CN111240226A - Simulation test system and method for shipborne visual perception equipment - Google Patents
Simulation test system and method for shipborne visual perception equipment Download PDFInfo
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Abstract
The invention relates to a simulation test system and a method for shipborne visual perception equipment, wherein the system comprises the following steps: the device comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module; the data acquisition module is connected with the data processing module; the data processing module is connected with the result display module; the control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform; the ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack. The influence of the motion of the ship on the sensing equipment is simulated, a more accurate performance evaluation result of the sensing equipment is obtained, the error of hardware in-loop test and real ship test of the sensing equipment on the sensing result is reduced, the safety of the real ship test is improved, and the problems of comprehensiveness of simulation test of the ship-mounted visual sensing equipment and reliability of the test result are solved.
Description
Technical Field
The invention relates to the technical field of simulation test of intelligent ship visual perception equipment, in particular to a simulation test system and method for ship-borne visual perception equipment.
Background
The vision perception equipment that intelligent boats and ships carried on is that boats and ships are used for the important equipment of perception surrounding environment, can in time acquire boats and ships surrounding environment two-dimentional or three-dimensional image information, carries out the perception to the navigation environment through image analysis recognition technology, is the essential component part of intelligent boats and ships perception module, has that the information content is abundant, and the advantage that the real-time is good.
In order to verify the perception reliability of the visual perception equipment, the corresponding visual perception equipment needs to be tested, and the simulation test is a good method for reducing the test risk, shortening the test time and reducing the test cost. At present, a uniform black box test is generally adopted for testing general perception camera equipment, and the key of the test mode is the comprehensiveness of a test scene library. Meanwhile, the test does not fully consider the environment of the visual perception equipment and the variability of the self state, which causes insufficient evaluation of the dynamic perception performance of the visual perception camera equipment. Especially, for the visual perception device carried on the intelligent ship, different motion forms can be generated along with the six-degree-of-freedom motion of the intelligent ship, the error of a perception result can be caused, and when the perception error reaches a certain degree, the safety or navigation performance of the intelligent ship can be possibly influenced.
At the present stage, a simulation test system special for the visual perception equipment carried by the intelligent ship does not exist, and a specific scheme for solving the test problem of the ship-borne visual perception equipment does not exist.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems, the present invention provides a simulation test system and method for a shipborne visual perception device.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
a simulation test system for an onboard visual perception device, the system comprising: the device comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module;
the data acquisition module is connected with the data processing module;
the data processing module is connected with the result display module;
the control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform;
the ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack;
the ship motion simulation platform is used for simulating ship motion;
the virtual scene display module is used for displaying the virtual scene specified by the control module;
the data acquisition module is used for acquiring real-time data generated by the visual perception equipment in real time;
the data processing module is used for processing the data generated by the visual perception equipment and can read in and apply processing algorithms of different visual perception modules;
the result display module is used for displaying the image information obtained by processing, the motion parameter information when the ship motion simulation platform simulates the ship motion and the data obtained by the visual perception equipment through algorithm processing in real time;
the control module is used for selecting a virtual scene, transmitting virtual scene information to the virtual scene display module, generating data for simulating the six-degree-of-freedom motion of a ship and transmitting the data to the ship motion simulation platform, so that the ship motion simulation platform generates the six-degree-of-freedom motion corresponding to the virtual scene, the influence of the self motion of the ship on the visual perception equipment is simulated, and meanwhile, the simulated data synchronously enter the result display module.
Optionally, the vessel motion simulation platform comprises: a rocking motion simulator and a translational motion simulator;
the swaying motion simulation device is used for simulating rolling, pitching, yawing and heaving motions generated by a ship.
And the translational motion simulation device is used for simulating the speed command motion of the ship in the X-axis direction and the Y-axis direction.
Optionally, the data for driving the ship motion simulation platform to move corresponds to data of a display picture of the virtual scene display module.
Optionally, the control module includes a computer control system for controlling the virtual scene change, a computer control system for controlling the motion of the simulated motion platform, and a computer control system for controlling the test duration;
the computer control system for controlling the virtual scene change is used for selecting different virtual scenes from a virtual scene library and transmitting the information to the virtual scene display module.
