The invention discloses an automatic ship berthing and leaving method based on video monitoring and image recognition, which comprises the following steps: S1, acquiring real-time video data, and carrying out image preprocessing; s2, extracting target feature information by using a target detection model based on an OfficientDet algorithm; s3, generating environment sensing information by using a multi-modal sensor fusion technology; s4, based on the environment perception information, constructing and updating a three-dimensional dynamic map of the surrounding environment of the ship in real time; s5, performing global path planning by adopting a fast extension random tree-star algorithm; s6, local dynamic obstacle avoidance is carried out in combination with a two-stage neural network algorithm; s7, based on the global path planning result and the local dynamic obstacle avoidance strategy, the adaptive control system accurately adjusts the speed, course and attitude of the ship according to the real-time environment change; and S8, performing big data analysis and historical data mining by using the cloud computing platform. According to the invention, image recognition and deep learning technologies are utilized to realize automatic berthing and unberthing of the ship, and the method has the advantages of high efficiency and accuracy.

    本发明公开了一种基于视频监控和图像识别的船舶自动靠离泊方法,包括如下步骤:S1、获取实时视频数据,并进行图像预处理;S2、使用基于EfficientDet算法的目标检测模型,提取目标特征信息;S3、利用多模态传感器融合技术,生成环境感知信息;S4、基于环境感知信息,构建并实时更新船舶周围环境的三维动态地图;S5、采用快速扩展随机树‑星算法进行全局路径规划;S6、结合双级神经网络算法进行局部动态避障;S7、基于全局路径规划结果和局部动态避障策略,自适应控制系统根据实时环境变化精确调整船舶的速度、航向和姿态;S8、利用云计算平台进行大数据分析和历史数据挖掘。本发明利用图像识别和深度学习技术,实现船舶自动靠离泊,具备高效和精准的优点。


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    Title :

    Automatic ship berthing and leaving method based on video monitoring and image recognition


    Additional title:

    一种基于视频监控和图像识别的船舶自动靠离泊方法


    Contributors:
    ZHUANG XIAOBO (author) / JIN JING (author) / ZHUANG BITAI (author) / MU HAISHENG (author) / ZHENG XIAODONG (author)

    Publication date :

    2024-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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