The intelligent inspection unmanned ship for the hydropower station comprises a water quality detection mechanism, a fungicide mixing mechanism, a water surface fishing mechanism, a sewage interception opening cleaning mechanism and a high-precision mapping device, by arranging a water quality detection mechanism, a microbial agent mixing mechanism, a water surface salvage mechanism, a sewage interception opening cleaning mechanism and a high-precision mapping device, the functions of water quality detection, microbial agent mixing, garbage cleaning and the like are integrated, in the aspect of self-positioning, after signals of a three-dimensional laser radar, GNSS and IMU are fused and subjected to Kalman filtering, the position and posture of a ship body are obtained, and the position and posture of the ship body are obtained; in the aspect of target identification, the unmanned ship adopts a YOLOv5 (YouOnly LookOnceVersion5) algorithm, a laser radar and a camera are fused to carry out target detection, the target can be well identified in a severe environment and at night, in the aspect of path planning, the unmanned ship adopts an A * (A-Star) algorithm and a DWA (DynamicWindows Approach) algorithm to carry out global planning and local planning respectively, a high-precision mapping device is fused with hardware equipment, and the path planning precision is improved. The unmanned ship can well achieve the functions and meet the expected requirements.
一种水电站智能巡检无人船包括:水质检测机构、菌剂混合机构、水面打捞机构、清理截污口机构和高精度建图装置;通过设置水质检测机构、菌剂混合机构、水面打捞机构、清理截污口机构和高精度建图装置,将水质检测、菌剂混合、垃圾清理等功能集于一体,在自主定位方面:对三维激光雷达、GNSS及IMU的信号进行融合及卡尔曼滤波后,获取船体的位置及姿态,在目标识别方面:无人船采用了YOLOv5(YouOnlyLookOnceVersion5)算法,融合激光雷达与相机进行目标检测,能较好地在恶劣环境与夜间识别目标,在路径规划方面:无人船采用A*(A‑Star)算法和DWA(DynamicWindowApproach)算法分别进行全局规划及局部规划,通过高精度建图装置与硬件设备融合,无人船能较好地实现上述功能,达到预期要求。
Intelligent inspection unmanned ship for hydropower station
一种水电站智能巡检无人船
2023-09-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / C02F Behandlung von Wasser, Schmutzwasser, Abwasser oder von Abwasserschlamm , TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |