The invention discloses a visual perception system of an unmanned ship. The visual perception system comprises a laser radar, a transmission antenna, a lifting mechanism, a panoramic camera, a fixing box, a protection mechanism, a main unmanned ship body, a driving motor, a propeller, an image collection module, an image processing module, a wave band 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. According to the invention, hybrid perception is carried out through the laser radar, the panoramic camera and the millimeter wave radar, perception accuracy is improved; and through the arrangement of the image processing module, a defogging enhancement method based on dark channel prior is utilized to carry out defogging on a picture, so the sensing ability of the unmanned ship in severe weather is improved; and through the arrangement of the lifting mechanism, the lifting of the panoramic camera is realized, the shooting range of the panoramic camera is expanded, and a shooting dead angle is reduced.
本发明公开了无人船视觉感知系统,包括激光雷达、传输天线、升降机构、全景摄像头、固定盒、防护机构、无人船主体、驱动电机、螺旋桨、图像收集模块、图像处理模块、波段收集模块、数据融合模块、工控机模块、数据存储模块、无线传输模块、坐标定位模块、地图生成模块、路径规划模块、驱动模块和毫米波雷达,本发明通过激光雷达、全景摄像头以及毫米波雷达进行混合感知,有利于提升感知的精确度,并且通过图像处理模块的设置,利用基于暗通道先验的去雾强化方法对图片进行去雾,有利于提升无人船在恶劣天气下的感知能力,通过升降机构的设置,实现了全景摄像头的升降,有利于扩大全景摄像头的拍摄范围,减少了拍摄死角。
Visual perception system of unmanned ship
无人船视觉感知系统
2021-11-05
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / G01S RADIO DIRECTION-FINDING , Funkpeilung / G03B APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM , Geräte oder Anordnungen zum Aufnehmen, Projizieren oder Betrachten von Fotografien |
Power device of unmanned ship, ship body and unmanned ship
European Patent Office | 2021
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