CN107123158B - Imaging system of unmanned ship - Google Patents
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- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Abstract
The invention discloses an imaging system of an unmanned ship, which comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and carry out data interaction, and the unmanned ship sends acquired image information to the mobile terminal and carries out underwater environment three-dimensional imaging display. The unmanned ship imaging system solves the problems of high requirement and high cost of three-dimensional imaging equipment, and realizes real-time three-dimensional imaging of an underwater environment by mainly utilizing the image processing and image display functions of the mobile terminal, so that the imaging cost of the unmanned ship imaging system is saved, and the experience of a user is improved.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to an imaging system of an unmanned ship.
Background
In recent years, the robot technology is rapidly developed, and a large number of unmanned devices suitable for different environments, such as unmanned planes, unmanned vehicles, unmanned ships and the like, are not widely used in the civil field yet due to the limitation of factors such as technology and the like. Taking an unmanned ship as an example, most of the existing unmanned ships are military, such as completing a detection task, a remote attack task and the like. Some of them are used in scientific research fields, such as marine data monitoring, experimental sample collection, etc. The method is industrially used for remote maintenance of some underwater equipment, industrial exploitation and the like. The civil applications are still limited, and the demand of unmanned fishing vessels in the civil market is increasing, in addition to unmanned fishing vessels for recreational use, and therefore, higher and higher requirements are put on unmanned fishing vessels.
Some unmanned boats for fishing in the existing market have low technical indexes and single function, and cannot provide comprehensive and professional fishing experience. And compared with the traditional fishing, the fishing rod is not greatly different and has no revolutionary change.
Meanwhile, the unmanned ship cannot process a large amount of image data at present, and only can display a two-dimensional image, so that a user cannot comprehensively know the underwater environment, and the operation of the unmanned ship cannot be accurately controlled.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide an imaging system of an unmanned ship, wherein the imaging system is mainly used for integrating image data through a mobile terminal, generating and displaying a three-dimensional image. The invention utilizes the mobile terminal to process the image data, thereby not only improving the image display effect, but also greatly reducing the display cost.
In order to realize the purpose, the invention adopts the following technical scheme: the imaging system of the unmanned ship comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction, and the unmanned ship sends acquired image information to the mobile terminal and performs underwater environment three-dimensional imaging display.
Further, the unmanned ship comprises an image acquisition unit, a preprocessing unit, a coding unit and a sending unit, wherein the image acquisition unit is used for acquiring images;
the image acquisition unit: the device is connected with the preprocessing unit and used for acquiring image information of the underwater environment;
the preprocessing unit: preprocessing according to the image information acquired by the image acquisition unit and forming image preprocessing information;
the encoding unit: the image preprocessing unit is connected with the image processing unit, acquires image preprocessing information, correspondingly encodes the image preprocessing information and forms image encoded data;
the transmission unit: and the wireless connection module is respectively connected with the coding unit and the wireless connection module, and the image coding data is obtained and sent to the mobile terminal through the wireless connection module.
Further, the mobile terminal comprises a decoding unit, a denoising unit, a three-dimensional imaging unit, a display module and a control unit, wherein:
the decoding unit: the image preprocessing information acquisition module is used for acquiring image coded data and decoding the image coded data to form image preprocessing information;
the denoising unit: the image denoising method comprises the steps of obtaining image preprocessing information, and performing denoising processing on the image preprocessing information to form image denoising information;
the three-dimensional imaging unit: drawing a three-dimensional image of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship;
the display module: for image displaying a three-dimensional image of the underwater environment;
the control unit: the decoding unit, the denoising unit, the three-dimensional imaging unit and the display module are connected respectively and coordinate the work of each unit or module.
Furthermore, the mobile terminal also comprises a database, an identification unit and a pseudo color unit, wherein the database, the identification unit and the pseudo color unit are respectively connected with the control unit; wherein the content of the first and second substances,
the database is: storing characteristic information parameters corresponding to three-dimensional imaging;
the identification unit: acquiring image denoising information, and comparing the image denoising information with the characteristic information parameters to obtain identification information of the underwater environment;
the identification unit: obtaining identification information according to the identification information, and corresponding to the identification;
the pseudo color unit: and acquiring color information according to the identification information, and coloring correspondingly.
