of the present invention；
The structure chart of the control system of unmanned boat described in Fig. 2, another embodiment of the present invention；
The structure chart of head-mounted display apparatus described in Fig. 3, the embodiment of the present invention.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real to enable the above objects, features and advantages of the present invention more obvious understandable
The present invention is further detailed explanation to apply mode.
In the description of the invention, it is necessary to explanation, term " on ", it is D score, "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " interior ", " outward " are based on orientation shown in the drawings or position relationship, merely to just
Described in the description present invention and simplifying, rather than indicate imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For this
For the those of ordinary skill in field, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
Embodiment one
As shown in Figure 1 to Figure 3, a kind of control system of unmanned boat of the invention, the control system shows including wear-type
Device, unmanned boat and base station, the unmanned boat and head-mounted display apparatus are connected by base station and carry out data interaction, wherein,
The head-mounted display apparatus are used in real time show the underwater picture information that unmanned boat is gathered.
Further, the visual angle that the head-mounted display apparatus show according to it can control the unmanned boat motion or control
Unmanned boat gathers underwater picture information.
Specifically, mainly use the head-mounted display apparatus to carry out data interaction through base station and unmanned boat in the present embodiment,
And control of the head-mounted display apparatus to unmanned boat is realized, a kind of feeling of immersion can be created more by head-mounted display apparatus
Strengthen strong control system.Mainly use unmanned boat to be acquired underwater picture and form underwater picture in the present embodiment to believe
Breath, then underwater picture information sent to head-mounted display apparatus shown in real time by base station again, meanwhile, it is described to wear
Formula display device can also gather the action of user, for example gather the action of user include the head of user bowed, come back,
The action for turning left and turning right.And according to the action control of user unmanned boat motion.And then improve use
The experience at family and control effect.
Also, the underwater picture information includes camera image information, sonar image information.
Meanwhile, the unmanned boat can dive into can under water, also move ahead on the water surface.
Further, the head-mounted display apparatus include processing unit, connection unit, sensing unit and display unit,
Wherein：
The connection unit, for carrying out data interaction with base station；
The sensing unit, the induction information for gathering user；
The display unit, the underwater picture information of the unmanned boat collection is shown for showing for image；
The processing unit, is connected with connection unit, display unit and sensing unit respectively, and coordinates to control each unit work
Make.
Specifically, head-mounted display apparatus described in the present embodiment carry out wireless connection by connection unit and base station, and
Carry out data interaction.Meanwhile, the processing unit of the head-mounted display apparatus receives what unmanned boat was gathered by connection unit
Underwater picture information, then forms 3-D view, and shown by display unit through corresponding image procossing.So that user is logical
Crossing the image gone out shown by display unit can reinvent scene under water, allow users to enjoy the sense that a kind of body faces the world under water
Feel.
Meanwhile, the induction information of user can also be gathered in the present embodiment by sensing unit, wherein, the induction information
Headwork information, and/or body kinematics information including user, the processing unit are further processed according to induction information
Described image information, switches the angles of display, and/or display effect of image and is shown by display unit.
Further, the sensing unit includes gravity sensing sensor, and/or acceleration transducer, and/or gyroscope
In one or any combination.
Specifically, the gravity sensing sensor described in the present embodiment in sensing unit is arranged on head-mounted display apparatus
On, and the headwork information of user is gathered, for example：The head of user is bowed, is come back, turned left and is turned right
Action.And the angle of the unmanned boat epigraph collection is controlled according to the headwork information.
Meanwhile, acceleration transducer, gyroscope in the sensing unit are also disposed on head-mounted display apparatus, and root
The body kinematics information of user is detected according to the acceleration transducer, gyroscope, for example, the directional information of user movement, speed
Information and displacement information.And direction, speed and the position of the unmanned boat operation are controlled according to body kinematics information.
Also, the induction information that the head-mounted display apparatus can be gathered according to the sensing unit is realized to nobody
The control of ship.And then improve the control effect between unmanned boat and head-mounted display apparatus, and strengthen user feeling of immersion and
Experience sense.
Further, the head-mounted display apparatus also include order unit, and the order unit is connected with processing unit,
Wherein：
The order unit, for obtaining induction information, and generates corresponding control instruction according to induction information.
Specifically, head-mounted display apparatus described in the present embodiment obtain induction information, and correspondence generation control instruction is simultaneously
Sent to base station through connection unit, the control information is sent to number biography/figure leaflet unit by the base station, then the unmanned boat
Main control unit receive the control instruction through number biographys/figure leaflet unit, and by main control unit control unmanned boat motion
With collection underwater picture information.Wherein, the controllable unmanned boat floating of the head-mounted display apparatus, sinking, rotation etc..
The induction information is corresponding with control instruction, and its corresponding relation is stored in head-mounted display apparatus.
Specifically, the unmanned boat is by one or any group in the transport condition of unmanned boat, positional information, attitude information
Cooperate to be sent to the head-mounted display apparatus for feedback information, the head-mounted display apparatus are according to feedback information is generated
Corresponding relation between induction information and control instruction.Then the corresponding relation refers to the corresponding control of induction information generation
Order, and control unmanned boat.
Or, controlled value range is set between the induction information and control instruction, and is given birth to according to scope correspondence
Into the control instruction；For example, the angular range value that the head-mounted display apparatus come back upwards is 0 DEG C -60 DEG C, when new line angle
After degree is more than 60 degree, control instruction is generated with 60 degree of new line angle.
When the induction information is user's head action message, then generates and the control of the unmanned boat camera is referred to
Order, and correspondence rotates the unmanned boat camera, or generation to the control instruction of unmanned boat motion, and perform.For example,
When user bows, the angle information that user bows is obtained by gravity sensing sensor, then correspond to the generation control nothing
The control instruction that people's ship declines, and control the unmanned boat to decline corresponding distance.When user comes back, passed by gravity sensing
Sensor obtains the angle information that user comes back, and then corresponds to the control instruction that the generation control unmanned boat rises, and control institute
State unmanned boat and rise corresponding distance.When user's head turns left, user is obtained by gravity sensing sensor and is turned left
Dynamic angle information, then corresponds to control instruction of the generation control unmanned boat to left movement, and control the unmanned boat to
The corresponding distance of left movement.When user's head turns right, the angle that user turns right is obtained by gravity sensing sensor
Degree information, then corresponds to the control instruction that the generation control unmanned boat is moved right, and control the unmanned boat to move right
Corresponding distance.
When body kinematics information of the induction information for user, then the control corresponding with body kinematics information is generated
Instruction, and correspondence controls the motion of unmanned boat.For example, when user forward with First Speed travel forward the first displacement when, then it is right
Corresponding control instruction should be generated, control unmanned boat is travelled forward the first displacement with First Speed.
Further, the unmanned boat includes number biography/figure leaflet unit, image acquisition units and main control unit, wherein：
Number biography/figure leaflet the unit：For receiving the control instruction of head-mounted display apparatus and for underwater picture to be believed
Breath is sent to head-mounted display apparatus through base station；
Described image collecting unit：For controlling the motion of described image collecting unit according to control instruction, rotating to gather
Different angles or the underwater picture information in direction；
The main control unit：It is connected with the number biography/figure leaflet unit and described image collecting unit respectively, for basis
The control instruction controls the unmanned boat motion, rotates to gather the underwater picture information of different angles or direction, and assists
Regulation and control each unit work processed.
Specifically, the control that the number biography/figure leaflet unit of the present embodiment unmanned boat is received transmitted by head-mounted display apparatus refers to
Order, is then passed to main control unit, and main control unit controls image acquisition units collection correspondence position according to the control instruction
Image, and be transmitted to number biographys/figure leaflets unit through the main control unit, then feed back to carry out in head-mounted display apparatus it is real-time
Display.Meanwhile, the control information is sent to number biography/figure leaflet unit by the base station, then the main control list of the unmanned boat
Unit receives the control instruction through number biography/figure leaflet unit, and by main control unit control unmanned boat motion and collection under water
Image information.
Wherein, the head-mounted display apparatus can also be moved by controlling described image collecting unit, and changing image is adopted
The angle of collection unit collection.
Further, the unmanned boat also includes pretreatment unit, coding unit, the pretreatment unit and the coding
Unit is connected with the main control unit respectively, wherein：
The pretreatment unit：The underwater picture information of image acquisition units collection is obtained, is entered according to underwater picture information
Row pretreatment simultaneously forms pretreatment image；
The coding unit：Obtaining pretreatment image or underwater picture information carries out correspondence coding and forms image volume
Code data, then send to head-mounted display apparatus through number biography/figure leaflet unit.
Specifically, camera, sonar Real-time Collection underwater picture described in the present embodiment on unmanned boat, by pretreatment
The underwater picture information that unit, coding unit will be gathered generates image coded data all the way, and described image coded data passes through
Number biography/figure leaflet unit is transferred to after main control unit, base station is transferred to after then passing cell translation by number biography/figure, led to by base station
Cross base station and be transmitted to head-mounted display apparatus, user can in real time watch situation under water by head-mounted display apparatus.
Wherein, the described biography/figure leaflet unit that counts is figure biography/several roads that conduct electricity；
Preferably, the number biography/figure leaflet unit is DDL figure number one transport modules.
