The invention relates to a ship berthing system and method based on an unmanned aerial vehicle, the system comprises the unmanned aerial vehicle and a berthing device, the unmanned aerial vehicle comprises: a video acquisition module, wherein the video acquisition module is used for acquiring target object information, obstacle information and wharf berth information on a flight path of the unmanned aerial vehicle; a buoy module which is used for collecting environmental parameters and hydrological information of a ship berthing area; a local map establishing module which is used for establishing a ship local map; a path planning module which is used for planning a ship driving path according to the ship local map; and a berthing device which is used for controlling the ship to berth according to the planned ship driving path. According to the method, the unmanned aerial vehicle is used for planning the path, and compared with platform end transformation and shore base end transformation of an existing unmanned ship, the cost is greatly reduced; and on the other hand, compared with an unmanned ship, the unmanned aerial vehicle has a wider visual field and a wider communication distance, one unmanned aerial vehicle can guide multiple ships to berth at the same time, and the berthing efficiency is greatly improved.
本发明涉及一种基于无人机的船只靠泊系统与方法,系统包括无人机以及靠泊装置,无人机包括视频采集模块,用于采集无人机飞行路径上的目标物信息、障碍物信息以及码头泊位信息;浮标模块,用于采集船只靠泊区域上的环境参数以及水文信息;局部地图建立模块,用于建立船只局部地图;路径规划模块,用于根据船只局部地图规划船只行驶路径;靠泊装置用于根据规划好的船只行驶路径控制船只靠泊。本发明使用无人机规划路径,相比现有的无人船平台端改造和岸基端改造而言成本大幅降低;另一方面,无人机相比无人船拥有更广阔的视野和通信距离,而且一架无人机可以引导多艘船只同时靠泊,大大提高了靠泊效率。
Ship berthing system and method based on unmanned aerial vehicle
基于无人机的船只靠泊系统与方法
2021-10-22
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
APPARATUS AND METHOD FOR BERTHING ASSISTANCE BY USING UNMANNED AERIAL VEHICLE
European Patent Office | 2021
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