CN117590852A - Unmanned ship adjacent situation recognition system based on multiple images - Google Patents
Unmanned ship adjacent situation recognition system based on multiple images Download PDFInfo
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- CN117590852A CN117590852A CN202311612538.3A CN202311612538A CN117590852A CN 117590852 A CN117590852 A CN 117590852A CN 202311612538 A CN202311612538 A CN 202311612538A CN 117590852 A CN117590852 A CN 117590852A
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- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims abstract description 3
- 230000003190 augmentative effect Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000010191 image analysis Methods 0.000 abstract description 2
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Abstract
The invention relates to the technical field of unmanned ship control recognition, in particular to an unmanned ship adjacent condition recognition system based on multiple images. The unmanned ship adjacent situation recognition system based on multiple images comprises an unmanned ship and a remote navigation control device, wherein the remote navigation control device is used for supporting the adjacent situation recognition of the unmanned ship according to the detection of surrounding objects; the unmanned ship comprises: an image acquisition unit for acquiring a plurality of images showing the periphery of the unmanned ship and detecting objects around the unmanned ship by a plurality of image analysis; the navigation sensor unit is used for acquiring current navigation information of the unmanned ship and barrier information around the unmanned ship in real time; and the detection unit is used for monitoring the surrounding environment of the unmanned ship by utilizing the plurality of images, the current navigation information and the obstacle information, and tracking the object when the monitoring result detects the object which is close to the unmanned ship within the preset distance. The technical problem of how to detect remote situation awareness information of the unmanned ship can be solved.
Description
Technical Field
The invention relates to the technical field of unmanned ship control recognition, in particular to an unmanned ship adjacent condition recognition system based on multiple images.
Background
Unmanned vessels refer to vessels that navigate automatically following a set course without crews, and to vessels that can control navigation and engine components (e.g., engines, rudders) from a remote control center when necessary. For this purpose, a remote control center is required on shore or in water to remotely control the unmanned ship, which can be directed and controlled by qualified personnel directly at the remote control center.
Accordingly, in view of the foregoing, there is a great need in the industry for an unmanned ship proximity recognition system based on multiple images.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problem of how to detect remote situation awareness information of an unmanned ship by providing a multi-image-based unmanned ship proximity situation recognition system.
(II) technical scheme
In order to solve the technical problems, the invention provides a multi-image-based unmanned ship adjacent condition recognition system, which comprises an unmanned ship and a remote navigation control device, wherein the remote navigation control device is used for supporting the unmanned ship adjacent condition recognition according to the detection of surrounding objects;
wherein, unmanned ship includes:
an image acquisition unit for acquiring a plurality of images showing the periphery of the unmanned ship and detecting objects around the unmanned ship by analysis of the plurality of images;
the navigation sensor unit is used for acquiring current navigation information of the unmanned ship and barrier information around the unmanned ship in real time;
and the detection unit is used for monitoring the surrounding environment of the unmanned ship by utilizing the images, the current navigation information and the obstacle information, and tracking the object when the monitoring result detects the object which is close to the unmanned ship within the preset distance.
Further, the image acquisition unit includes a thermal imager for acquiring a thermal image and a panoramic camera for acquiring a panoramic image.
Further, the navigation sensor unit comprises a global positioning system, a gyroscope sensor, an automatic identification system and a radar; the global positioning system and the gyroscope sensor are used for acquiring the current navigation information, and the automatic identification system and the radar are used for acquiring the obstacle information.
Further, the remote navigation control device includes:
an estimating unit configured to estimate a collision risk between the unmanned ship and the detected object using the plurality of images, the current navigation information, and the obstacle information;
and a situation recognition unit configured to display the estimated collision risk and the detected objects on the electronic navigation map for each detected object, and output the collision risk to support the proximity situation recognition.
Further, the estimation unit is specifically configured to: determining whether a detected object is located on an expected path of the unmanned ship using the current navigation information, and evaluating a risk between the unmanned ship and the object by using fuzzy inference when the object is determined to be located on the expected path.
Further, the condition identifying unit is specifically configured to: the collision risk of the detected object is displayed in an augmented reality or virtual reality screen based on the plurality of images, and the screen is output to support proximity recognition.
Further, the unmanned ship further comprises a communication unit for communicating with other ships or land-based communication devices.
Further, the communication unit is used for communicating with the remote navigation control device.
Further, the communication mode of the communication unit is any one of CDMA communication, satellite communication, LTE communication and RF communication.
Further, the unmanned ship further comprises a ship operation control unit, wherein the ship operation control unit is used for controlling the operation of the unmanned ship according to the control command and the control information received by the remote navigation control device.