Meanwhile, the unmanned boat can gather image information by unmanned boat, and by pretreatment unit by IMAQ
The image information of unit collection carries out denoising, gray-level correction, image characteristics extraction and compression packing and carries out preliminary treatment
After form pretreatment image.Then pretreatment image is carried out encoding the coded data to form image and is sent to head by base station
Wear formula display device.Imaging system described in the present embodiment can by the pretreatment unit on unmanned boat to gather image information
Preliminary treatment is carried out, and image information is compressed to pack and send to mobile terminal can further be ensure that image
The safety of information transfer, the speed that can also improve image information transmission, can shorten prolonging for mobile terminal image display in real time
Shi Xiaoying.
Further, the head-mounted display apparatus also include decoding unit, denoising unit and three-dimensional imaging unit, described
Decoding unit, denoising unit and three-dimensional imaging unit are connected with processing unit respectively, wherein：
The decoding unit：For obtaining image coded data and carrying out decoded back image；
The denoising unit：Original image is gone back for obtaining, and carries out denoising and form image denoising information；
The three-dimensional imaging unit：According to image denoising information, the position data of unmanned boat, the movable information of unmanned boat and
The attitude information of unmanned boat, draws the 3-D view or depth map of underwater environment, and is shown by display unit.
Specifically, control system described in the present embodiment is mainly the integration that view data is carried out by head-mounted display apparatus
Generation 3-D view simultaneously shows.Decoding unit, denoising unit, three-dimensional imaging are provided with the present embodiment in head-mounted display apparatus
Unit, wherein decoding unit are mainly unmanned boat are decoded by the image coded data that base station sends, and are obtained and are worn
The corresponding image information of formula display device, then has denoising unit to carry out correspondence denoising and obtains the image after denoising, and formed
The data form matched with head-mounted display apparatus display module, finally by three-dimensional imaging unit, the three-dimensional imaging unit root
Graphics is drawn according to the attitude information of the image after denoising, the position data of unmanned boat, the movable information of unmanned boat and unmanned boat
As information, and the 3-D view of underwater environment is drawn according to three-dimensional image information and is shown by display unit.
Meanwhile, unmanned boat described in the present embodiment also includes motion pick unit, the motion pick unit and main control
Unit is connected, and gathers the movable information of unmanned boat.The motion control unit includes that velocity sensor, gyroscope attitude sense
One or any combination in device and GPS device.Also, the image acquisition units Real-time Collection two of unmanned boat in the present embodiment
Dimension image, and movement velocity according to unmanned boat, the athletic posture information of unmanned boat and the position data of unmanned boat, wherein, nothing
The velocity information of velocity sensor Real-time Collection unmanned boat of the movement velocity of people's ship by being arranged on unmanned boat, unmanned boat
Attitude information obtains the attitude information of unmanned boat in real time by the gyroscope attitude induction installation being arranged on unmanned boat, nobody
The position data of ship is mainly the position data by the GPS device acquisition being arranged on unmanned boat and is sent to head by base station
Wear formula display device.According to the attitude of image denoising information, the position data of unmanned boat, the movable information of unmanned boat and unmanned boat
Information, acquired image information is corresponded on the corresponding region of underwater environment, then draws out corresponding region underwater environment
3-D view.
Further, the base station respectively with unmanned boat and head-mounted display apparatus wired connection, and/or wireless connection；
Preferably, the base station is provided with wireless connection module, and is shown by the wireless connection module and wear-type
Device wireless connection.
Specifically, carrying out wired connection by unmanned boat and base station in the present embodiment, it is possible to increase the unmanned boat transmission
The effect of underwater picture information, improves the effect of head-mounted display apparatus display in real time.
In sum, the control system of unmanned boat described in the present embodiment has the following advantages that：
1st, the control system of unmanned boat described in the present embodiment is solved by remote control control unmanned boat unitary function, and is caused
The not good problem of Consumer's Experience sense, control system described in the present embodiment passes through base station using head-mounted display apparatus with unmanned boat
Connection, and data interaction is carried out, head-mounted display apparatus display in real time situation under water is realized, and according to the action control institute of user
The collection of unmanned boat image is stated, image under water needed for user obtains is more beneficial for.And then improve the experience and control of user
Effect.
2nd, also by the treatment to underwater picture information in the present embodiment, the Three-dimensional Display of image is realized, and then strengthen use
The feeling of immersion at family.
