CN110989617A - Unmanned ship obstacle avoidance control system and unmanned ship - Google Patents
Unmanned ship obstacle avoidance control system and unmanned ship Download PDFInfo
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- CN110989617A CN110989617A CN201911331149.7A CN201911331149A CN110989617A CN 110989617 A CN110989617 A CN 110989617A CN 201911331149 A CN201911331149 A CN 201911331149A CN 110989617 A CN110989617 A CN 110989617A
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- 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
Abstract
The invention relates to the technical field of unmanned ships, and discloses an unmanned ship obstacle avoidance control system and an unmanned ship, wherein the obstacle avoidance control system comprises: the angle acquisition module is used for acquiring an included angle between the axial direction of the image sensor and a horizontal plane; the judging module is used for judging the size of an included angle between the axial direction of the image sensor and the horizontal plane and a preset angle; the first control module is used for controlling the image sensor to rotate in the pitching direction so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to a preset angle; the information acquisition module is used for acquiring detection information of the image sensor; and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information. According to the unmanned ship obstacle avoidance control system, the obstacle is prevented from exceeding the detection visual field of the visual obstacle avoidance device, the obstacle detection failure of the unmanned ship is avoided, and the navigation safety of the unmanned ship is improved.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to an unmanned ship obstacle avoidance control system and an unmanned ship.
Background
Unmanned ship among the prior art is provided with the vision and keeps away barrier device usually, and this vision keeps away barrier device is used for surveying the barrier around the unmanned ship, avoids unmanned ship and barrier to bump.
Since the visual obstacle avoidance device of the unmanned ship has a theoretical detection range in the vertical direction, for example, the theoretical detection range of the visual obstacle avoidance device in the vertical direction is 60 °, the detection angle in the vertical direction is only 30 ° above and below the ship body. In the navigation process of the unmanned ship, when the unmanned ship is influenced by waves, the detection angle of the visual obstacle avoidance device on the unmanned ship can be changed, so that the obstacle exceeds the detection visual field of the visual obstacle avoidance device, the obstacle detection of the unmanned ship is invalid, and the obstacle cannot be avoided. Therefore, when the existing unmanned ship sails under a complex sea condition, the visual obstacle avoidance device cannot work normally, and the problem is always solved in the unmanned plane industry.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed to provide an unmanned ship obstacle avoidance control method that overcomes or at least partially solves the above problems.
In order to solve the above problem, an embodiment of the present invention provides an unmanned ship obstacle avoidance control system, including:
the angle acquisition module is used for acquiring an included angle between the axial direction of the image sensor and a horizontal plane;
the judging module is used for judging the size of an included angle between the axial direction of the image sensor and the horizontal plane and a preset angle;
the first control module is used for controlling the image sensor to rotate in the pitching direction so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to a preset angle;
the information acquisition module is used for acquiring detection information of the image sensor;
and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information.
In some embodiments, the obstacle avoidance control system further includes a second control module configured to control the image sensor to rotate in the horizontal direction.
In some embodiments, the image sensor is configured to detect at least one of a forward obstacle, a rearward obstacle, and an over obstacle of the unmanned ship.
In some embodiments, the probe information includes at least one of: distance, speed, direction, height of the obstacle relative to the unmanned ship
The embodiment of the invention also provides an unmanned ship, which comprises a ship body, a visual obstacle avoidance device, an angle detection device, a power system and a navigation controller, wherein the visual obstacle avoidance device comprises an image sensor and a rotating device which are mutually connected, the navigation controller comprises an obstacle avoidance control system, and the obstacle avoidance control system comprises:
the angle detection device is in communication connection with the angle acquisition module, and the angle acquisition module is used for acquiring an included angle between the axial direction of the image sensor and the horizontal plane;
the judging module is used for judging the size of an included angle between the axial direction of the image sensor and the horizontal plane and a preset angle;
the first control module is used for controlling the image sensor to rotate in the pitching direction by controlling the rotating device, so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to a preset angle;
the information acquisition module is used for acquiring detection information of the image sensor;
and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information.
In some embodiments, the obstacle avoidance control system further includes a second control module, and the second control module is configured to control the image sensor to rotate in the horizontal direction by controlling the rotating device.
In some embodiments, the rotating device includes a horizontal rotating mechanism and a pitch rotating mechanism connected to each other, one end of the horizontal rotating mechanism is connected to the hull, the other end of the horizontal rotating mechanism is connected to the pitch rotating mechanism, the image sensor is connected to one end of the pitch rotating mechanism, which is far away from the horizontal rotating mechanism, the first control module controls the pitch rotating mechanism to rotate, and the second control module controls the horizontal rotating mechanism to rotate continuously.
In some embodiments, the preset angle between the axial direction of the image sensor and the horizontal plane is 15 °.