Optionally, the virtual scene library includes:
the method comprises the following steps of (1) setting a ship speed setting area, a ship course change setting area, a sea weather setting area, a sea area setting area, an illumination mode setting area, a traffic volume setting area and an obstacle setting area;
the ship navigation speed setting area is used for dynamically displaying the virtual scene at different speeds so as to test the environment perception capability of the visual perception equipment of the ship at different navigation speeds;
the ship course setting area is used for enabling the virtual scene to be dynamically displayed at different display angles so as to test the environment perception capability of the visual perception equipment under different steering angular speeds of the ship;
the maritime weather setting area is used for enabling the virtual scene to display navigation scenes in different weathers so as to test the environment perception capability of the visual perception equipment of the ship in different weather conditions;
the sea area setting area is used for enabling the virtual scene to display navigation scenes in different sea areas so as to test the environment sensing capability of the visual sensing equipment of the ship under different water area environment conditions;
the illumination mode setting area is used for enabling the virtual scene to display a navigation scene in different illumination modes so as to test the environment perception capability of the visual perception equipment of the ship in different illumination modes;
the traffic volume setting area is used for enabling the virtual scene to display a navigation scene with different other ships so as to test the environment perception capability of the visual perception equipment under different traffic volume environmental conditions;
and the barrier setting area is used for displaying a navigation scene with different barriers in the virtual scene so as to test the environment perception capability of the visual perception equipment in the environment with different barriers.
Optionally, the weather setting area enables the weather displayed by the virtual scene to be one or more of the following: rain, fog, snow, hail; the maritime weather setting area enables the weather to be displayed on the virtual scene, and simultaneously enables the weather displaying degree of the virtual scene to be changed;
the sea area setting area enables the sea area displayed by the virtual scene to be a wide water area and/or a narrow water channel;
the illumination mode setting area enables an illumination mode displayed by the virtual scene to be formed by an illumination mode, illumination intensity and a solar illumination angle;
the illumination model is backlight, backlight or sidelight;
the illumination intensity is dawn, morning, noon, afternoon or dusk;
the traffic volume setting area enables other ships displayed by the virtual scene to have one or more of the following differences: the number is different, the types of ships are different, and the sizes of the ships are different;
the obstacle setting area enables the obstacle displayed in the virtual scene to have one or more of the following properties: type, size, motion state;
the barrier type is static and dynamic, or the barrier type is marine organism, glacier, floating garbage belt, ocean platform, fan and buoy.
Optionally, the computer control system for controlling virtual scene change is configured to select at least one setting area from a virtual scene library to combine into virtual scene information, transmit the virtual scene information to a database of the virtual scene library, select a corresponding scene display picture from the database of the virtual scene library, and transmit the scene display picture to the virtual scene display module;
the scene display picture is formed by selecting, classifying and combining actual picture data samples collected by the visual perception equipment in an actual sailing ship.
Optionally, the result display module displays the data of the visual perception device in real time as one or more of the following: the method comprises the following steps of various target sensing quantity, sensing rate, sensing accuracy, response time, target tracking accuracy, target speed tracking error, target direction tracking error and target size error.
In order to achieve the above purpose, the main technical solution adopted by the present invention further comprises:
a simulation test method for an onboard visual perception device, the method comprising:
performing n times of hardware-in-loop simulation tests on the visual perception equipment and/or performing m times of simulation tests on a visual perception algorithm;
if n times of hardware-in-loop simulation test result a1,…,anThe error between the two hardware-in-loop simulation test results meets the preset hardware relationship, and the obtained hardware-in-loop simulation test result is
If n times of hardware-in-loop simulation test result a1,…,anIf the error between the two does not meet the preset hardware relationship, the process of the visual perception equipment is executed againPerforming n times of hardware-in-loop simulation test and subsequent steps;
if the vision perception algorithm is simulated and tested m times, the result c1,…,cmThe error between the two meets the preset software relationship, and the simulation test result of the visual perception algorithm is obtained as
If the vision perception algorithm is simulated and tested m times, the result c1,…,cmIf the error between the two steps meets the preset software relationship, the step of performing m times of simulation tests on the visual perception algorithm and the subsequent steps are executed again;
the visual perception equipment is fixed on a ship motion simulation platform and moves along with the motion of the ship motion simulation platform every time when hardware-in-loop simulation test is carried out on the visual perception equipment; sensing data measured by the sensing equipment enters the data processing module through the data acquisition module; the data processing module compares the transmitted data with scene sample data transmitted by a database in the control module, and displays the comparison result on the result display module;
when the simulation test is performed on the visual perception algorithm each time, known visual perception data is input into the data acquisition module, the data acquisition module transmits the input data into the processing module, and the data processing module performs the simulation test on the visual perception algorithm based on the transmitted data;
n is a preset number, and m is a preset number.