Embodiment two
The present embodiment is that head-mounted display apparatus described in the present embodiment also include data with the difference of above-described embodiment
Storehouse, recognition unit, mark unit and pseudo- color element, the database, recognition unit, mark unit and pseudo- color element respectively with place
Reason unit connection；Wherein,
The database：The corresponding characteristic information parameter of storage three-dimensional imaging；
The recognition unit：Image denoising information is obtained, and image denoising information and characteristic information parameter is contrasted,
Draw the identification information of underwater environment；
The mark unit：Identification information, and correspondence mark are drawn according to identification information；
The pseudo- color element：Color information, and correspondence colouring are obtained according to identification information.
Further, the characteristic information parameter is including in terrain graph information, plant image information, shoal of fish image information
One or any combination.
Further, the identification information is corresponding with identification information, and its corresponding relation is stored in database；
Preferably, the identification information is corresponding with color information, and its corresponding relation is stored in database.
Specifically, control system described in the present embodiment can utilize identification of the recognition unit to image information, and according to knowledge
Other information correspondence mark and coloring, and correspondence display so that 3-D view more enriches, and is easy to user effectively to obtain institute
Need information.
Further, the head-mounted display apparatus also include sensing switch unit, the sensing switch unit and treatment
Unit is connected, wherein：
The sensing switch unit：Collection sensed data, and switch the angles of display of 3-D view according to sensed data.
Further, the head-mounted display apparatus also include unmanned boat hull drawing unit, and the unmanned boat hull is painted
Unit processed is connected with processing unit, and the hull information that the unmanned boat hull drawing unit obtains unmanned boat carries out the three of unmanned boat
Dimension Image Rendering simultaneously shows；
Preferably, the unmanned boat hull drawing unit obtains the positional information of unmanned boat and correspondence is displayed in underwater environment
3-D view in.
Further, the hull information of the unmanned boat is corresponding with 3-D view, and its corresponding relation is stored in database
In；
Preferably, the hull information of the unmanned boat includes the shape of unmanned boat, and/or the model of unmanned boat.
Embodiment three
The present embodiment is that the control system also includes mobile terminal, and/or remote control with the difference of above-described embodiment
Device, the mobile terminal, and/or remote control are connected with head-mounted display apparatus and carry out data interaction respectively；
Or, the mobile terminal, and/or remote control are connected with base station respectively, and carry out data through base station and unmanned boat
Interaction.
Specifically, between mobile terminal described in the present embodiment and the head-mounted display apparatus, and/or the remote control
Carry out data interaction respectively between head-mounted display apparatus, and by the image information formed in the head-mounted display apparatus
Send to the mobile terminal, and/or remote control.Underwater picture information is processed using the head-mounted display apparatus, it is right to generate
The image information answered, while sending to mobile terminal, and/or remote control and showing described image information, improves the control
The imaging effect of system processed, strengthens the experience sense of user.
Or, remote control described in the present embodiment controls unmanned boat with head-mounted display apparatus by the way of priority；
For example, the priority of the remote control is better than the head-mounted display apparatus.
Or, image can jointly be realized by the cooperation of mobile terminal and head-mounted display apparatus in the present embodiment
Treatment, mitigates the processing load of the head-mounted display apparatus processing unit, it is ensured that the display effect of the head-mounted display apparatus
Really.
Example IV
The present embodiment is that the head-mounted display apparatus also include with the difference of above-described embodiment：Pan operation module,
When head-mounted display apparatus receive outside to be given pan operation module and instruct accordingly, head-mounted display apparatus only show nobody
The panoramic picture that ship is collected.Specifically, the panorama control module is used to control mobile phone display screen or VR display screens or IPAD aobvious
Display screen enters played in full screen.By taking VR display screens as an example, when using, user need to only trigger the panorama control module on remote control, VR
Display screen is put into played in full screen, and underwater scene is showed into user by full frame mode in real time, and the panorama controls mould
Block is button, for example, when user sees that unmanned boat is gone fishing under water by VR display screens, in order to be more clearly visible that whole fishing
Detailed process, panorama control module can be started, allow VR display screens to carry out played in full screen to underwater fishing process, to user one
Experience sense on the spot in person is planted, Consumer's Experience is greatly lifted.
Embodiment in above-described embodiment can be further combined or replace, and embodiment is only to of the invention
Preferred embodiment is described, and not the spirit and scope of the present invention are defined, and is not departing from design philosophy of the present invention
Under the premise of, the various changes and modifications that professional and technical personnel in the art make to technical scheme belong to this hair
Bright protection domain.
Claims (10)
1. a kind of control system of unmanned boat, it is characterised in that：The control system include head-mounted display apparatus, unmanned boat and
Base station, the unmanned boat and head-mounted display apparatus are connected with base station respectively, and carry out data interaction by the base station, its
In, the head-mounted display apparatus are used for the underwater picture information that display unmanned boat is gathered in real time.