(III) beneficial effects
The technical scheme of the invention has the following advantages:
the unmanned ship proximity recognition system based on multiple images detects obstacles around the unmanned ship by using a plurality of cameras and various navigation sensors installed on the unmanned ship and provides remote situation awareness information on the risk of collision with the detected obstacles, thereby realizing the remote situation awareness information of the unmanned ship.
Drawings
FIG. 1 is an application scenario diagram of a multiple image based unmanned ship proximity recognition system of the present invention;
FIG. 2 is a schematic diagram of a multi-image based unmanned ship proximity recognition system of the present invention;
FIG. 3 is a schematic diagram of a remote navigation control device according to the present invention;
in the figure: 100-unmanned ship; a 101-image acquisition unit; 102-a navigation sensor unit; 103-a detection unit; 104-a communication unit; 105-a marine vessel operation control unit; 200-a remote navigation control device; 201-an estimation unit; 202-a situation recognition unit; 203-an interface unit; 300-remote control center.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 2, the present invention provides a multi-image-based unmanned ship proximity recognition system including an unmanned ship 100 and a remote navigation control device 200, the remote navigation control device 300 for supporting the unmanned ship proximity recognition according to the detection of surrounding objects. Wherein the unmanned ship 100 includes: an image acquisition unit 101 for acquiring a plurality of images showing the surroundings of the unmanned ship 100 and detecting objects around the unmanned ship by a plurality of image analysis; a navigation sensor unit 102 for acquiring current navigation information of the unmanned ship 100 and obstacle information around the unmanned ship in real time; and the detection unit 103 is used for monitoring the surrounding environment of the unmanned ship by utilizing the plurality of images, the current navigation information and the obstacle information, and tracking the object when the monitoring result detects the object which is close to the unmanned ship within the preset distance.
In the above-described embodiment, the unmanned ship 100 detects and tracks surrounding objects by monitoring the surrounding environment using the surrounding image and navigation sensor unit 102. The remote navigation control device 200 supports the unmanned ship 100 in combination with detection of surrounding objects to identify surrounding conditions.
Wherein the image acquisition unit 101 comprises a thermal imager for acquiring a thermal image and a panoramic camera for acquiring a panoramic image. The thermal imager, the panoramic camera and the 360-degree camera are installed and are used for shooting the surrounding environment of the unmanned surface vessel and acquiring a plurality of images including a thermal image and a panoramic image; 360 degree images of the unmanned ship's surroundings are presented in a panoramic (AV) form.
The navigation sensor unit 102 includes a global positioning system, a gyro sensor, an automatic recognition system, and a radar; the global positioning system and the gyroscope sensor are used for acquiring current navigation information, and the automatic identification system and the radar are used for acquiring obstacle information. Current navigation information including position, speed, direction, attitude of unmanned surface vessel.
Further, as shown in fig. 3, the remote navigation control apparatus 200 includes: an estimation unit 201 configured to estimate a collision risk between the unmanned ship and the detected object using the plurality of images, the current navigation information, and the obstacle information. Specifically, the estimation unit 201 specifically is configured to: determining whether the detected object is located on the expected path of the unmanned ship using the current navigation information, and evaluating a risk between the unmanned ship and the object by using fuzzy inference when it is determined that the object is located on the expected path. That is, the estimation unit 201 may determine whether the detected object is located on the expected path of the unmanned ship using the current navigation information of the position, speed, direction, and posture of the unmanned ship 100. In addition, as a result of tracking by the detection unit 103, when the detected object is recognized as a moving object such as a ship, the estimation unit 201 may calculate a time when the detected object passes through an expected path.
The situation recognition unit 202 is configured to display the estimated collision risk and the detected objects on the electronic navigation map for each detected object, and output the collision risk to support the proximity situation recognition. Specifically, the situation recognition unit 202 specifically is configured to: the collision risk of the detected object is displayed in an augmented reality or virtual reality screen based on the plurality of images, and the screen is output to support proximity recognition. The situation recognition unit 202 displays the collision risk calculated by the estimation unit 201 through the display of the interface unit 203 on the electronic navigation map together with the detected objects for each detected object, and outputs the displayed collision risk to support the awareness of the remote operator of the surrounding situation of the unmanned ship 100. In addition, the situation recognition unit 202 may display the calculated collision risk of the detected object in an Augmented Reality (AR) or Virtual Reality (VR) screen based on a plurality of images showing the surrounding environment of the unmanned ship 100, and output a screen to support a remote operator to know the surrounding situation of the unmanned ship on the water surface.
In some alternative embodiments, as shown in fig. 2, the unmanned ship 100 further comprises a communication unit 104, the communication unit 104 being for communicating with other ships or land-based communication devices. Wherein the communication unit 104 is used for communicating with a remote navigation control device; the communication system of the communication unit 104 is any one of CDMA communication, satellite communication, LTE communication, and RF communication.