Optionally, the hardware relationship is: the sum of all the first values being less than or equal to
Wherein the first value is a1,…,anSquare of the difference between any two of (a) and (b)1Is a preset hardware error threshold;
the software relationship is as follows: the sum of all second values being less than or equal to
Wherein the content of the first and second substances,the second value is c1,…,cmSquare of the difference between any two of (a) and (b)2Is a preset software error threshold.
(III) advantageous effects
The invention has the beneficial effects that: the system comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module; the data acquisition module is connected with the data processing module; the data processing module is connected with the result display module; the control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform; the ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack. The influence of the motion of the ship on the sensing equipment is simulated, a more accurate performance evaluation result of the sensing equipment is obtained, the error of hardware in-loop test and real ship test of the sensing equipment on the sensing result is reduced, the safety of the real ship test is improved, and the problems of comprehensiveness of simulation test of the ship-mounted visual sensing equipment and reliability of the test result are solved.
Drawings
Fig. 1 is a schematic structural diagram of a simulation test system for a shipborne visual perception device according to an embodiment of the present application.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to verify the perception reliability of the visual perception equipment, the corresponding visual perception equipment needs to be tested, and the simulation test is a good method for reducing the test risk, shortening the test time and reducing the test cost. At present, a uniform black box test is generally adopted for testing general perception camera equipment, and the key of the test mode is the comprehensiveness of a test scene library. Meanwhile, the test does not fully consider the environment of the visual perception equipment and the variability of the self state, which causes insufficient evaluation of the dynamic perception performance of the visual perception camera equipment. Especially, for the visual perception device carried on the intelligent ship, different motion forms can be generated along with the six-degree-of-freedom motion of the intelligent ship, the error of a perception result can be caused, and when the perception error reaches a certain degree, the safety or navigation performance of the intelligent ship can be possibly influenced.
However, at the present stage, a simulation test system special for the visual perception equipment carried by the intelligent ship does not exist, and a specific scheme for solving the test problem of the ship-mounted visual perception equipment does not exist.
The application provides a simulation test system for visual perception equipment carried by an intelligent ship, and a comprehensive intelligent ship simulation test scene library is established aiming at the system, so that the problems of comprehensiveness of simulation tests of the ship-mounted visual perception equipment and reliability of test results can be solved.
Referring to fig. 1, the present application provides a simulation test system for a shipborne visual perception device, comprising: the device comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module.
The data acquisition module is connected with the data processing module.
The data processing module is connected with the result display module.
The control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform.
The ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack.
The ship motion simulation platform is used for simulating ship motion.
And the virtual scene display module is used for displaying the virtual scene specified by the control module.
And the data acquisition module is used for acquiring real-time data generated by the visual perception equipment in real time.
And the data processing module is used for processing the data generated by the visual perception equipment and can read in and apply the processing algorithms of different visual perception modules.
And the result display module is used for displaying the image information obtained by the processing, the motion parameter information when the ship motion simulation platform simulates the ship motion and the data obtained by the visual perception equipment through the algorithm processing in real time.
And the control module is used for selecting a virtual scene, transmitting the virtual scene information to the virtual scene display module, generating data for simulating the six-degree-of-freedom motion of the ship and transmitting the data to the ship motion simulation platform so that the ship motion simulation platform generates the six-degree-of-freedom motion corresponding to the virtual scene, so that the influence of the self motion of the ship on the visual perception equipment is simulated, and meanwhile, the simulated data synchronously enter the result display module.
