CN113602416A

CN113602416A - Unmanned ship vision perception system

Info

Publication number: CN113602416A
Application number: CN202110911270.8A
Authority: CN
Inventors: 刘鑫; 李峰; 肖长诗
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-05

Abstract

The invention discloses a visual perception system of an unmanned ship, which comprises a laser radar, a transmission antenna, a lifting mechanism, a panoramic camera, a fixed box, a protection mechanism, an unmanned ship body, a driving motor, a propeller, an image collection module, an image processing module, a waveband collection module, a data fusion module, an industrial personal computer module, a data storage module, a wireless transmission module, a coordinate positioning module, a map generation module, a path planning module, a driving module and a millimeter wave radar, wherein the mixed perception is carried out through the laser radar, the panoramic camera and the millimeter wave radar, the perception accuracy is favorably improved, in addition, through the arrangement of the image processing module, the defogging strengthening method based on dark channel prior is utilized to defogging pictures, the perception capability of the unmanned ship under severe weather is favorably improved, and through the arrangement of the lifting mechanism, the lifting of the panoramic camera is realized, the method is beneficial to enlarging the shooting range of the panoramic camera and reducing the shooting dead angle.

Description

Unmanned ship vision perception system

Technical Field

The invention relates to the technical field of unmanned ships, in particular to an unmanned ship vision perception system.

Background

The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task without remote control by means of accurate satellite positioning and self sensing, English is abbreviated as USV, nowadays, many countries have started to develop unmanned ships, and some shipyards have even optimistic predictions: perhaps only decades, developing mature "ghost boat" technology will overwrite the appearance of global ocean-going transport.

The unmanned ship on the market is various and can basically meet the use requirements of people, but certain defects still exist, and the specific problems are as follows.

(1) The existing visual perception system of the unmanned ship mainly depends on radar and a camera for perception, although the accuracy of the camera and the radar is high at present, the perception accuracy is reduced due to poor interference capability, especially in a heavy fog day, and the driving safety is reduced;

(2) the camera of the existing unmanned ship is fixed in height, the range of monitoring and shooting the surrounding environment is small, and the height of the camera is difficult to adjust according to actual conditions;

(3) install more sensor and radar around current unmanned ship hull, the debris of unmanned ship high-speed in-process of traveling can cause destruction to sensor and radar, has reduced the life of equipment to adopt fixed protector, overhaul inconvenient, waste time and energy, reduced the practicality of equipment.

Disclosure of Invention

The invention aims to provide a visual perception system of an unmanned ship, which aims to solve the problems of poor anti-interference capability, fixed camera height and low practicability in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the unmanned ship vision perception system comprises a first solar panel, a laser radar, a transmission antenna, a lifting mechanism, a bottom plate, a panoramic camera, a second solar panel, a fixed box, a protection mechanism, a through hole, a warning lamp, an unmanned ship body, a driving motor, a propeller, a mounting seat, an image collection module, an image processing module, a waveband collection module, a data fusion module, an industrial personal computer module, a data storage module, a wireless transmission module, a coordinate positioning module, a map generation module, a path planning module, a driving module and a millimeter wave radar, wherein the fixed box is arranged at the top center of the unmanned ship body, and the image collection module, the image processing module, the waveband collection module, the data fusion module, the industrial personal computer module, the data storage module, the wireless transmission module, the coordinate positioning module, the map generation module, a camera and a camera, Route planning module and drive module, the image collection module, image processing module and wave band collection module are located data fusion module top, and data fusion module is located industrial computer module top, industrial computer module is located data storage module, wireless transmission module, coordinate positioning module, map generation module, route planning module and drive module top, fixed box top center ann is equipped with elevating system, and fixed box top one side installs laser radar, four through-holes have evenly been seted up all around to the unmanned ship main part, and install protection machanism on the inner wall of the unmanned ship main part of through-hole position.

