CN108153317A - A kind of automatic cruising canoe with barrier avoiding function - Google Patents
A kind of automatic cruising canoe with barrier avoiding function Download PDFInfo
- Publication number
- CN108153317A CN108153317A CN201810062151.8A CN201810062151A CN108153317A CN 108153317 A CN108153317 A CN 108153317A CN 201810062151 A CN201810062151 A CN 201810062151A CN 108153317 A CN108153317 A CN 108153317A
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- China
- Prior art keywords
- motor
- microcontroller
- camera lens
- automatic
- automatic focusing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The invention discloses a kind of automatic cruising canoes with barrier avoiding function, including hull, the microcontroller for carrying out signal processing is provided among hull, for capturing the automatic focusing camera lens of front scene image, for adjusting the photographic head spin axis of the shooting angle of automatic focusing camera lens, for driving the first motor that photographic head spin axis rotated and the second motor for adjusting the direction for the rudder blade for being set to hull tail portion, automatic focusing camera lens and the first motor are respectively arranged at the top and bottom of photographic head spin axis, automatic focusing camera lens, first motor and the second motor are connected respectively with microcontroller；Microcontroller is according to the direction of the second motor of image-driven adjustment rudder blade taken by automatic focusing camera lens.The automatic cruising canoe, can by detect front whether there are obstacles, navigated by water so as to get around barrier, achieve the purpose that can on the complicated water surface safe navigation.
Description
Technical field
The present invention relates to automatic cruising technical field, especially a kind of automatic cruising canoe with barrier avoiding function.
Background technology
At present in freshwater aquiculture, the development of automatic cruising canoe is not very ripe, and ship is patrolled automatically on the water
The achievement of boat is not very much, and function for avoidance waterborne is simultaneously immature.The cruise work(of existing major part automatic cruising ship
Gps positioning can be depended primarily on, the navigation route of ship is determined by gps positioning, but on the complicated water surface, is depended merely on
Gps positioning is navigation far from being enough, that the canoe with barrier avoiding function could be safer on the water surface.
Invention content
To solve the above problems, the purpose of the present invention is to provide a kind of automatic cruising canoe with barrier avoiding function, lead to
Cross detection front whether there are obstacles, navigated by water so as to get around barrier, reach can on the complicated water surface safe navigation
Purpose.
Technical solution is used by the present invention solves the problems, such as it：
A kind of automatic cruising canoe with barrier avoiding function including hull, is provided with to carry out at signal among hull
The microcontroller of reason, the automatic focusing camera lens for capture front scene image, the shooting for adjusting automatic focusing camera lens
The photographic head spin axis of angle, for driving the first motor that photographic head spin axis rotated and be set to hull tail portion for adjusting
Rudder blade direction the second motor, automatic focusing camera lens and the first motor are respectively arranged at the top and bottom of photographic head spin axis
Portion, automatic focusing camera lens, the first motor and the second motor are connected respectively with microcontroller；Microcontroller is taken the photograph according to by automatic focusing
The direction of the second motor of image-driven adjustment rudder blade taken as head.
Further, the GPS positioning module for being positioned, GPS positioning module and microcontroller are additionally provided among hull
It is connected.
Further, the wireless communication module for carrying out wireless data transmission with external equipment is additionally provided among hull,
Wireless communication module is connected with microcontroller.
Further, automatic focusing camera lens are fixedly installed on the top of photographic head spin axis, the bottom setting of photographic head spin axis
There is transmission gear, the shaft of the first motor is provided with driving gear, and transmission gear is intermeshed with driving gear；Automatic focusing is taken the photograph
Auto-focusing operation is carried out as head often rotates unspecified angle.
Further, microcontroller is according to the side of the second motor of image-driven adjustment rudder blade taken by automatic focusing camera lens
To including the following steps：
S1, the angle for adjusting automatic focusing camera lens, make automatic focusing camera lens focus front scenery, before acquisition
The image information of square scenery, and the image information is transferred among microcontroller；S2, microcontroller carry out two-value to the image information
Change is handled, and obtains binary image, and in the binary image, water environment is identified as white area, the foreign matter in water environment
It is identified as black region；
S3, judge to whether there is black region among binary image, if so, going to step S4；Otherwise return to step S1；
S4, the sideline that black region is extracted in binary image；
S5, the size and location of foreign matter are judged according to the shape and position in sideline, obtain hull moved to left or
The traveling angle angle value moved to right；
S6, microcontroller drive the second motor to be rotated according to the traveling angle angle value, so as to make rudder blade rotation and the movement
The identical angle of angle value, and return to step S1.