Further, the characteristic information parameter includes one or any combination of terrain image information, plant image information and fish image information.
Further, the identification information corresponds to the identification information, and the corresponding relation is stored in a database;
preferably, the identification information corresponds to color information, and the correspondence is stored in a database.
Further, the mobile terminal further comprises an induction switching unit, the induction switching unit is connected with the control unit, wherein:
the induction switching unit: and acquiring induction data, and switching the display angle of the three-dimensional image according to the induction data.
Further, the mobile terminal is provided with a positioning unit, and/or a gyroscope, and/or an acceleration sensor, and/or a gravity sensor, and the positioning unit, and/or the gyroscope, and/or the acceleration sensor, and/or the gravity sensor collects sensing data;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing data through the external sensing device.
Furthermore, the mobile terminal also comprises an unmanned ship body drawing unit, the unmanned ship body drawing unit is connected with the control unit, and the unmanned ship body drawing unit acquires the ship body information of the unmanned ship to draw and display the three-dimensional image of the unmanned ship;
preferably, the unmanned ship hull drawing unit acquires position information of the unmanned ship and correspondingly displays the position information in the three-dimensional image of the underwater environment.
Further, the hull information of the unmanned ship corresponds to the three-dimensional image, and the corresponding relation of the hull information and the three-dimensional image is stored in a database;
preferably, the hull information of the unmanned ship includes a shape of the unmanned ship, and/or a model of the unmanned ship.
After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the unmanned ship imaging system solves the problems of high requirement and high cost of three-dimensional imaging equipment, and realizes real-time three-dimensional imaging of an underwater environment by mainly utilizing the image processing and image display functions of the mobile terminal, so that the imaging cost of the unmanned ship imaging system is saved, and the experience of a user is improved.
2. The imaging system of the unmanned ship can be used for carrying out primary processing on the acquired image information through the preprocessing unit on the unmanned ship, compressing and packaging the image information and sending the image information to the mobile terminal, so that the safety of image information transmission can be further ensured, the speed of image information transmission can be increased, and the delay effect of real-time image display of the mobile terminal can be shortened.
3. The imaging system of the unmanned ship obtains three-dimensional image information according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, draws a three-dimensional image of an underwater environment according to the three-dimensional image information and displays the three-dimensional image by the display module.
Drawings
FIG. 1 is a block diagram of an imaging system of an unmanned ship according to an embodiment of the present invention;
FIG. 2 is a block diagram of an imaging system of an unmanned ship according to another embodiment of the present invention;
fig. 3 is a block diagram of an imaging system of an unmanned ship according to another embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 3, the imaging system of the unmanned ship comprises a mobile terminal, the unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction, and the unmanned ship sends acquired image information to the mobile terminal and performs underwater environment three-dimensional imaging display.
Specifically, in the embodiment, the image data is mainly integrated and a three-dimensional image is generated and displayed through the mobile terminal. In the embodiment, the image information of the underwater environment and the operation information of the unmanned ship are acquired wirelessly through the mobile terminal, the three-dimensional image of the underwater environment is obtained according to the image information of the underwater environment and the operation information of the unmanned ship and is displayed in real time, the three-dimensional image display of the underwater environment where the unmanned ship passes is realized by utilizing the image processing capability and the high-definition image display function of the mobile terminal, the image display effect is improved, and the display cost is greatly reduced. The imaging system in the embodiment further improves the experience and control effect of the user through the real-time display of the three-dimensional image.