Specifically, the ship motion simulation platform includes: a rocking motion simulator and a translation motion simulator.
The swaying motion simulator is used for simulating the swaying, pitching, yawing, pitching and heaving motions generated by the ship.
And the translational motion simulation device is used for simulating the speed command motion of the ship in the X-axis direction and the Y-axis direction.
In addition, the data for driving the ship motion simulation platform to move corresponds to the data of the display picture of the virtual scene display module.
And the control module comprises a computer control system for controlling the virtual scene change, a computer control system for controlling the motion of the simulated motion platform and a computer control system for controlling the test duration.
And the computer control system is used for selecting different virtual scenes from the virtual scene library and transmitting the information to the virtual scene display module.
A virtual scene library comprising:
the method comprises the following steps of setting a ship speed setting area, a ship course change setting area, a sea weather setting area, a sea area setting area, an illumination mode setting area, a traffic volume setting area and an obstacle setting area.
And the ship navigational speed setting area is used for dynamically displaying the virtual scene at different speeds so as to test the environmental perception capability of the visual perception equipment of the ship at different navigational speeds.
And the ship course setting area is used for enabling the virtual scene to be dynamically displayed at different display angles so as to test the environment perception capability of the visual perception equipment of the ship at different steering angular speeds.
And the marine weather setting area is used for enabling the virtual scene to display a navigation scene under different weather conditions so as to test the environment perception capability of the visual perception equipment of the ship under different weather conditions.
And the sea area setting area is used for enabling the virtual scene to display navigation scenes in different sea areas so as to test the environment sensing capability of the visual sensing equipment of the ship under different water area environment conditions.
And the illumination mode setting area is used for enabling the virtual scene to display a navigation scene in different illumination modes so as to test the environment perception capability of the visual perception equipment of the ship in different illumination modes.
And the traffic volume setting area is used for enabling the virtual scene to display a navigation scene with different other ships so as to test the environment perception capability of the ship under different traffic volume environmental conditions by the visual perception equipment.
And the barrier setting area is used for enabling the virtual scene to display a navigation scene with different barriers so as to test the environment perception capability of the visual perception equipment of the ship in the environment with different barriers.
The sea weather setting area enables the weather displayed by the virtual scene to be one or more of the following: rain, fog, snow, hail. In addition, the marine weather setting area causes the weather to be displayed in the virtual scene and also causes the degree of the weather displayed in the virtual scene to change.
I.e. weather of different intensity, such as light rain, medium rain, heavy rain, light fog, medium fog, heavy fog, strong heavy fog, small snow, medium snow, large snow, light hail, medium hail, heavy hail.
The sea area setting area enables the sea area displayed by the virtual scene to be a wide water area and/or a narrow water channel.
The illumination mode setting area causes the illumination mode for displaying the virtual scene to be formed by the illumination mode, the illumination intensity, and the sun illumination angle.
The illumination mode is backlight, or sidelight.
The illumination intensity is dawn, morning, noon, afternoon, or dusk.
The traffic volume setting area makes other ships displayed in the virtual scene have one or more of the following differences: the number is different, the ship type is different, and the ship size is different.
The obstacle setting area causes an obstacle displayed in the virtual scene to have one or more of the following attributes: type, size, motion state;
the type of the barrier is static and dynamic, or the type of the barrier is marine life, glaciers, a floating garbage belt, an ocean platform, a fan and a buoy.
For example, the obstacle setting area allows the virtual scene to display large marine life, large glaciers, large floating garbage belts, ocean platforms, fans, buoys, and the like.
The computer control system is used for selecting at least one set area from the virtual scene library to combine into virtual scene information, transmitting the virtual scene information to the database of the virtual scene library, selecting a corresponding scene display picture from the database of the virtual scene library, and transmitting the scene display picture to the virtual scene display module.
The scene display picture is formed by selecting, classifying and combining actual picture data samples acquired by visual perception equipment in an actual sailing ship.
The data processing module is an image processor.
The result display module displays the data of the visual perception device in real time as one or more of the following: the method comprises the following steps of various target sensing quantity, sensing rate, sensing accuracy, response time, target tracking accuracy, target speed tracking error, target direction tracking error and target size error.
