本发明公开了一种基于机器视觉的无人船自动回坞方法,包括以下步骤:S10,无人船机器视觉系统获取区域面积和中心信息;S20,通过获取到的信息进行判断,确定无人船的动作;其中,S10,无人船机器视觉系统获取区域面积和中心信息,包括以下步骤:S11,提取指定颜色区域,并转换为二值图像;S12,找到颜色区域的最大连通域,并输出面积;S13,找到最大连通域中心,并输出该点横坐标。本发明只需要配备摄像头和靶标,配置简单,算法复杂度低,对硬件要求少,且能够以较高的精度控制无人船以正确的姿态回到船坞。

    The invention discloses an unmanned ship automatic docking method based on machine vision. The method comprises the following steps that S10, obtaining a region area and center information byan unmanned ship machine vision system; s20, judging according to the collected information, and determining the action of the unmanned ship; wherein S10, the unmanned ship machine vision system obtains the area and center information of a region. The method comprises the following steps: S11, extracting a specified color region, and converting the specified color region into a binary image; s12, finding out the maximum connected domain of the color region, and outputting the area; and S13, finding out the center of the maximum connected domain, and outputting the abscissa of the point. According to the method, only the camera and the target need to be arranged, configuration is simple, algorithm complexity is low, requirements for hardware are low, and the unmanned ship can be controlled to returnto the dock in a correct posture with high precision.


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    Titel :

    基于机器视觉的无人船自动回坞方法


    Erscheinungsdatum :

    2024-02-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06V / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL