Underwater robot object detection device and detection method

A technology for underwater robots and target detection, which is applied to measuring devices, instruments, radio wave measurement systems, etc., and can solve problems such as extraction and description of target information without sonar data processing

Inactive Publication Date: 2010-06-23
杭州爱易特智能技术有限公司
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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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  • Underwater robot object detection device and detection method
  • Underwater robot object detection device and detection method
  • Underwater robot object detection device and detection method

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Embodiment Construction

[0036] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0037] 1. System composition

[0038] The single-beam visual sonar underwater robot detection system consists of a single-beam forward-looking sonar device sensor, PC104 computer, Doppler meter, altimeter, depth gauge and relay components. PC104 computer includes CPU core board, 8 serial port cards, DI\O board, power board. The whole system includes hardware architecture and software architecture, respectively as figure 1 and figure 2 As shown, the data flow is as follows image 3 shown. The following is divided into two parts:

[0039] (1) The hardware architecture of the underwater part

[0040] The single-beam forward-looking sonar, Doppler meter, altimeter, and depth gauge are arranged outside the underwater robot body. After the watertight cable is vulcanized and lengthened, it is connected to the PC / 104 computer in the cabin through the watertight plu...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/00G01S7/52
Inventor 张铁栋陈艳姜婵娟万磊庞永杰秦再白孙俊岭曾文静唐旭东李东起
Owner 杭州爱易特智能技术有限公司
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