Preferably, the protection machanism includes glass steel baffle, the rack, the gear, first servo motor, the dead lever, the connecting rod, slider and slide rail, the inner wall top and the bottom of the unmanned ship main part of through-hole position are fixedly connected with slide rail respectively, and slide rail one side is sliding connection respectively has the slider relatively, the relative one side of slider respectively with glass steel baffle top and bottom fixed connection, and glass steel baffle one side center-mounting has the rack, the outer peripheral toothing of rack one side and gear, and the gear cup joints and fixes at the output of first servo motor, glass steel baffle one side is provided with the millimeter wave radar, and the millimeter wave radar is evenly installed everywhere at unmanned ship main part inside wall.

Preferably, the fixed end of the first servo motor is welded with a connecting rod, the top of the connecting rod is fixedly connected with one side of the bottom of the fixed rod, and the fixed rod is fixedly welded on the top of the inner wall of the unmanned ship body at the position of the through hole.

Preferably, elevating system includes fixed block, lead screw, a fixed cylinder, second servo motor, annular terminal, cushion, lifter plate, connects electrical connector and guide arm, fixed cylinder is installed to fixed box top center, and the inside top surface fixedly connected with fixed block of a fixed cylinder, the activity of fixed block center runs through there is the lead screw, and the lead screw passes through ball nut cooperation with the fixed block center and is connected, lead screw bottom center welds with second servo motor output, and second servo motor stiff end and cushion top center fixed connection, cushion bottom and lifter plate top center fixed connection.

Preferably, cushion top edge fixedly connected with annular terminal, and annular terminal top one side with connect the laminating of electric head bottom, connect electric head and the positive negative terminal electric connection of second servo motor, annular terminal passes through wire and the positive negative terminal electric connection of battery.

Preferably, guide rods are welded at four corners of the bottom of the fixed block respectively, the middle lower parts of the four guide rods movably penetrate through four corners of the top of the lifting plate respectively, and the bottoms of the four guide rods are fixedly connected with four corners of the bottom surface inside the fixed cylinder.

Preferably, the middle upper part of the screw rod movably penetrates through the center of the top of the fixed cylinder, the top of the screw rod is fixedly connected with the center of the bottom plate, and the top of the bottom plate is provided with the panoramic camera.

Preferably, transmission antennas are respectively installed on two sides of the center of the top of the fixed box, and warning lights are symmetrically installed on the top of the fixed box close to two angular positions.

Preferably, first solar panel is installed to unmanned ship main part upper surface one side, and unmanned ship main part upper surface opposite side installs second solar panel, and first solar panel and second solar panel all pass through wire and battery electric connection.

Preferably, the center of one side of unmanned ship main part bottom has the welding of mount pad, and the mount pad bottom rotates and installs driving motor, and driving motor output cup joints and is fixed with the screw.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the mixed sensing is carried out through the laser radar, the panoramic camera and the millimeter wave radar, the sensing accuracy is favorably improved, and the image is defogged by the image processing module through the defogging strengthening method based on dark channel prior, so that the sensing capability of the unmanned ship in severe weather is favorably improved, and the driving safety is improved;

2. according to the invention, through the arrangement of the lifting mechanism, the lifting of the panoramic camera is realized, the shooting range of the panoramic camera is favorably expanded, the shooting dead angle is reduced, the height of the panoramic camera is favorably adjusted according to the actual condition, and the practicability of the equipment is improved;

3. according to the invention, the glass fiber reinforced plastic baffle in the protection mechanism is arranged, so that the millimeter wave radar is protected, the millimeter wave radar is prevented from being damaged by flying stones and sundries, the service life is prolonged, and the glass fiber reinforced plastic baffle is automatically opened and closed, so that the millimeter wave radar is convenient to overhaul and maintain.