In some embodiments, the preset angle between the axial direction of the image sensor and the horizontal plane is 1 ° to 20 °.
Preferably, the preset angle between the axial direction of the image sensor and the horizontal plane is 15 °.
In the embodiment of the invention, the image sensor is controlled to rotate in the pitching direction, so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to the preset angle, the unmanned ship can detect the obstacle in front of the unmanned ship under the complex sea condition, and the obstacle is prevented from exceeding the detection visual field of the visual obstacle avoidance device, so that the obstacle detection failure of the unmanned ship is avoided. And the image sensor is controlled to rotate in the horizontal direction, so that the image sensor can detect obstacles around the unmanned ship, and the navigation safety of the unmanned ship is further improved.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an unmanned ship according to an embodiment of the present invention.
Fig. 2 is a flowchart of an unmanned ship obstacle avoidance control method according to an embodiment of the present invention.
Fig. 3 is a block diagram of a structure in which a visual obstacle avoidance device, and an angle detection device included in the unmanned ship according to the embodiment of the present invention are connected;
reference numerals:
an unmanned ship 100; a hull 10; a visual obstacle avoidance device 11; an angle detection device 12.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides an unmanned ship obstacle avoidance control method, and fig. 1 is a schematic structural diagram of an unmanned ship provided by the embodiment of the invention.
Referring to fig. 1, the unmanned ship 100 includes a hull 10, a visual obstacle avoidance device 11, an angle detection device 12, a power system, and a navigation controller. Specifically, the visual obstacle avoidance device 11 is mounted on the hull 10. The visual obstacle avoidance device 11 includes an image sensor 111 and a rotating device 112, and the rotating device 112 includes a horizontal rotating mechanism and a pitching rotating mechanism connected to each other. One end of the horizontal rotation mechanism is connected to the hull 10 of the unmanned ship 100, the other end of the horizontal rotation mechanism is connected to the pitch rotation mechanism, and the image sensor 111 is connected to the end of the pitch rotation mechanism away from the horizontal rotation mechanism. The horizontal rotating mechanism and the pitching rotating mechanism respectively comprise an electric adjusting plate and a motor, the electric adjusting plate is electrically connected with the motor, and the electric adjusting plate is used for controlling the rotating state of the motor and further controlling the rotation of the horizontal rotating mechanism and the pitching rotating mechanism.
In this embodiment, the horizontal rotation mechanism rotates around a rotation axis perpendicular to the horizontal plane, and the pitch rotation mechanism rotates around a rotation axis parallel to the horizontal plane, so as to drive the image sensor 111 to rotate in the horizontal direction and/or the pitch direction.
Preferably, the visual obstacle avoidance device 11 further includes a lens, and the image sensor is disposed in the lens.
With reference to fig. 1, the angle detecting device 12 is disposed on the image sensor 111, and the angle detecting device 12 can detect an angle between an axial direction 20 of the image sensor 111 and a horizontal plane, and it is noted that the axial direction 20 in the present invention can refer to an axial line passing through the image sensor 111.
Fig. 2 is a flowchart of an unmanned ship obstacle avoidance control method according to an embodiment of the present invention. As shown in fig. 2, the method in this embodiment may include:
step S101, acquiring an included angle α between the axial direction 20 of the image sensor 111 and a horizontal plane;
step S102, judging the size of an included angle α between the axial direction 20 of the image sensor 111 and a horizontal plane and a preset angle β;
if the included angle α is not equal to the preset angle β, go to step S103;
step S103, controlling the image sensor 111 to rotate, so that an included angle α between the axial direction 20 of the image sensor 111 and the horizontal plane is equal to a preset angle β,
if the included angle α is equal to the preset angle β, go to step S104;
in the method of this embodiment, the axial direction 20 of the image sensor 111 may be preset to be inclined with respect to the horizontal plane, and the preset angle between the axial direction 20 of the image sensor 21 and the horizontal plane is β.
Optionally, the preset angle β between the axial direction 20 of the image sensor 21 and the horizontal plane is an acute angle, and the preset angle β ranges from 5 ° to 25 °.
Preferably, the preset angle β is 15 °.
The main body of the method of this embodiment may be the navigation controller of the unmanned ship 100, or may be other general-purpose or special-purpose processors, and the navigation controller of the unmanned ship 100 is schematically illustrated in this embodiment.
In this embodiment, the navigation controller of the unmanned ship 100 may control the pitch rotation mechanism to rotate around the rotation axis parallel to the horizontal plane, so as to drive the image sensor 111 to rotate in the pitch direction, so that the included angle α between the axial direction 20 of the image sensor 111 and the horizontal plane is adjusted to be equal to the preset angle β, thereby preventing the obstacle detection failure of the unmanned ship due to the obstacle exceeding the detection field of the visual obstacle avoidance device, and preventing the obstacle from being avoided.