The beneficial effects of the invention are as follows：A kind of automatic cruising canoe with barrier avoiding function, in the control action of microcontroller
Under, the first motor can be such that photographic head spin axis is rotated at any angle, so as to which automatic focusing camera lens be driven to be corresponded to
Rotation, therefore, automatic focusing camera lens can accurately capture the scene image information in front of hull, when microcontroller receive by
After the scene image information that automatic focusing camera lens send over, microcontroller can be handled the scene image information, so as to
The drive signal that the second motor of output driving is rotated so that the second motor drives rudder blade to be rotated, so as to fulfill to ship
The adjustment of body direction of advance, so as to effectively avoid the barrier in front of hull, reaching can pacify on the complicated water surface
The purpose navigated by water entirely.In addition, after the rotational angle of the second motor adjustment rudder blade, automatic focusing camera lens can all re-start
Focusing, so as to persistently carry out image taking to scenery a certain range of in front of hull, so as to be carried out to barrier
Accurately detection.Therefore, automatic cruising canoe of the invention, can be by detecting front whether there are obstacles, so as to get around
Barrier is navigated by water, achieve the purpose that can on the complicated water surface safe navigation.
Description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram of the automatic cruising canoe of the present invention；
Fig. 2 is flow chart of the automatic cruising canoe when carrying out cruise operation.
Specific embodiment
With reference to Fig. 1-Fig. 2, a kind of automatic cruising canoe with barrier avoiding function of the invention, including hull, among hull
Be provided with for carry out signal processing microcontroller 1, for capture front scene image automatic focusing camera lens 2, for adjusting
The photographic head spin axis of the shooting angle of whole automatic focusing camera lens 2, the first motor 3 for photographic head spin axis to be driven to be rotated
With for adjusting second motor 4 in the direction for the rudder blade for being set to hull tail portion, 2 and first motor 3 of automatic focusing camera lens divides
Be not set to the top and bottom of photographic head spin axis, automatic focusing camera lens 2, the first motor 3 and the second motor 4 respectively with monolithic
Machine 1 is connected；Microcontroller 1 adjusts the side of rudder blade according to the second motor of image-driven 4 taken by automatic focusing camera lens 2
To.Specifically, any one in the K60 series monolithics of Freescale may be used in microcontroller 1, such as concrete model is
MK60N512VMD100.Under the control action of microcontroller 1, the first motor 3 can be such that photographic head spin axis carries out at any angle
Rotation, so as to which automatic focusing camera lens 2 be driven to carry out corresponding rotation, therefore, automatic focusing camera lens 2 can accurately capture ship
Scene image information in front of body, when microcontroller 1 receives the scene image information sended over by automatic focusing camera lens 2
Afterwards, microcontroller 1 can be handled the scene image information, thus the drive signal that the second motor of output driving 4 is rotated,
So that the second motor 4 drives rudder blade to be rotated, so as to fulfill the adjustment to hull direction of advance, so as to effectively avoid locating
Barrier in front of hull, achieve the purpose that can on the complicated water surface safe navigation.In addition, whenever the second motor 4 adjusts
After the rotational angle of rudder blade, automatic focusing camera lens 2 can all re-start focusing, so as to persistently to model certain in front of hull
Scenery in enclosing carries out image taking, so as to accurately be detected to barrier.Therefore, automatic cruising of the invention is small
Ship can be navigated by water, reaching can be on the complicated water surface by detecting front whether there are obstacles so as to get around barrier
The purpose of safe navigation.
Wherein, with reference to Fig. 1, the GPS positioning module 5 for being positioned, GPS positioning module 5 are additionally provided among hull
It is connected with microcontroller 1.Specifically, GPS positioning module 5 can accurately position hull, so that administrative staff
The specific location of automatic cruising canoe can be accurately known, so as to which administrative staff be facilitated to be managed automatic cruising canoe.
Wherein, with reference to Fig. 1, the wireless communication for carrying out wireless data transmission with external equipment is additionally provided among hull
Module 6, wireless communication module 6 are connected with microcontroller 1.Specifically, wireless communication module 6 can be with the shifting in administrative staff's hand
Dynamic terminal or control terminal communicate, therefore, automatic cruising canoe can the scene image that it is captured and its into
Among path synchronized upload to mobile terminal or control terminal during row automatic cruising, administrative staff can not only be facilitated
Management to automatic cruising canoe, and administrative staff can be convenient for understand the ambient conditions in current waters, so that managing
Personnel can take targetedly management measure to current waters.
Wherein, with reference to Fig. 1, automatic focusing camera lens 2 are fixedly installed on the top of photographic head spin axis, the bottom of photographic head spin axis
Portion is provided with transmission gear, and the shaft of the first motor 3 is provided with driving gear, and transmission gear is intermeshed with driving gear；From
Dynamic focusing camera 2 often rotates unspecified angle and carries out auto-focusing operation.Specifically, when automatic cruising canoe is turned to or
During normally travel, the first motor 3 can all drive photographic head spin axis to carry out corresponding rotation, so as to drive automatic focusing camera lens 2
It is rotated so that automatic focusing camera lens 2 can be in the driving process of automatic cruising canoe constantly to model certain in front of it
Scenery in enclosing carries out image taking, so as to ensure automatic cruising canoe can accurate avoiding obstacles, realize it on the water surface
Safety traffic.
