The invention provides an unmanned ship navigation system based on vision and biological monitoring, and aims to solve the problems of insufficient navigation precision and safety of an unmanned ship in a complex water area. The system comprises a visual perception module, a biological monitoring module, a navigation control module and a communication module. The visual perception module acquires environment information by using a high-resolution camera and a laser radar, and identifies obstacles through a multi-scale convolutional neural network; the organism monitoring module adopts an underwater sonar system and a Bayesian classification algorithm to detect and identify underwater organisms; the navigation control module combines an A * algorithm and a dynamic time warping algorithm to carry out path planning and real-time adjustment; and the communication module realizes secure data transmission through a symmetric encryption algorithm. The system can navigate autonomously in a complex dynamic environment, avoids obstacles and organisms, ensures navigation safety, causes minimum interference to an underwater ecological environment, and has a wide application prospect.
本发明提供了一种基于视觉及生物监测的无人船导航系统,旨在解决复杂水域中无人船导航精度和安全性不足的问题。该系统包括视觉感知模块、生物监测模块、导航控制模块和通信模块。视觉感知模块利用高分辨率摄像头和激光雷达获取环境信息,通过多尺度卷积神经网络识别障碍物;生物监测模块采用水下声纳系统和贝叶斯分类算法检测并识别水下生物;导航控制模块结合A*算法和动态时间规整算法进行路径规划和实时调整;通信模块通过对称加密算法实现安全数据传输。该系统能够在复杂动态环境中自主导航,避开障碍物和生物,确保航行安全,并对水下生态环境造成最小干扰,具有广泛的应用前景。
Unmanned ship navigation system based on vision and biological monitoring
一种基于视觉及生物监测的无人船导航系统
2025-04-25
Patent
Electronic Resource
Chinese
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