Further, the unmanned ship obstacle avoidance control method further comprises the following steps: the image sensor 111 is controlled to rotate in a horizontal direction, that is, the image sensor 111 is controlled to rotate in a horizontal direction around a rotation axis perpendicular to the horizontal plane. Here, the control of the horizontal rotation mechanism to continuously rotate and drive the image sensor 111 to continuously rotate may be performed before step S101 or after step S103.
In some embodiments, the navigation controller of the unmanned ship 100 may drive the image sensor 111 to rotate continuously by controlling the continuous rotation of the horizontal rotation mechanism. When the image sensor 111 is continuously rotating, it is possible to detect obstacles around the unmanned ship 100. For example, the image sensor 111 may scan for obstacles within a 360 degree range around the unmanned ship 100.
And step S104, acquiring detection information of the image sensor.
During the rotation of the image sensor 111, the navigation controller of the unmanned ship 100 may acquire the detection information of the image sensor 111 in real time, for example, the image sensor 111 may detect an obstacle in front of the unmanned ship 100, an obstacle behind the unmanned ship 100, and an obstacle above the unmanned ship, and may also detect information of a distance, a speed, a direction, a height, and the like of the obstacle with respect to the unmanned ship 100. Wherein the distance of the obstacle with respect to the unmanned ship 100 may be acquired based on the target depth value.
And S105, controlling the unmanned ship to sail according to the detection information.
Optionally, the image sensor 111 is configured to detect at least one of an obstacle in front of the unmanned ship, an obstacle behind the unmanned ship, and an obstacle above the unmanned ship.
Optionally, the detection information includes at least one of the following: distance, speed, direction, height of the obstacle relative to the unmanned ship.
Alternatively, the navigation controller of the drone 100 may control the drone to avoid the obstacle according to the detection information of the image sensor 111.
Further, after the controlling the unmanned ship to avoid the obstacle, the method further includes: and controlling the unmanned ship to return to a preset air line.
In this embodiment, controlling the unmanned ship to sail according to the detection information includes the following feasible implementation manners:
one possible implementation is: and controlling the unmanned ship to avoid the obstacle according to the detection information. After the controlling the unmanned ship to avoid the obstacle, the method further comprises: and controlling the unmanned ship to return to a preset air line. For example, when the image sensor 111 reaches an obstacle in front of the unmanned ship, the navigation controller controls the unmanned ship to avoid the obstacle according to the detection information of the image sensor 111, and controls the unmanned ship to return to the preset route to continue the navigation after avoiding the obstacle.
Another possible implementation is: adjusting planning information of a preset planned route or/and operation according to the detection information; and controlling the unmanned ship to continue navigation operation according to the adjusted navigation line or/and the planning information of operation.
Referring to fig. 3, fig. 3 shows a block diagram of a structure of an unmanned ship obstacle avoidance control system according to an embodiment of the present invention, which may specifically include the following modules:
the angle acquisition module 201 is used for acquiring an included angle α between the axial direction of the image sensor 111 and a horizontal plane;
the judging module 202 is configured to judge an included angle α between the axial direction 20 of the image sensor 111 and a horizontal plane and a preset angle β;
a first control module 203 for controlling the image sensor 111 to rotate in the pitch direction, so that an included angle α between the axial direction of the image sensor and the horizontal plane is equal to a preset angle β;
an information acquisition module 204, configured to acquire detection information of the image sensor 111;
and the navigation control module 205 is used for controlling the navigation of the unmanned ship according to the detection information.
In this embodiment, the navigation control module can control the steering and navigation speed of the unmanned ship.
In this embodiment, the detection information module may acquire information such as a distance, a speed, a direction, and a height of the unmanned ship 100 with respect to an obstacle in front of, behind, and above the unmanned ship 100, which is detected by the image sensor 111. Alternatively, the navigation controller of the drone 100 may control the drone to avoid the obstacle according to the detection information of the image sensor 111. Further, after the controlling the unmanned ship to avoid the obstacle, the method further includes: and controlling the unmanned ship to return to a preset air line.
Optionally, the unmanned ship obstacle avoidance system further includes a second control module, where the second control module is configured to control the image sensor 111 to rotate in the horizontal direction, and when the image sensor 111 rotates continuously, the obstacle around the unmanned ship 100 may be detected. For example, the image sensor 111 may scan for obstacles within a 360 degree range around the unmanned ship 100.
Each functional unit in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Referring to fig. 1 and 3, an unmanned ship according to an embodiment of the present invention is further disclosed, and fig. 3 is a block diagram illustrating a structure of the unmanned ship according to an embodiment of the present invention.