The simulation test system for the shipborne visual perception equipment comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module.
The ship motion simulation platform is a device capable of simulating ship motion, and comprises a swinging motion simulation device and a translation motion simulation device.
The swaying motion simulation device can simulate the swaying, pitching, yawing, pitching and heaving motions generated by a ship.
The translational motion simulation device can simulate the speed command motion of the ship in the X-axis direction and the Y-axis direction.
The data for driving the virtual scene display module to move corresponds to the data of the display picture of the virtual scene display module;
the control module mainly comprises a computer control system for controlling virtual scene change, a computer control system for controlling the motion of the simulated motion platform and a computer control system for controlling the test duration.
The computer control system for controlling the virtual scene change is mainly used for selecting different virtual scenes from a virtual scene library and transmitting the information to the virtual scene display module.
The virtual scene library comprises 7 parts, namely a ship speed setting area, a ship course change setting area, a sea weather setting area, a sea area setting area, an illumination angle setting area, a traffic volume setting area and an obstacle setting area. The following are introduced for each region:
the ship navigational speed setting area enables the virtual scene to be dynamically displayed at different speeds, and aims to test the environmental perception capability of the visual perception equipment of the ship at different navigational speeds.
The ship course setting area enables the virtual scene to be dynamically displayed at different display angles, and aims to test the environment perception capability of the ship visual perception equipment at different steering angular speeds.
The maritime weather setting area enables the virtual scene to display navigation scenes in different weathers, including weathers such as rain, fog, snow and hail in different degrees, and aims to test the environment perception capability of the visual perception equipment of the ship under different weather conditions.
The sea area setting area is a navigation scene which enables the virtual scene to display different sea areas, comprises a wide water area and a narrow water channel, and aims to test the environment sensing capability of the visual sensing equipment of the ship under different water area environmental conditions.
The illumination mode setting area enables the virtual scene to display a navigation scene under different illumination modes, and comprises three illumination modes of backlight, sidelight, dawn light, morning light, noon light, afternoon light and dusk light, and five illumination intensities of different sun illumination angles, wherein elements in the illumination modes, the sun illumination angles and the illumination intensities can be combined at will to form a plurality of different illumination modes, and the purpose is to test the environment perception capability of the visual perception equipment of the ship under different illumination modes.
The traffic volume setting area is used for enabling the virtual scene to display navigation scenes with different other ships, including different quantities, different ship types and different ship sizes, and aims to test the environment sensing capacity of the ship visual sensing equipment under different traffic volume environment conditions.
The barrier setting area is used for displaying a navigation scene with different barriers in a virtual scene, and the navigation scene comprises common barriers of different types, static barriers, dynamic barriers and barriers of different sizes, and aims to test the environment sensing capability of the visual sensing equipment of the ship in the environment with the different barriers.
The seven setting areas of the virtual scene library can be combined at will to form comprehensive virtual navigation scene information which is transmitted to the database of the virtual scene library, and the corresponding scene display picture is selected from the database.
The scene pictures displayed in the database of the virtual scene library are obtained by selecting, classifying and combining actual picture data samples acquired by visual perception equipment in an actual sailing ship.
The virtual scene display module is a display device for displaying the virtual scene designated by the control module.
The data acquisition module is a device capable of acquiring real-time data generated by the detected visual perception equipment in real time.
The data processing module is an image processor used for processing data generated by the detected visual perception device and can read and apply processing algorithms of different visual perception modules.
The processing result display module can display the processed image information and data such as perception rate, perception accuracy rate, response time and the like of the visual perception device in real time.
The control module selects the virtual scene to be displayed and transmits information to the virtual scene display module, and simultaneously, data of six-degree-of-freedom motion simulating self motion of the ship is transmitted to the simulated motion platform to generate the six-degree-of-freedom motion corresponding to the virtual scene, so that the influence of the self motion of the ship on the visual perception equipment is simulated to the maximum extent, and meanwhile, the data of the sample synchronously enters the processing result display module.
The simulation test system for the shipborne visual perception equipment can be used for carrying out simulation test. Specifically, hardware-in-loop simulation test can be performed on the visual perception device through the simulation test system for the shipborne visual perception device, and simulation test can be performed on the visual perception algorithm through the simulation test system for the shipborne visual perception device.