Drawings

FIG. 1 is a perspective view of the overall construction of the present invention;

FIG. 2 is an elevational view of the overall construction of the present invention;

FIG. 3 is an elevational partial cross-sectional view of the overall construction of the invention;

FIG. 4 is an enlarged view of area A of FIG. 3 according to the present invention;

FIG. 5 is a top view of the overall structure of the present invention;

FIG. 6 is a top cross-sectional view of the overall structure of the present invention;

FIG. 7 is a top partial cross-sectional view of the overall structure of the present invention;

FIG. 8 is an enlarged view of area B of FIG. 7 in accordance with the present invention;

FIG. 9 is a side view of the overall structure of the present invention;

FIG. 10 is a side partial cross-sectional view of the overall construction of the invention;

FIG. 11 is an enlarged view of area C of FIG. 10 in accordance with the present invention;

FIG. 12 is a system flow diagram of the present invention;

in the figure: 1. a first solar panel; 2. a laser radar; 3. a transmission antenna; 4. a lifting mechanism; 5. a base plate; 6. a panoramic camera; 7. a second solar panel; 8. a fixing box; 9. a protection mechanism; 10. a through hole; 11. a warning light; 12. an unmanned ship body; 13. a drive motor; 14. a propeller; 15. a mounting seat; 16. an image collection module; 17. an image processing module; 18. a band collection module; 19. a data fusion module; 20. an industrial personal computer module; 21. a data storage module; 22. a wireless transmission module; 23. a coordinate positioning module; 24. a map generation module; 25. a path planning module; 26. a drive module; 27. a millimeter wave radar; 901. a glass fiber reinforced plastic baffle; 902. a rack; 903. a gear; 904. a first servo motor; 905. fixing the rod; 906. a connecting rod; 907. a slider; 908. a slide rail; 401. a fixed block; 402. a screw rod; 403. a fixed cylinder; 404. a second servo motor; 405. a ring-shaped wiring terminal; 406. cushion blocks; 407. a lifting plate; 408. connecting a power head; 409. a guide rod.

Detailed Description

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.

