Underwater robot object detection device and detection method

Abstract

The invention provides an underwater robot object detection device and a detection method. The device comprises a PC / 104 computer, a single-beam forward looking sonar equipment sensor, a Doppler log, a depth gauge, an altimeter and a relay element. When in an underwater state, after the computer is electrified, an equipment control program is started automatically, controls a relay to open the sensor through a DI / O digital board, collects the environment information in the advancing direction with a single-beam forward looking sonar, calibrates the data with the information of the Doppler log, classifies the data through the depth information, obtains underwater object point plane information through processing algorithm, and estimates the object underwater depth information based on the information of the depth gauge, so as to detect an underwater object. The invention prevents the space occupation problem of the multi-beam forward looking sonar and the three-dimensional sonar, effectively solves the problem that the single-beam forward looking sonar can only obtain the underwater object two-dimensional detection information, and is more applicable to the underwater object detection application of an underwater unmanned submarine.

Description

(1) Technical field [0001] The invention relates to an underwater robot detection system, in particular to a method for constructing a detection system with a single-beam forward-looking sonar as a core sensor. (2) Background technology [0002] With the continuous advancement of science and technology, robot technology has developed by leaps and bounds. However, due to the particularity of the marine environment, the detection methods that underwater robots can use are very single, which largely limits the autonomy of underwater robots in the underwater environment. Realization of perception. At present, there are two main types of detection means used for underwater robots: optical detection means and acoustic detection means. In the air and on land, robots can obtain surrounding environmental information by means of optics and other means. However, underwater, especially in oceans and lakes, the propagation attenuation of light waves is very large, and the propagation di...

AI Technical Summary

Problems solved by technology

In this scheme, a multi-beam forward-looking sonar is used, equipped with a PC104 processor to convert the analog signal detected by the sonar sensor into a digital signal describing the local environment, and only a raster icon-based method is used for the sonar data To describe, there is no description of sonar data processing and target information extraction

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