In some alternative embodiments, as shown in fig. 2, the unmanned ship 100 further includes a ship operation control unit 105, and the ship operation control unit 105 is configured to control the operation of the unmanned ship according to the control command and the control information received by the remote navigation control device 200. The ship operation control unit 105 controls the operation of the unmanned ship 100 according to control commands and control information received from the remote navigation control device 200 in the onshore remote control center 300. That is, the remote navigation control device 200 may receive control commands and control information from a user and transmit the received control commands and control information to the unmanned ship 100. Meanwhile, the ship operation control 120 may have an autonomous navigation function.
For example, the ship operation control unit 105 may receive the destination information, generate an optimal navigation route to the destination, and control the unmanned ship 100 to navigate according to the generated optimal navigation route. The ship operation control unit 105 may be implemented as software, hardware, or a combination thereof, and may include an electronic navigation map database, a route algorithm for calculating an optimal navigation route, and the like.
In addition, the vessel may control the speed and direction of the unmanned ship 100 by controlling the engines and steering engines of the unmanned surface vessel. At this time, the ship operation control unit 105 may control the speed and direction of the unmanned ship 100 using the image acquisition unit 101 and the navigation sensor unit 102, which will be described later, so that the unmanned ship 100 avoids surrounding ships or obstacles. The surrounding situation is then monitored.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (10)
1. The unmanned ship adjacent situation recognition system based on multiple images is characterized by comprising an unmanned ship and a remote navigation control device, wherein the remote navigation control device is used for supporting the unmanned ship adjacent situation recognition according to the detection of surrounding objects;
wherein, unmanned ship includes:
an image acquisition unit for acquiring a plurality of images showing the periphery of the unmanned ship and detecting objects around the unmanned ship by analysis of the plurality of images;
the navigation sensor unit is used for acquiring current navigation information of the unmanned ship and barrier information around the unmanned ship in real time;
and the detection unit is used for monitoring the surrounding environment of the unmanned ship by utilizing the images, the current navigation information and the obstacle information, and tracking the object when the monitoring result detects the object which is close to the unmanned ship within the preset distance.
2. The unmanned ship proximity recognition system based on multiple images according to claim 1, wherein the image acquisition unit includes a thermal imager for acquiring a thermal image and a panoramic camera for acquiring a panoramic image.
3. The unmanned ship proximity recognition system based on multiple images according to claim 1, wherein the navigation sensor unit comprises a global positioning system, a gyro sensor, an automatic recognition system, and a radar; the global positioning system and the gyroscope sensor are used for acquiring the current navigation information, and the automatic identification system and the radar are used for acquiring the obstacle information.
4. The multiple image based unmanned ship proximity recognition system according to claim 1, wherein the remote navigation control means comprises:
an estimating unit configured to estimate a collision risk between the unmanned ship and the detected object using the plurality of images, the current navigation information, and the obstacle information;
and a situation recognition unit configured to display the estimated collision risk and the detected objects on the electronic navigation map for each detected object, and output the collision risk to support the proximity situation recognition.
5. The unmanned ship proximity recognition system based on multiple images according to claim 4, wherein the estimation unit is specifically configured to: determining whether a detected object is located on an expected path of the unmanned ship using the current navigation information, and evaluating a risk between the unmanned ship and the object by using fuzzy inference when the object is determined to be located on the expected path.
6. The unmanned ship proximity recognition system based on multiple images according to claim 4, wherein the situation recognition unit is specifically configured to: the collision risk of the detected object is displayed in an augmented reality or virtual reality screen based on the plurality of images, and the screen is output to support proximity recognition.
7. The multiple image based unmanned ship proximity recognition system of claim 1, further comprising a communication unit for communicating with other ships or land-based communication devices.
8. The multiple image based unmanned ship proximity recognition system according to claim 7, wherein the communication unit is configured to communicate with the remote navigation control device.
9. The unmanned ship proximity recognition system based on multiple images according to claim 7 or 8, wherein the communication means of the communication unit is any one of CDMA communication, satellite communication, LTE communication, and RF communication.
10. The multiple image-based unmanned ship proximity recognition system according to claim 1, wherein the unmanned ship further comprises a ship operation control unit for controlling the operation of the unmanned ship according to the control command and the control information received by the remote navigation control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311612538.3A CN117590852A (en) | 2023-11-29 | 2023-11-29 | Unmanned ship adjacent situation recognition system based on multiple images |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311612538.3A CN117590852A (en) | 2023-11-29 | 2023-11-29 | Unmanned ship adjacent situation recognition system based on multiple images |
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| CN202311612538.3A Pending CN117590852A (en) | 2023-11-29 | 2023-11-29 | Unmanned ship adjacent situation recognition system based on multiple images |
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