The invention provides an unmanned ship autonomous recovery method and system, and the method comprises the steps: determining a relative distance and a relative direction between an unmanned ship and a dock entrance based on the real-time RTK positioning information of the dock entrance and the unmanned ship; each of the dock entrance and the unmanned ship is provided with an Apriltag label for performing visual positioning on the dock entrance and the unmanned ship; when the Apriltag label of the dock entrance is detected from the unmanned ship side and/or the Apriltag label of the unmanned ship is detected from the dock entrance side, obtaining a result of real-time visual positioning of the dock entrance and/or the unmanned ship based on the detected Apriltag label so as to update the relative orientation of the unmanned ship and the dock entrance; and adjusting the course of the unmanned ship based on the relative orientation, and adjusting the speed of the unmanned ship based on the relative distance. The problem that the error is large when the unmanned ship is close to the dock entrance is solved, the accuracy and efficiency of autonomous recovery of the unmanned ship are improved, and it is guaranteed that the unmanned ship accurately drives into the dock entrance.
本发明提供了一种无人船自主回收方法及系统,其中方法包括:基于船坞口和无人船实时的RTK定位信息,分别确定无人船与船坞口的相对距离和相对方位;船坞口和无人船均携带一个用于对其进行视觉定位的Apriltag标牌;当从无人船侧检测到船坞口的Apriltag标牌和/或从船坞口侧检测到无人船的Apriltag标牌时,获取基于检测到的Apriltag标牌对船坞口和/或无人船进行实时视觉定位的结果,以更新无人船与船坞口的相对方位;基于相对方位调整无人船的航向,并基于相对距离调整无人船的速度。本发明避免了无人船与船坞进口较近时误差较大的问题,提高了无人船自主回收的准确率和效率,保障无人船精准驶入船坞口。
Unmanned ship autonomous recovery method and system
一种无人船自主回收方法及系统
31.05.2024
Patent
Elektronische Ressource
Chinesisch
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