Unmanned ship bridge crossing method and device, computer equipment and storage medium

• Main Authors: ZHANG BINGZHUO, CHI YUHAO, YU MENGLING, CHENG YUWEI, ZHU JIANNAN
• Format: Patent
• Language: Chinese; English
• Published: 27.09.2022
• Subjects: CALCULATING; COMPUTING; CONTROLLING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides an unmanned ship bridge crossing method and device, computer equipment and a storage medium, and the method comprises the steps: presetting the GPS positioning information of a bridge entry point of an unmanned ship and the GPS positioning information of a bridge exit point of the unmanned ship, and calculating the bridge entry angle and the bridge exit angle of the unmanned ship by calculating the positioning information of the bridge entry point and the bridge exit point; the unmanned ship is controlled to reach a preset bridge entry point of the bridge, and the ship angle of the unmanned ship is adjusted to be a preset bridge entry angle; starting a visual detection system to perform visual detection on the bridge opening of the bridge, and detecting the azimuth angle of the unmanned ship relative to the center of the bridge opening; according to the azimuth angle of the unmanned ship relative to the center of the bridge opening, the unmanned ship is controlled to leave the bridge fr