Further, the unmanned ship comprises an image acquisition unit, a preprocessing unit, a coding unit and a sending unit, wherein the image acquisition unit is used for acquiring images;
the image acquisition unit: the device is connected with the preprocessing unit and used for acquiring image information of the underwater environment;
the preprocessing unit: preprocessing according to the image information acquired by the image acquisition unit and forming image preprocessing information;
the encoding unit: the image preprocessing unit is connected with the image processing unit, acquires image preprocessing information, correspondingly encodes the image preprocessing information and forms image encoded data;
the transmission unit: and the wireless connection module is respectively connected with the coding unit and the wireless connection module, and the image coding data is obtained and sent to the mobile terminal through the wireless connection module.
Specifically, in this embodiment, the unmanned ship can acquire image information through the unmanned ship, and the preprocessing unit performs denoising processing, gray level correction, image feature extraction, compression and packaging on the image information acquired by the image acquisition unit, and performs preliminary processing on the image information to form image preprocessing information. And then the image preprocessing information is encoded to form encoded data of the image and the encoded data is sent to the mobile terminal through the five-item connection module. The imaging system can carry out primary processing on the acquired image information through the preprocessing unit on the unmanned ship, compress and pack the image information and send the image information to the mobile terminal, so that the safety of image information transmission can be further ensured, the image information transmission rate can be increased, and the time delay effect of real-time image display of the mobile terminal can be shortened.
Further, the mobile terminal comprises a decoding unit, a denoising unit, a three-dimensional imaging unit, a display module and a control unit, wherein:
the decoding unit: the image preprocessing information acquisition module is used for acquiring image coded data and decoding the image coded data to form image preprocessing information;
the denoising unit: the image denoising method comprises the steps of obtaining image preprocessing information, and performing denoising processing on the image preprocessing information to form image denoising information;
the three-dimensional imaging unit: drawing a three-dimensional image of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship;
the display module: for image displaying a three-dimensional image of the underwater environment;
the control unit: the decoding unit, the denoising unit, the three-dimensional imaging unit and the display module are connected respectively and coordinate the work of each unit or module.
Specifically, the imaging system according to this embodiment mainly integrates image data through a mobile terminal, generates a three-dimensional image, and displays the three-dimensional image. The mobile terminal is provided with a decoding unit, a denoising unit, a three-dimensional imaging unit, a display module and a control unit, wherein the decoding unit is mainly used for decoding image coding data sent by an unmanned ship through a wireless connection module to obtain image information corresponding to the mobile terminal, then the denoising unit is used for correspondingly denoising to obtain image denoising information and form a data format matched with the display module of the mobile terminal, and finally the three-dimensional imaging unit is used for obtaining three-dimensional image information according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, drawing a three-dimensional image of an underwater environment according to the three-dimensional image information and displaying the three-dimensional image by the display module.
In this embodiment, the image acquisition unit of the unmanned ship acquires a two-dimensional image in real time, and acquires speed information of the unmanned ship in real time according to the movement speed of the unmanned ship, the movement attitude information of the unmanned ship and position data of the unmanned ship, wherein the movement speed of the unmanned ship acquires the speed information of the unmanned ship in real time through a speed sensor arranged on the unmanned ship, the attitude information of the unmanned ship acquires the attitude information of the unmanned ship in real time through a gyroscope attitude sensing device arranged on the unmanned ship, and the position data of the unmanned ship is mainly the position data acquired through a GPS device arranged on the unmanned ship and is sent to the mobile terminal through a wireless connection module. And according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, corresponding the acquired image information to a corresponding region of the underwater environment, and then drawing a three-dimensional image of the underwater environment of the corresponding region.
The embodiment utilizes the mobile terminal to process the image data, thereby not only improving the image display effect, but also greatly reducing the display cost.
Furthermore, the mobile terminal also comprises a database, an identification unit and a pseudo color unit, wherein the database, the identification unit and the pseudo color unit are respectively connected with the control unit; wherein the content of the first and second substances,
the database is: storing characteristic information parameters corresponding to three-dimensional imaging;
the identification unit: acquiring image denoising information, and comparing the image denoising information with the characteristic information parameters to obtain identification information of the underwater environment;
the identification unit: obtaining identification information according to the identification information, and corresponding to the identification;
the pseudo color unit: and acquiring color information according to the identification information, and coloring correspondingly.