In specific implementation, n times of hardware-in-loop simulation tests are carried out on the visual perception equipment and/or m times of simulation tests are carried out on the visual perception algorithm.
If n times of hardware-in-loop simulation test result a1,…,anThe error between the two hardware-in-loop simulation test results meets the preset hardware relationship, and the obtained hardware-in-loop simulation test result is
If n times of hardware-in-loop simulation test result a1,…,anIf the error between the two steps does not meet the preset hardware relationship, the step of performing n times of hardware-in-loop simulation tests on the visual perception equipment and the subsequent steps are executed again.
If the vision perception algorithm is simulated and tested m times, the result c1,…,cmThe error between the two meets the preset software relationship, and the simulation test result of the visual perception algorithm is obtainedIs composed of
If the vision perception algorithm is simulated and tested m times, the result c1,…,cmIf the error between the two steps meets the preset software relationship, the step of performing m times of simulation tests on the visual perception algorithm and the subsequent steps are executed again.
n is a preset number, and m is a preset number.
The hardware relationship is as follows: the sum of all the first values being less than or equal to
Wherein the first value is a1,…,anSquare of the difference between any two of (a) and (b)1Is a preset hardware error threshold.
The software relationship is as follows: the sum of all second values being less than or equal to
Wherein the second value is c1,…,cmSquare of the difference between any two of (a) and (b)2Is a preset software error threshold.
Taking 3 times of hardware-in-loop simulation test on the visual perception device as an example, the test data obtained by the 3 times of hardware-in-loop simulation test are a1,a2,a3When (a)1-a2)2+(a1-a3)2+(a2-a3)2≤3b2Then the final output test result is
When (a)1-a2)2+(a1-a3)2+(a2-a3)2>3b2If so, Error is output and the test is prompted to restart.
The visual perception device is fixed on the ship motion simulation platform and moves along with the motion of the ship motion simulation platform when the hardware-in-loop simulation test is carried out on the visual perception device every time. And the sensing data measured by the sensing equipment enters the data processing module through the data acquisition module. The data processing module compares the transmitted data with scene sample data transmitted by a database in the control module, and displays the comparison result on the result display module.
When the visual perception algorithm is subjected to simulation test every time, known visual perception data are input into the data acquisition module, the data acquisition module transmits the input data into the processing module, and the data processing module carries out simulation test on the visual perception algorithm based on the transmitted data.
For example, when the hardware-in-the-loop simulation test is performed on the visual perception device, the visual perception device to be tested is fixed on the ship state simulation module and moves along with the motion of the simulated motion platform.
The ship self-state simulation module and the virtual scene display module are connected with the control module, and the control module realizes synchronous control of the ship self-state simulation module and the virtual scene display module.
The detected visual perception device is connected with the data acquisition module, and the data acquisition module and the processing result display module are connected to the data processing module, so that perception data measured by the perception device enters the data processing module for processing through the acquisition of the data acquisition module, then is compared with scene sample data transmitted by a database of the control module, and a final comparison result is displayed on the display module.
When the visual perception algorithm is subjected to simulation test, known visual perception data is directly input into the data acquisition module, and then the visual perception algorithm is subjected to simulation test to verify the usability of the visual perception algorithm.
The application provides a simulation test system for ship-borne vision perception equipment, can not only carry out the simulation test of hardware in the ring to vision perception equipment, can also carry out the simulation test to the vision perception algorithm.
The control module in the simulation test system of the shipborne visual perception device selects the virtual scene to be displayed and transmits information to the virtual scene display module, and meanwhile, the data of the six-degree-of-freedom motion simulating the self motion of the ship is transmitted to the motion simulating platform to generate the six-degree-of-freedom motion corresponding to the virtual scene, so that the influence of the self motion of the ship on the visual perception device is simulated to the maximum degree, and meanwhile, the data of the sample can synchronously enter the processing result display module.
In addition, the simulation test method for the shipborne visual perception device can be used for testing the visual perception algorithm independently, and can also be used for testing the visual perception device and the visual perception algorithm in a combined and common mode. The influence of the motion of the ship on the sensing equipment can be simulated, and a more accurate performance evaluation result of the sensing equipment is obtained. The method can reduce the error of hardware-in-loop test and real ship test of the sensing equipment on the sensing result, and increase the safety of real ship test.