2. the control system of a kind of unmanned boat according to claim 1, it is characterised in that：The head-mounted display apparatus root
The unmanned boat motion or control unmanned boat collection underwater picture information are can control according to its visual angle for showing.
3. the control system of a kind of unmanned boat according to claim 1 and 2, it is characterised in that：The wear-type display dress
Put including processing unit, connection unit, sensing unit and display unit, wherein：
The connection unit, for the base station wired connection or wireless connection, and carry out data friendship with the base station
Mutually；
The sensing unit, the induction information for gathering user；
The display unit, the underwater picture information for showing the unmanned boat collection；
The processing unit, is connected with connection unit, display unit and sensing unit respectively, and coordinates control each unit work.
4. the control system of a kind of unmanned boat according to claim 3, it is characterised in that：The sensing unit includes gravity
Inductive pick-up, and/or acceleration transducer, and/or gyroscope.
5. the control system of a kind of unmanned boat according to claim 3 or 4, it is characterised in that：The wear-type display dress
Putting also includes order unit, and the order unit is connected with processing unit, wherein：
The order unit, for obtaining induction information, and generates corresponding control instruction according to induction information；
Preferably, the induction information is corresponding with control instruction, and its corresponding relation is stored in head-mounted display apparatus.
6. according to a kind of control system of any described unmanned boats of claim 1-5, it is characterised in that：The unmanned boat includes
Number biography/figure leaflet unit, image acquisition units and main control unit, wherein：
Number biography/figure leaflet the unit：For receive head-mounted display apparatus control instruction and for by underwater picture information warp
Base station is sent to head-mounted display apparatus；
Described image collecting unit：For controlling the motion of described image collecting unit according to control instruction, rotating to gather difference
Angle or the underwater picture information in direction；
The main control unit：It is connected with the number biography/figure leaflet unit and described image collecting unit respectively, for according to described
Control instruction controls the unmanned boat motion, rotates to gather the underwater picture information of different angles or direction, and coordinates control
Each unit work processed；
Preferably, the unmanned boat also includes pretreatment unit, coding unit, the pretreatment unit and the coding unit point
It is not connected with the main control unit, wherein：
The pretreatment unit：The underwater picture information of image acquisition units collection is obtained, is carried out according to underwater picture information pre-
Process and formed pretreatment image；
The coding unit：Obtaining pretreatment image or underwater picture information carries out correspondence coding and forms Image Coding number
According to then through number biography/figure leaflet unit's transmission to head-mounted display apparatus.
7. the control system of a kind of unmanned boat according to claim 6, it is characterised in that：The head-mounted display apparatus are also
Including decoding unit, denoising unit and three-dimensional imaging unit, the decoding unit, denoising unit and three-dimensional imaging unit respectively with
Processing unit is connected, wherein：
The decoding unit：Original image is gone back for obtaining image coded data and carrying out decoding formation；
The denoising unit：Original image is gone back for obtaining, and carries out denoising and form image denoising information；
The three-dimensional imaging unit：According to image denoising information, the position data of unmanned boat, the movable information of unmanned boat and nobody
The attitude information of ship, draws the 3-D view or depth map of underwater environment, and is shown by display unit.
8. according to a kind of control system of any described unmanned boats of claim 1-7, it is characterised in that：The control system is also
Including mobile terminal, and/or remote control, the mobile terminal, and/or remote control are connected with head-mounted display apparatus go forward side by side respectively
Row data interaction；
Or, the mobile terminal, and/or remote control are connected with base station respectively, and carry out data interaction through base station and unmanned boat.
9. according to a kind of control system of any described unmanned boats of claim 1-8, it is characterised in that：The base station respectively with
Unmanned boat and head-mounted display apparatus wired connection, and/or wireless connection；
Preferably, the base station is provided with wireless connection module, and by the wireless connection module and head-mounted display apparatus
Wireless connection.
10. according to a kind of control system of any described unmanned boats of claim 1-9, it is characterised in that：The wear-type shows
Showing device also includes：Pan operation module, instructs accordingly when head-mounted display apparatus receive outside and give pan operation module
When, head-mounted display apparatus only show the panoramic picture that unmanned boat is collected.
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| CN201710005300.2A CN106791691B (en) | 2017-01-04 | 2017-01-04 | Control system of unmanned ship |
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Address after: 264404 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Patentee after: Zhendi Technology Co.,Ltd. Address before: 100107 unit 301, unit a, No. 9, Fulin Road, Chaoyang District, Beijing Patentee before: POWERVISION TECH Inc. |
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