The invention relates to the technical field of unmanned, in particular to an unmanned ship rescue calculation method and system based on machine vision, and the method comprises the steps: collecting first position data of a rescue target and second position data of an unmanned ship; the distance between the unmanned ship and the rescue target and the azimuth angle of the rescue target relative to the unmanned ship are obtained according to the first position data and the second position data; obtaining a target image of the unmanned ship at the first azimuth angle in response to the fact that the distance is smaller than a distance threshold; obtaining a target area on the target image according to the semantic segmentation model; obtaining a region center coordinate of the target region and an image center coordinate of the target image; calculating a transverse distance between the central coordinate of the region and the central coordinate of the image; and correcting the course angle according to the transverse distance. According to the method, the deviation between the rescue target and the advancing direction of the unmanned ship is obtained through image recognition, and the advancing direction of the unmanned ship is corrected through the deviation.
本发明涉及无人技术领域,更具体地,本发明涉及一种基于机器视觉的无人驾驶船救援计算方法及系统,其中的方法包括:采集救援目标的第一位置数据以及无人驾驶船的第二位置数据;根据第一位置数据和第二位置数据获得无人驾驶船和救援目标之间的距离,以及救援目标相对于无人驾驶船的方位角;响应于距离小于距离阈值,获得无人驾驶船在第一方位角的目标图像;根据语义分割模型获得目标图像上的目标区域;获得目标区域的区域中心坐标以及目标图像的图像中心坐标;计算区域中心坐标与图像中心坐标之间的横向距离;根据横向距离对航向角修正。本发明图像识别获得救援目标与无人驾驶船行进方向之间的偏差,并通过该偏差对无人驾驶船行进方向修正。
Unmanned ship rescue calculation method and system based on machine vision
一种基于机器视觉的无人驾驶船救援计算方法及系统
2024-11-22
Patent
Electronic Resource
Chinese
Intelligent unmanned rescue ship, rescue system and rescue method
European Patent Office | 2021
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