During simulation testing, the complex scene library combined by seven dimensions is adopted, so that the richness of the testing can be increased, and the reliability of the sensing equipment in working on a real ship can be verified at the same time.
The system provided by the invention comprises: the device comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module; the data acquisition module is connected with the data processing module; the data processing module is connected with the result display module; the control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform; the ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack. The influence of the motion of the ship on the sensing equipment is simulated, a more accurate performance evaluation result of the sensing equipment is obtained, the error of hardware in-loop test and real ship test of the sensing equipment on the sensing result is reduced, the safety of the real ship test is improved, and the problems of comprehensiveness of simulation test of the ship-mounted visual sensing equipment and reliability of the test result are solved.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A simulation test system for an onboard visual perception device, the system comprising: the device comprises an equipment fixing rack, a virtual scene display module, a ship motion simulation platform, a control module, a data acquisition module, a data processing module and a result display module;
the data acquisition module is connected with the data processing module;
the data processing module is connected with the result display module;
the control module is respectively connected with the result display module, the virtual scene display module and the ship motion simulation platform;
the ship motion simulation platform is connected with the visual perception equipment through the equipment fixing rack;
the ship motion simulation platform is used for simulating ship motion;
the virtual scene display module is used for displaying the virtual scene specified by the control module;
the data acquisition module is used for acquiring real-time data generated by the visual perception equipment in real time;
the data processing module is used for processing the data generated by the visual perception equipment and can read in and apply processing algorithms of different visual perception modules;
the result display module is used for displaying the image information obtained by processing, the motion parameter information when the ship motion simulation platform simulates the ship motion and the data obtained by the visual perception equipment through algorithm processing in real time;
the control module is used for selecting a virtual scene, transmitting virtual scene information to the virtual scene display module, generating data for simulating the six-degree-of-freedom motion of a ship and transmitting the data to the ship motion simulation platform, so that the ship motion simulation platform generates the six-degree-of-freedom motion corresponding to the virtual scene, the influence of the self motion of the ship on the visual perception equipment is simulated, and meanwhile, the simulated data synchronously enter the result display module.
2. The system of claim 1, wherein the vessel motion simulation platform comprises: a rocking motion simulator and a translational motion simulator;
the swaying motion simulation device is used for simulating rolling, pitching, yawing and heaving motions generated by a ship.
And the translational motion simulation device is used for simulating the speed command motion of the ship in the X-axis direction and the Y-axis direction.
3. The system of claim 1, wherein the data driving the vessel motion simulation platform into motion corresponds to data of a display of the virtual scene display module.
4. The system of claim 1, wherein the control module comprises a computer control system for controlling virtual scene changes, a computer control system for controlling motion of the simulated motion platform, and a computer control system for controlling test duration;
the computer control system for controlling the virtual scene change is used for selecting different virtual scenes from a virtual scene library and transmitting the information to the virtual scene display module.
5. The system of claim 4, wherein the virtual scene library comprises:
the method comprises the following steps of (1) setting a ship speed setting area, a ship course change setting area, a sea weather setting area, a sea area setting area, an illumination mode setting area, a traffic volume setting area and an obstacle setting area;
the ship navigation speed setting area is used for dynamically displaying the virtual scene at different speeds so as to test the environment perception capability of the visual perception equipment of the ship at different navigation speeds;
the ship course setting area is used for enabling the virtual scene to be dynamically displayed at different display angles so as to test the environment perception capability of the visual perception equipment under different steering angular speeds of the ship;
the maritime weather setting area is used for enabling the virtual scene to display navigation scenes in different weathers so as to test the environment perception capability of the visual perception equipment of the ship in different weather conditions;
the sea area setting area is used for enabling the virtual scene to display navigation scenes in different sea areas so as to test the environment sensing capability of the visual sensing equipment of the ship under different water area environment conditions;
the illumination mode setting area is used for enabling the virtual scene to display a navigation scene in different illumination modes so as to test the environment perception capability of the visual perception equipment of the ship in different illumination modes;
the traffic volume setting area is used for enabling the virtual scene to display a navigation scene with different other ships so as to test the environment perception capability of the visual perception equipment under different traffic volume environmental conditions;
and the barrier setting area is used for displaying a navigation scene with different barriers in the virtual scene so as to test the environment perception capability of the visual perception equipment in the environment with different barriers.