Further, the characteristic information parameter includes one or any combination of terrain image information, plant image information and fish image information.
Further, the identification information corresponds to the identification information, and the corresponding relation is stored in a database;
preferably, the identification information corresponds to color information, and the correspondence is stored in a database.
Specifically, the imaging system of the present embodiment can utilize the recognition unit to recognize the image information, and the identification and the coloring are performed according to the recognition information, and the corresponding display is performed, so that the three-dimensional image is richer, and the user can effectively obtain the required information.
Further, the mobile terminal further comprises an induction switching unit, the induction switching unit is connected with the control unit, wherein:
the induction switching unit: and acquiring induction data, and switching the display angle of the three-dimensional image according to the induction data.
Further, the mobile terminal is provided with a positioning unit, and/or a gyroscope, and/or an acceleration sensor, and/or a gravity sensor, and the positioning unit, and/or the gyroscope, and/or the acceleration sensor, and/or the gravity sensor collects sensing data;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing data through the external sensing device.
Specifically, the imaging system of the embodiment can switch the imaging view angle of the three-dimensional image according to the sensing data, so that the user can conveniently control the unmanned ship in real time, and the success rate of fish finding and fishing of the unmanned ship is improved.
Furthermore, the mobile terminal also comprises an unmanned ship body drawing unit, the unmanned ship body drawing unit is connected with the control unit, and the unmanned ship body drawing unit acquires the ship body information of the unmanned ship to draw and display the three-dimensional image of the unmanned ship;
preferably, the unmanned ship hull drawing unit acquires position information of the unmanned ship and correspondingly displays the position information in the three-dimensional image of the underwater environment.
Further, the hull information of the unmanned ship corresponds to the three-dimensional image, and the corresponding relation of the hull information and the three-dimensional image is stored in a database;
preferably, the hull information of the unmanned ship includes a shape of the unmanned ship, and/or a model of the unmanned ship.
In summary, the imaging system of the unmanned ship in the embodiment has the following advantages:
1. the unmanned ship imaging system solves the problems of high requirement and high cost of three-dimensional imaging equipment, and realizes real-time three-dimensional imaging of an underwater environment mainly by utilizing the image processing and image display functions of the mobile terminal, so that the imaging cost of the unmanned ship imaging system is saved, and the experience of a user is improved.
2. The imaging system of the unmanned ship solves the problem of data interaction between the unmanned ship and the mobile terminal, can perform primary processing on acquired image information through a preprocessing unit on the unmanned ship, compresses and packages the image information and sends the image information to the mobile terminal, can further ensure the safety of image information transmission, can improve the rate of image information transmission, and can shorten the delay effect of real-time image display of the mobile terminal.
3. The imaging system of the unmanned ship obtains three-dimensional image information according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship, draws a three-dimensional image of an underwater environment according to the three-dimensional image information, and displays the three-dimensional image by the display module.
Example two
The present embodiment is different from the foregoing embodiments in that the mobile terminal of the imaging system of the present embodiment further includes a setting unit, which is connected with the control unit, wherein:
the setting unit sets area information of the required three-dimensional image, then determines the motion, the posture and the position of the unmanned ship and an instruction of the image to be acquired according to the area information, and sends the instruction to the unmanned ship to execute the instruction.
The region information includes position information of the region, a depth of the region, and size information of the region.
EXAMPLE III
The present embodiment is different from the foregoing embodiments in that the mobile terminal described in the present embodiment includes a transmitting and receiving module, a display module, a command module, an imaging module, and a control unit, where:
the sending and receiving module is connected with the wireless connection module and is used for receiving detection information sent to the mobile terminal by the unmanned ship and/or sending a control instruction to the unmanned ship;
the display module is used for displaying the detection information acquired by the mobile terminal in an image;
the command module is used for acquiring a control instruction of a user on the unmanned ship;
the imaging module is used for generating a three-dimensional image from the detection information;
and the control unit is respectively connected with the receiving module, the display module, the command module and the imaging module and coordinates the work of each module.