Wherein, with reference to Fig. 1-Fig. 2, wherein Fig. 2 is flow chart when automatic cruising canoe carries out cruise operation.Microcontroller 1
The second motor of image-driven 4 according to being taken by automatic focusing camera lens 2 adjusts the direction of rudder blade, includes the following steps：
S1, the angle for adjusting automatic focusing camera lens 2, make automatic focusing camera lens 2 focus front scenery, obtain
The image information of front scenery, and the image information is transferred among microcontroller 1；
S2, microcontroller 1 carry out binary conversion treatment to the image information, obtain binary image, in the binary image,
Water environment is identified as white area, and the foreign matter in water environment is identified as black region；
S3, judge to whether there is black region among binary image, if so, going to step S4；Otherwise return to step S1；
S4, the sideline that black region is extracted in binary image；
S5, the size and location of foreign matter are judged according to the shape and position in sideline, obtain hull moved to left or
The traveling angle angle value moved to right；
S6, microcontroller 1 drive the second motor 4 to be rotated according to the traveling angle angle value, so as to make rudder blade rotation and the shifting
The identical angle of dynamic angle value, and return to step S1.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited in above-mentioned embodiment party above
Formula, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (5)
1. a kind of automatic cruising canoe with barrier avoiding function, it is characterised in that：Including hull, set among the hull useful
In carry out signal processing microcontroller (1), for capture front scene image automatic focusing camera lens (2), for adjusting
State the shooting angle of automatic focusing camera lens (2) photographic head spin axis, for drive that the photographic head spin axis rotated
One motor (3) and the second motor (4) for adjusting the direction for the rudder blade for being set to the hull tail portion, the automatic focusing are taken the photograph
As head (2) and the first motor (3) are respectively arranged at the top and bottom of the photographic head spin axis, the automatic focusing camera lens
(2), the first motor (3) and the second motor (4) are connected respectively with the microcontroller (1)；The microcontroller (1) is according to by described
The direction of second motor (4) adjustment rudder blade described in the image-driven that automatic focusing camera lens (2) take.
2. a kind of automatic cruising canoe with barrier avoiding function according to claim 1, it is characterised in that：The hull it
In be additionally provided with GPS positioning module (5) for being positioned, the GPS positioning module (5) is connected with the microcontroller (1)
It connects.
3. a kind of automatic cruising canoe with barrier avoiding function according to claim 1, it is characterised in that：The hull it
In be additionally provided with for external equipment carry out wireless data transmission wireless communication module (6), the wireless communication module (6)
It is connected with the microcontroller (1).
4. a kind of automatic cruising canoe with barrier avoiding function according to claim 1, it is characterised in that：The automatic tune
Burnt camera (2) is fixedly installed on the top of the photographic head spin axis, and the bottom of the photographic head spin axis is provided with transmission gear,
The shaft of first motor (3) is provided with driving gear, and the transmission gear is intermeshed with driving gear；The automatic tune
Burnt camera (2) often rotates unspecified angle and carries out auto-focusing operation.
5. a kind of automatic cruising canoe with barrier avoiding function according to claim 1, it is characterised in that：The microcontroller
(1) the second motor (4) according to the image-driven taken as the automatic focusing camera lens (2) adjusts the direction of rudder blade,
Include the following steps：
The angle of S1, adjustment automatic focusing camera lens (2), make automatic focusing camera lens (2) focus front scenery, obtain
The image information of front scenery, and the image information is transferred among microcontroller (1)；
S2, microcontroller (1) carry out binary conversion treatment to the image information, obtain binary image, in the binary image, water
Environment is identified as white area, and the foreign matter in water environment is identified as black region；
S3, judge to whether there is black region among binary image, if so, going to step S4；Otherwise return to step S1；
S4, the sideline that black region is extracted in binary image；
S5, the size and location of foreign matter are judged according to the shape and position in sideline, obtains hull and moved to left or moved to right
Traveling angle angle value；
S6, microcontroller (1) drive the second motor (4) to be rotated according to the traveling angle angle value, so as to make rudder blade rotation and the shifting
The identical angle of dynamic angle value, and return to step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062151.8A CN108153317A (en) | 2018-01-22 | 2018-01-22 | A kind of automatic cruising canoe with barrier avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810062151.8A CN108153317A (en) | 2018-01-22 | 2018-01-22 | A kind of automatic cruising canoe with barrier avoiding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108153317A true CN108153317A (en) | 2018-06-12 |
Family
ID=62461904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810062151.8A Pending CN108153317A (en) | 2018-01-22 | 2018-01-22 | A kind of automatic cruising canoe with barrier avoiding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108153317A (en) |
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-
2018
- 2018-01-22 CN CN201810062151.8A patent/CN108153317A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0916751A (en) * | 1995-06-30 | 1997-01-17 | Mitsubishi Motors Corp | Obstacle detecting method |
| KR100734814B1 (en) * | 2006-08-03 | 2007-07-03 | 디에스엠이 유텍 주식회사 | Auto-piloting unmanned ship |
| CN102244735A (en) * | 2011-07-08 | 2011-11-16 | 山东神戎电子股份有限公司 | Variable focus stabilized image imaging system used on board |
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