6. The system of claim 5, wherein the maritime weather setting zone causes the virtual scene to display weather that is one or more of: rain, fog, snow, hail; the maritime weather setting area enables the weather to be displayed on the virtual scene, and simultaneously enables the weather displaying degree of the virtual scene to be changed;
the sea area setting area enables the sea area displayed by the virtual scene to be a wide water area and/or a narrow water channel;
the illumination mode setting area enables an illumination mode displayed by the virtual scene to be formed by an illumination mode, illumination intensity and a solar illumination angle;
the illumination model is backlight, backlight or sidelight;
the illumination intensity is dawn, morning, noon, afternoon or dusk;
the traffic volume setting area enables other ships displayed by the virtual scene to have one or more of the following differences: the number is different, the types of ships are different, and the sizes of the ships are different;
the obstacle setting area enables the obstacle displayed in the virtual scene to have one or more of the following properties: type, size, motion state;
the barrier type is static and dynamic, or the barrier type is marine organism, glacier, floating garbage belt, ocean platform, fan and buoy.
7. The system according to claim 6, wherein the computer control system for controlling the virtual scene change is configured to select at least one setting area from a virtual scene library to combine into virtual scene information, transmit the virtual scene information to a database of the virtual scene library, select a corresponding scene display from the database of the virtual scene library, and transmit the scene display to the virtual scene display module;
the scene display picture is formed by selecting, classifying and combining actual picture data samples collected by the visual perception equipment in an actual sailing ship.
8. The system of claim 1, wherein the results display module displays the data of the visual perception device in real time as one or more of: the method comprises the following steps of various target sensing quantity, sensing rate, sensing accuracy, response time, target tracking accuracy, target speed tracking error, target direction tracking error and target size error.
9. A simulation test method for an onboard visual perception device, the method comprising:
performing n times of hardware-in-loop simulation tests on the visual perception equipment and/or performing m times of simulation tests on a visual perception algorithm;
if n times of hardware-in-loop simulation test result a1,…,anThe error between the two hardware-in-loop simulation test results meets the preset hardware relationship, and the obtained hardware-in-loop simulation test result is
If n times of hardware-in-loop simulation test result a1,…,anIf the error between the two hardware-in-loop simulation tests does not meet the preset hardware relationship, the step of performing n times of hardware-in-loop simulation tests on the visual perception equipment and the subsequent steps are executed again;
if the vision perception algorithm is simulated and tested m times, the result c1,…,cmThe error between the two meets the preset software relationship, and the simulation test result of the visual perception algorithm is obtained as
If the vision perception algorithm is simulated and tested m times, the result c1,…,cmIf the error between the two steps meets the preset software relationship, the step of performing m times of simulation tests on the visual perception algorithm and the subsequent steps are executed again;
the visual perception equipment is fixed on a ship motion simulation platform and moves along with the motion of the ship motion simulation platform every time when hardware-in-loop simulation test is carried out on the visual perception equipment; sensing data measured by the sensing equipment enters the data processing module through the data acquisition module; the data processing module compares the transmitted data with scene sample data transmitted by a database in the control module, and displays the comparison result on the result display module;
when the simulation test is performed on the visual perception algorithm each time, known visual perception data is input into the data acquisition module, the data acquisition module transmits the input data into the processing module, and the data processing module performs the simulation test on the visual perception algorithm based on the transmitted data;
n is a preset number, and m is a preset number.
10. The method of claim 9, wherein the hardware relationship is: the sum of all the first values being less than or equal to
Wherein the first value is a1,…,anSquare of the difference between any two of (a) and (b)1Is a preset hardware error threshold;
the software relationship is as follows: the sum of all second values being less than or equal to
Wherein the second value is c1,…,cmSquare of the difference between any two of (a) and (b)2Is a preset software error threshold.
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