Specifically, in this embodiment, the control unit in the imaging system analyzes and processes the detection information received by the sending and receiving module, and sends the detection information to the display module, the display module sends the lower image information, the underwater environment information, the GPS positioning information of the unmanned ship and the state information of the unmanned ship in the detection information out in the corresponding display interface or display area, the display module further needs to display a command instruction, a user inputs the command instruction on the display interface, the command instruction is collected by the command module, and the command instruction is finally sent to the unmanned ship by the sending and receiving module, meanwhile, the imaging system can also generate a three-dimensional image from the received detection information through the mobile terminal and display the three-dimensional image in the display module, wherein, the user can also adjust the observation angle of the three-dimensional image on the display interface, so as to facilitate the user to observe underwater conditions in an all-directional manner during the fishing process, the unmanned ship is more convenient for the user to control. The imaging system can realize the control of the unmanned ship and the feedback of image data by using a portable mobile device, and reduces the production cost on the basis of improving the multi-functionalization of the imaging system.
Further, the display module includes an image display unit, a map display unit, and a status display unit, wherein:
the image display unit: the underwater image display device is used for displaying underwater image information acquired by the unmanned ship;
the map display unit: the system is used for displaying underwater environment information acquired by the unmanned ship and/or GPS positioning information of the unmanned ship;
the state display unit: the unmanned ship state information display device is used for displaying state information of the unmanned ship, and the state information comprises one or any combination of voltage information, electric quantity information and operation information.
Further, the command module includes a sensing unit and an instruction unit, wherein:
the sensing unit: the system is used for acquiring the induction information and obtaining a control instruction according to the induction information;
the instruction unit: for directly input control commands.
Further, the mobile terminal is provided with a positioning unit, and/or a gyroscope, and/or an acceleration sensor, and/or a gravity sensor, and the positioning unit, and/or the gyroscope, and/or the acceleration sensor, and/or the gravity sensor collects sensing information;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing information through the external sensing device.
Further, the peripheral sensing device is a VR sensing device.
Specifically, in this embodiment, attitude control information can be acquired according to an induction unit or an external induction device on the mobile terminal, and converted into a corresponding control instruction according to the attitude control information and sent to the unmanned ship for execution, so that the user can control the unmanned ship more conveniently. For example, after the sensing unit is turned on, when the mobile terminal rotates by an angle, the unmanned ship rotates by a corresponding angle.
Further, the sensing information comprises position information, gravity information, deflection direction information and acceleration information;
the position information, the gravity information, the deflection direction information and the acceleration information correspond to the control command, and the corresponding relation is stored in the control unit.
Furthermore, the mobile terminal further comprises an intelligent following module, wherein the intelligent following module collects following motion information of the user to obtain a control instruction, and the control instruction is sent to the unmanned ship through the sending and receiving module and executed.
Further, the following motion information corresponds to the control command, and the corresponding relation of the following motion information and the control command is stored in the control unit.
Specifically, in this embodiment, the imaging system of the unmanned ship can acquire the motion following information of the user according to the mobile terminal, generate the control information, then form the control instruction through the command module and send the control instruction to the unmanned ship, and then the unmanned ship can simulate the motion following information of the user according to the control instruction and execute the motion following information. For example, when the user moves in a certain direction with a variable speed, the unmanned ship moves in the direction and speed of the user; when the user stops, the unmanned ship stops moving. The imaging system has the advantages that the user can be personally put into control, the experience of the user is improved, and meanwhile, the imaging system is more multifunctional.
Example four
As shown in fig. 3, the imaging system in this embodiment is different from the above embodiments in that the imaging system in this embodiment includes a mobile terminal, an unmanned ship, a wireless connection module and a cloud server, the unmanned ship is respectively connected with the cloud server through the wireless connection module and performs data interaction, and the mobile terminal is connected with the cloud server; the unmanned ship sends the acquired image information to a server and processes the image information, and the server feeds back the processed information to the mobile terminal and displays the processed information.