Referring to fig. 1-12, an embodiment of the present invention is shown: the unmanned ship vision perception system comprises a first solar panel 1, a laser radar 2, a transmission antenna 3, a lifting mechanism 4, a bottom plate 5, a panoramic camera 6, a second solar panel 7, a fixing box 8, a protection mechanism 9, a through hole 10, a warning lamp 11, an unmanned ship body 12, a driving motor 13, a propeller 14, a mounting seat 15, an image collecting module 16, an image processing module 17, a waveband collecting module 18, a data fusion module 19, an industrial personal computer module 20, a data storage module 21, a wireless transmission module 22, a coordinate positioning module 23, a map generating module 24, a path planning module 25, a driving module 26 and a millimeter wave radar 27, wherein the mounting seat 15 is welded at the center of one side of the bottom of the unmanned ship body 12, the driving motor 13 is rotatably mounted at the bottom of the mounting seat 15, the propeller 14 is fixedly connected to the output end of the driving motor 13 in a sleeved mode, and is favorable for driving the unmanned ship body 12 through the driving motor 13 and the propeller 14, the unmanned ship comprises an unmanned ship body 12, wherein a first solar panel 1 is installed on one side of the upper surface of the unmanned ship body 12, a second solar panel 7 is installed on the other side of the upper surface of the unmanned ship body 12, the first solar panel 1 and the second solar panel 7 are both electrically connected with a storage battery through wires, the storage battery is charged through the first solar panel 1 and the second solar panel 7, a fixing box 8 is installed at the center of the top of the unmanned ship body 12, transmission antennas 3 are respectively installed on two sides of the center of the top of the fixing box 8, warning lamps 11 are symmetrically installed at positions, close to two corners, of the top of the fixing box 8, and are beneficial to the fixed installation of the transmission antennas 3 and the warning lamps 11, an image collecting module 16, an image processing module 17, a waveband collecting module 18, a data fusion module 19, a data module 20, a data storage module 21 industrial personal computer, a wireless transmission module 22, a coordinate positioning module 23, a coordinate positioning module 7, The map generation module 24, the path planning module 25 and the driving module 26, the image collection module 16, the image processing module 17 and the waveband collection module 18 are positioned above the data fusion module 19, the data fusion module 19 is positioned above the industrial personal computer module 20, the industrial personal computer module 20 is positioned above the data storage module 21, the wireless transmission module 22, the coordinate positioning module 23, the map generation module 24, the path planning module 25 and the driving module 26, the lifting mechanism 4 is arranged at the center of the top of the fixing box 8, the lifting mechanism 4 comprises a fixing block 401, a screw rod 402, a fixing cylinder 403, a second servo motor 404, an annular binding post 405, a cushion block 406, a lifting plate 407, an electric connector 408 and a guide rod 409, the fixing cylinder 403 is arranged at the center of the top of the fixing box 8, the fixing block 401 is fixedly connected to the top surface of the fixing cylinder 403, the screw rod 402 is movably penetrated through the center of the fixing block 401, and the screw rod 402 is connected with the center of the fixing block 401 through a ball nut, the center of the bottom end of the screw rod 402 is welded with the output end of a second servo motor 404, the fixed end of the second servo motor 404 is fixedly connected with the center of the top of a cushion block 406, the bottom of the cushion block 406 is fixedly connected with the center of the top of a lifting plate 407, the edge of the top of the cushion block 406 is fixedly connected with an annular binding post 405, one side of the top of the annular binding post 405 is attached to the bottom of an electrical connection head 408, the electrical connection head 408 is electrically connected with positive and negative binding posts of the second servo motor 404, the annular binding post 405 is electrically connected with positive and negative poles of a storage battery through a lead wire, so that the second servo motor 404 can be kept energized when rotating, guide rods 409 are respectively welded at four corners of the bottom of the fixed block 401, the middle lower parts of the four guide rods 409 respectively and movably penetrate through four corners of the top of the lifting plate 407, the bottoms of the four guide rods 409 are fixedly connected with the positions of the bottom surface of the inner part of the fixed cylinder 409, so that the movement direction of the lifting plate 407 can be kept through the guide rods 403, the middle upper part of the screw rod 402 movably penetrates through the center of the top of the fixed cylinder 403, the top of the screw rod 402 is fixedly connected with the center of the bottom plate 5, the top of the bottom plate 5 is provided with the panoramic camera 6, one side of the top of the fixed box 8 is provided with the laser radar 2, four through holes 10 are uniformly formed around the unmanned ship main body 12, the inner wall of the unmanned ship main body 12 at the positions of the through holes 10 is provided with the protection mechanism 9, the protection mechanism 9 comprises a glass steel baffle 901, a rack 902, a gear 903, a first servo motor 904, a fixed rod 905, a connecting rod 906, a slide block 907 and a slide rail 908, the top and the bottom of the inner wall of the unmanned ship main body 12 at the positions of the through holes 10 are respectively and fixedly connected with the slide rail 908, the opposite side of the slide rail 908 is respectively and slidably connected with the slide block 907, the opposite side of the slide block 907 is respectively and fixedly connected with the top and the bottom of the glass steel baffle 901, and the center of one side of the glass steel baffle 901 is provided with the rack 902, rack 902 one side and the outer peripheral meshing of gear 903, and gear 903 cup joints and fixes at first servo motor 904 output, glass steel baffle 901 one side is provided with millimeter wave radar 27, and millimeter wave radar 27 evenly installs in unmanned ship main part 12 inside wall everywhere, the welding of first servo motor 904 stiff end has connecting rod 906, and connecting rod 906 top and the fixed link 905 one side fixed connection in bottom, the fixed link 905 fixed welding is at and the inner wall top of the unmanned ship main part 12 of through-hole 10 position, be favorable to protecting millimeter wave radar 27.