The unmanned ship includes: the device comprises a ship body 10, a visual obstacle avoidance device 11, an angle detection device 12, a power system and a navigation controller, wherein the navigation controller comprises an obstacle avoidance control system. Wherein, keep away barrier control system includes:
the angle acquisition module 12 is configured to acquire an included angle α between the axial direction of the image sensor 111 and the horizontal plane, which is detected by the angle detection device 12;
the judging module is used for judging the size of an included angle α between the axial direction 20 of the image sensor 111 and the horizontal plane and a preset angle β;
the first control module controls the image sensor 111 to rotate in a pitching mode, so that an included angle α between the axial direction of the image sensor and the horizontal plane is equal to a preset angle β;
an information acquisition module for acquiring the detection information of the image sensor 111;
and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information.
The first control module controls the rotation of the pitching rotation mechanism, so as to drive the image sensor 111 to rotate in the pitching direction, so that the included angle α between the axial direction 20 of the image sensor 111 and the horizontal plane is equal to the preset angle β.
Further, the obstacle avoidance system further includes a second control module, and the rotating device 112 further includes a horizontal rotating mechanism. One end of the horizontal rotation mechanism is connected to the hull 10 of the unmanned ship 100, the other end of the horizontal rotation mechanism is connected to the pitch rotation mechanism, and the image sensor 111 is connected to the end of the pitch rotation mechanism away from the horizontal rotation mechanism. The second control module controls the horizontal rotating mechanism to rotate continuously, the horizontal rotating mechanism can drive the image sensor 111 to rotate continuously when rotating continuously, and when the image sensor 111 rotates continuously, obstacles around the unmanned ship 100 can be detected.
Preferably, the unmanned ship further comprises a sonar device for detecting the water depth of the navigation position of the unmanned ship.
Further, the obstacle avoidance control system further includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the above embodiment when executing the program.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
In addition, the embodiment of the invention also discloses a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to realize the steps of the method of the embodiment.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned ship keeps away barrier control system which characterized in that includes:
the angle acquisition module is used for acquiring an included angle between the axial direction of the image sensor and a horizontal plane;
the judging module is used for judging the size of an included angle between the axial direction of the image sensor and the horizontal plane and a preset angle;
the first control module is used for controlling the image sensor to rotate in the pitching direction so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to a preset angle;
the information acquisition module is used for acquiring detection information of the image sensor;
and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information.
2. An obstacle avoidance control system according to claim 1, further comprising a second control module for controlling the image sensor to rotate in a horizontal direction.
3. The obstacle avoidance control system of claim 2, wherein the image sensor is configured to detect at least one of a forward obstacle, a rearward obstacle, and an upward obstacle of the unmanned ship.
4. An obstacle avoidance control system according to claim 3, wherein the detection information includes at least one of: distance, speed, direction, height of the obstacle relative to the unmanned ship.
5. The utility model provides an unmanned ship, its characterized in that, unmanned ship includes that hull, vision keep away barrier device, angle detection device, driving system and navigation controller, the vision keeps away the barrier device and includes interconnect's image sensor and rotating device, navigation controller is including keeping away barrier control system, keep away barrier control system and include:
the angle detection device is in communication connection with the angle acquisition module, and the angle acquisition module is used for acquiring an included angle between the axial direction of the image sensor and the horizontal plane;
the judging module is used for judging the size of an included angle between the axial direction of the image sensor and the horizontal plane and a preset angle;
the first control module is used for controlling the image sensor to rotate in the pitching direction by controlling the rotating device, so that the included angle between the axial direction of the image sensor and the horizontal plane is equal to a preset angle;
the information acquisition module is used for acquiring detection information of the image sensor;
and the navigation control module is used for controlling the navigation of the unmanned ship according to the detection information.
6. The unmanned ship of claim 5, wherein the obstacle avoidance control system further comprises a second control module, and the second control module is configured to control the image sensor to rotate in the horizontal direction by controlling the rotating device.
7. The unmanned ship of claim 6, wherein the rotation device comprises a horizontal rotation mechanism and a pitch rotation mechanism which are connected with each other, one end of the horizontal rotation mechanism is connected with the ship body, the other end of the horizontal rotation mechanism is connected with the pitch rotation mechanism, the image sensor is connected to one end of the pitch rotation mechanism far away from the horizontal rotation mechanism, the first control module controls the pitch rotation mechanism to rotate, and the second control module controls the horizontal rotation mechanism to rotate continuously.
8. The unmanned ship of claim 5, further comprising a sonar arrangement for detecting a depth of water at a navigation location of the unmanned ship.
9. The unmanned ship of claim 5, wherein the preset angle between the axial direction of the image sensor and the horizontal plane is 5 ° to 25 °.
10. Unmanned ship according to claim 9, characterized in that the preset angle between the axial direction of the image sensor and the horizontal plane is 15 °.
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