The embodiments in the above embodiments can be further combined or replaced, and the embodiments are only used for describing the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solution of the present invention by those skilled in the art without departing from the design idea of the present invention belong to the protection scope of the present invention.
Claims (13)
1. An imaging system of an unmanned ship, characterized in that: the imaging system comprises a mobile terminal, an unmanned ship and a wireless connection module, wherein the unmanned ship and the mobile terminal are connected through the wireless connection module and perform data interaction, and the unmanned ship sends acquired image information to the mobile terminal and performs underwater environment three-dimensional imaging display;
the mobile terminal further comprises a setting unit and a control unit, wherein the setting unit is connected with the control unit, and the mobile terminal comprises:
the setting unit sets area information of a required three-dimensional image, then determines the motion, the posture and the position of the unmanned ship and an instruction of the image to be acquired according to the area information, and sends the instruction to the unmanned ship to execute the instruction;
the mobile terminal also comprises a sending and receiving module, a display module, a command module and an imaging module, wherein:
the sending and receiving module is connected with the wireless connection module and is used for receiving detection information sent to the mobile terminal by the unmanned ship and/or sending a control instruction to the unmanned ship;
the display module is used for displaying the detection information acquired by the mobile terminal in an image;
the command module is used for acquiring a control instruction of a user on the unmanned ship;
the imaging module is used for generating a three-dimensional image from the detection information;
the control unit is respectively connected with the receiving module, the display module, the command module and the imaging module and coordinates the work of each module;
the display module includes image display element, map display element and state display element, wherein:
the image display unit: the underwater image display device is used for displaying underwater image information acquired by the unmanned ship;
the map display unit: the system is used for displaying underwater environment information acquired by the unmanned ship and/or GPS positioning information of the unmanned ship;
the state display unit: the unmanned ship state information display device is used for displaying state information of the unmanned ship, wherein the state information comprises one or any combination of voltage information, electric quantity information and operation information;
the command module comprises a sensing unit and an instruction unit, wherein the sensing unit: the system is used for acquiring the induction information and obtaining a control instruction according to the induction information; the instruction unit: control instructions for direct input;
the mobile terminal is connected with the external induction device through the sending and receiving module and acquires induction information through the external induction device;
the external sensing device is a VR sensing device;
the induction information comprises position information, gravity information, deflection direction information and acceleration information;
the position information, the gravity information, the deflection direction information and the acceleration information correspond to a control command, and the corresponding relation is stored in a control unit;
the mobile terminal also comprises an intelligent following module, wherein the intelligent following module acquires following motion information of a user to obtain a control instruction, and the control instruction is sent to the unmanned ship through the sending and receiving module and executed;
the following motion information corresponds to the control command, and the corresponding relation of the following motion information and the control command is stored in the control unit.
2. The imaging system of an unmanned ship of claim 1, wherein: the unmanned ship comprises an image acquisition unit, a preprocessing unit, a coding unit and a sending unit, wherein the image acquisition unit, the preprocessing unit, the coding unit and the sending unit are arranged in the unmanned ship;
the image acquisition unit: the device is connected with the preprocessing unit and used for acquiring image information of the underwater environment;
the preprocessing unit: preprocessing according to the image information acquired by the image acquisition unit and forming image preprocessing information;
the encoding unit: the image preprocessing unit is connected with the image processing unit, acquires image preprocessing information, correspondingly encodes the image preprocessing information and forms image encoded data;
the transmission unit: and the wireless connection module is respectively connected with the coding unit and the wireless connection module, and the image coding data is obtained and sent to the mobile terminal through the wireless connection module.
3. The imaging system of an unmanned ship of claim 2, wherein: the mobile terminal comprises a decoding unit, a denoising unit and a three-dimensional imaging unit, wherein:
the decoding unit: the image preprocessing information acquisition module is used for acquiring image coded data and decoding the image coded data to form image preprocessing information;
the denoising unit: the image denoising method comprises the steps of obtaining image preprocessing information, and performing denoising processing on the image preprocessing information to form image denoising information;
the three-dimensional imaging unit: drawing a three-dimensional image of the underwater environment according to the image denoising information, the position data of the unmanned ship, the motion information of the unmanned ship and the posture information of the unmanned ship;
the control unit: the decoding unit, the denoising unit, the three-dimensional imaging unit and the display module are connected respectively.
4. The imaging system of claim 3, wherein: the mobile terminal also comprises a database, an identification unit and a pseudo color unit, wherein the database, the identification unit and the pseudo color unit are respectively connected with the control unit; wherein the content of the first and second substances,
the database is: storing characteristic information parameters corresponding to three-dimensional imaging;
the identification unit: acquiring image denoising information, and comparing the image denoising information with the characteristic information parameters to obtain identification information of the underwater environment;
the identification unit: obtaining identification information according to the identification information, and corresponding to the identification;
the pseudo color unit: and acquiring color information according to the identification information, and coloring correspondingly.
5. The imaging system of claim 4, wherein: the characteristic information parameters comprise one or any combination of terrain image information, plant image information and fish image information.
6. The imaging system of claim 4, wherein: the identification information corresponds to the identification information, and the corresponding relation is stored in a database.
7. The imaging system of claim 6, wherein: the identification information corresponds to the color information, and the corresponding relation is stored in a database.
8. An imaging system of an unmanned ship according to any one of claims 3 to 7, wherein: the mobile terminal further comprises an induction switching unit, the induction switching unit is connected with the control unit, wherein:
the induction switching unit: and acquiring induction data, and switching the display angle of the three-dimensional image according to the induction data.
9. The imaging system of claim 8, wherein: the mobile terminal is provided with a positioning unit and/or a gyroscope and/or an acceleration sensor and/or a gravity sensor, and the positioning unit and/or the gyroscope and/or the acceleration sensor and/or the gravity sensor acquire sensing data;
or the mobile terminal is connected with the external sensing device through the sending and receiving module and acquires sensing data through the external sensing device.
10. An imaging system of an unmanned ship according to any one of claims 3 to 7, wherein: the mobile terminal further comprises an unmanned ship body drawing unit, the unmanned ship body drawing unit is connected with the control unit, and the unmanned ship body drawing unit obtains the ship body information of the unmanned ship to draw and display the three-dimensional image of the unmanned ship.
11. The imaging system of an unmanned ship of claim 10, wherein: the unmanned ship hull drawing unit acquires the position information of the unmanned ship and correspondingly displays the position information in the three-dimensional image of the underwater environment.
12. The imaging system of an unmanned ship of claim 11, wherein: the hull information of the unmanned ship corresponds to the three-dimensional image, and the corresponding relation is stored in the database.
13. The imaging system of an unmanned ship of claim 12, wherein: the hull information of the unmanned ship comprises the shape of the unmanned ship and/or the model of the unmanned ship.
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| CN106197452A (en) * | 2016-07-21 | 2016-12-07 | 触景无限科技（北京）有限公司 | A kind of visual pattern processing equipment and system |
| CN106791691A (en) * | 2017-01-04 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of control system of unmanned boat |
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| EP2922049A4 (en) * | 2012-11-13 | 2016-07-13 | Sony Corp | Image display device and image display method, mobile body device, image display system, and computer program |
| CN104796611A (en) * | 2015-04-20 | 2015-07-22 | 零度智控（北京）智能科技有限公司 | Method and system for remotely controlling unmanned aerial vehicle to implement intelligent flight shooting through mobile terminal |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
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| CN106197452A (en) * | 2016-07-21 | 2016-12-07 | 触景无限科技（北京）有限公司 | A kind of visual pattern processing equipment and system |
| CN106791691A (en) * | 2017-01-04 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of control system of unmanned boat |
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