The working principle is as follows: when the invention is used, firstly, the panoramic camera 6 shoots the photos of the surrounding environment in real time, then the images are transmitted to the image collecting module 16, then the photos are transmitted to the image processing module 17, the defogging strengthening method based on dark channel prior is used for defogging the photos, simultaneously, the laser radar 2 and the millimeter wave radar 27 also adopt echo imaging to detect the object, the imaging is transmitted to the waveband collecting module 18, then the images processed by the image processing module 17 and the images formed by the echoes are transmitted to the data fusion module 19 for fusion, then the images are transmitted to the industrial personal computer module 20 for processing, at the moment, the industrial personal computer module 20 transmits the data to the data storage module 21 for storage and backup, at the same time, the data is transmitted to the background display through the wireless transmission module 22 for display, and the data is transmitted to the coordinate positioning module 23, the coordinates of the unmanned ship and the obstacles are positioned by using a coordinate positioning module 23, then the coordinates are positioned and transmitted to a map generating module 24, then a real-time map is generated according to a pre-stored sea map model, then a safety zone is established by one meter of the radius around the unmanned ship main body 12, a reasonable traveling route is planned by using a path planning module 25, then a driving signal is transmitted to a driving motor 13 by a driving module 26, the driving motor 13 starts to rotate, then a propeller 14 is driven to rotate, then the unmanned ship advances according to the planned safety route, the damage of stones and sundries to a millimeter wave radar 27 is favorably reduced by installing a glass fiber reinforced plastic baffle 901, the service life of the millimeter wave radar 27 is favorably prolonged, and when the maintenance is needed, a first servo motor 904 is opened, the output end of the first servo motor 904 starts to rotate, then a gear 903 is driven to rotate, then, the rack 902 is driven to slide along the direction of the sliding rail 908, the glass fiber reinforced plastic baffle 901 is opened, the millimeter wave radar 27 is convenient to overhaul and replace through the through hole 10, the first servo motor 904 is reversely rotated after the completion, the gear 903 is driven to reversely rotate, then the rack 902 is driven to reversely slide along the direction of the sliding rail 908, and the glass fiber reinforced plastic baffle 901 is immediately closed, so that the practicability of the device is improved, when the height of the panoramic camera 6 needs to be adjusted, the second servo motor 404 is opened, the output end of the second servo motor 404 starts to rotate, then the lead screw 402 is driven to rotate, because the lead screw 402 is connected with the fixed block 401 through the nut block in a matching manner, the lead screw 402 moves upwards, the bottom plate 5 is immediately driven to move upwards, then the panoramic camera 6 is driven to move upwards, the second servo motor 404 is reversely rotated, and then the downward movement of the panoramic camera 6 is realized, the lifting of the panoramic camera 6 is facilitated, the shooting range of the panoramic camera 6 is enlarged, and the height of the panoramic camera 6 can be conveniently adjusted according to actual conditions.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Unmanned ship vision perception system, including first solar panel (1), laser radar (2), transmission antenna (3), elevating system (4), bottom plate (5), panoramic camera (6), second solar panel (7), fixed box (8), protection machanism (9), through-hole (10), warning light (11), unmanned ship main part (12), driving motor (13), screw (14), mount pad (15), image collection module (16), image processing module (17), wave band collection module (18), data fusion module (19), industrial computer module (20), data storage module (21), wireless transmission module (22), coordinate positioning module (23), map generation module (24), path planning module (25), drive module (26) and millimeter wave radar (27), its characterized in that: fixed box (8) are installed at unmanned ship main part (12) top center, and the inside bottom surface of fixed box (8) installs image collection module (16) in proper order, image processing module (17), wave band collection module (18), data fusion module (19), industrial computer module (20), data storage module (21), wireless transmission module (22), coordinate positioning module (23), map generation module (24), route planning module (25) and drive module (26), image collection module (16), image processing module (17) and wave band collection module (18) are located data fusion module (19) top, and data fusion module (19) are located industrial computer module (20) top, industrial computer module (20) are located data storage module (21), wireless transmission module (22), coordinate positioning module (23), map generation module (24), Above the path planning module (25) and the driving module (26), the lifting mechanism (4) is installed at the center of the top of the fixing box (8), the laser radar (2) is installed on one side of the top of the fixing box (8), four through holes (10) are uniformly formed in the periphery of the unmanned ship main body (12), and the protecting mechanism (9) is installed on the inner wall of the unmanned ship main body (12) at the position of the through holes (10).

