The invention discloses a ship-machine cooperative sea grass planting device and method, and the method comprises the steps: enabling blue-green laser emission sources to be installed at four corners above an underwater planting machine through employing the small underwater attenuation of blue-green laser, enabling an ultra-wide-angle camera to be installed below a water surface seedling storage ship, recognizing the laser emission sources through employing a target detection algorithm, and carrying out the recognition of the laser emission sources through employing a target detection algorithm; therefore, the motion of the underwater planter is tracked, and the problem of long-distance positioning of the ship machine in the vertical direction is solved. Attitude matching in the horizontal direction is realized through attitude sensors on the water surface seedling storage ship and the underwater planter; meanwhile, in order to solve the problems that the visual angle of a camera is limited due to the fact that the ship machine is too close in the shallow water terrain, a laser emission source part cannot be recognized, and the positioning precision of the machine is reduced, a reflective sticker in a special shape is installed at the right center of the machine, and a lamp strip is installed below the water surface seedling storage ship; the position of the underwater planter is accurately positioned by identifying and tracking the reflective stickers, and the tracking and electromagnetic matching precision is improved.
本发明公开了一种船机协同的海草种植设备及种植方法,利用蓝绿激光在水下衰减小的特点,将蓝绿激光发射源安装在水下种植机上方的四角,水面储苗船下方安装一个超广角摄像头,利用目标检测算法识别激光发射源,从而进行跟踪水下种植机的运动,实现船机垂直方向上远距离的定位难题;通过水面储苗船和水下种植机上的姿态传感器,实现水平方向上的姿态匹配;同时为了避免船机在水浅地形,由于距离太近而导致摄像头的视角受限问题,而导致激光发射源部分识别不到,导致机器定位的精度下降,在机器正中心安装了特殊形状的反光贴,水面储苗船下方装有灯带,通过识别跟踪反光贴来精准定位水下种植机的位置,提高跟踪和电磁匹配的精度。
Ship-machine cooperative sea grass planting equipment and planting method
一种船机协同的海草种植设备及种植方法
06.05.2025
Patent
Elektronische Ressource
Chinesisch
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