2. The unmanned marine vessel visual perception system of claim 1, wherein: the protection mechanism (9) comprises a glass fiber reinforced plastic baffle (901), a rack (902), a gear (903), a first servo motor (904), a fixed rod (905), a connecting rod (906), a sliding block (907) and a sliding rail (908), the top and the bottom of the inner wall of the unmanned ship body (12) at the position of the through hole (10) are respectively and fixedly connected with the sliding rail (908), and the opposite sides of the sliding rails (908) are respectively connected with a sliding block (907) in a sliding way, the opposite sides of the sliding block (907) are respectively fixedly connected with the top and the bottom of the glass fiber reinforced plastic baffle (901), and a rack (902) is arranged at the center of one side of the glass fiber reinforced plastic baffle (901), one side of the rack (902) is meshed with the outer circumference of the gear (903), the gear (903) is sleeved and fixed at the output end of the first servo motor (904), a millimeter wave radar (27) is arranged on one side of the glass fiber reinforced plastic baffle (901), and the millimeter wave radars (27) are uniformly arranged on the four positions of the inner side wall of the unmanned ship body (12).

3. The unmanned marine vessel visual perception system of claim 2, wherein: first servo motor (904) stiff end welding has connecting rod (906), and connecting rod (906) top and dead lever (905) bottom one side fixed connection, and dead lever (905) fixed welding is at the inner wall top of unmanned ship main part (12) of just through-hole (10) position.

4. The unmanned marine vessel visual perception system of claim 1, wherein: elevating system (4) are including fixed block (401), lead screw (402), solid fixed cylinder (403), second servo motor (404), annular terminal (405), cushion (406), lifter plate (407), connect electrical head (408) and guide arm (409), gu fixed cylinder (403) is installed at fixed box (8) top center, and gu fixed cylinder (403) inside top surface fixedly connected with fixed block (401), there is lead screw (402) at fixed block (401) center activity through, and lead screw (402) are connected through the ball nut cooperation with fixed block (401) center, lead screw (402) bottom center welds with second servo motor (404) output, and second servo motor (404) stiff end and cushion (406) top center fixed connection, cushion (406) bottom and lifter plate (407) top center fixed connection.

5. The unmanned marine vessel visual perception system of claim 4, wherein: cushion (406) top edge fixedly connected with annular terminal (405), and annular terminal (405) top one side with connect electrical connector (408) bottom laminating, connect electrical connector (408) and second servo motor (404) positive negative terminal electric connection, annular terminal (405) passes through wire and battery positive negative terminal electric connection.

6. The unmanned marine vessel visual perception system of claim 4, wherein: guide rods (409) are welded at four corners of the bottom of the fixing block (401) respectively, four middle and lower portions of the guide rods (409) penetrate four corners of the top of the lifting plate (407) respectively in a movable mode, and the bottoms of the four guide rods (409) are fixedly connected with four corners of the inner bottom surface of the fixing barrel (403).

7. The unmanned marine vessel visual perception system of claim 4, wherein: the middle upper part of the screw rod (402) movably penetrates through the center of the top of the fixed cylinder (403), the top of the screw rod (402) is fixedly connected with the center of the bottom plate (5), and the top of the bottom plate (5) is provided with the panoramic camera (6).

8. The unmanned marine vessel visual perception system of claim 1, wherein: transmission antennas (3) are respectively installed on two sides of the center of the top of the fixed box (8), and warning lamps (11) are symmetrically installed on the top of the fixed box (8) close to two angular positions.

9. The unmanned marine vessel visual perception system of claim 1, wherein: first solar panel (1) is installed to unmanned ship main part (12) upper surface one side, and unmanned ship main part (12) upper surface opposite side installs second solar panel (7), and first solar panel (1) and second solar panel (7) all pass through wire and battery electric connection.

10. The unmanned marine vessel visual perception system of claim 1, wherein: unmanned ship main part (12) bottom one side center welding has mount pad (15), and rotate in mount pad (15) bottom and install driving motor (13), and driving motor (13) output cup joints and is fixed with screw (14).