Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar

An underwater target, mini-sound technology, applied in radio wave measurement system, sound wave re-radiation, measurement device and other directions, can solve the problem of AUV not moving in the correct direction, AUV misjudgment, etc.

Inactive Publication Date: 2011-11-02
中国船舶重工集团公司第七〇二研究所
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Problems solved by technology

The existence of this kind of false information will lead to misjudgment of AUV, so that AUV cannot move in the right direction

Method used

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  • Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar
  • Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar
  • Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar

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Embodiment Construction

[0062] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0063] Such as figure 1 As shown, the underwater target detection and AUV automatic collision avoidance system of the present invention includes a mini sonar 1, a sonar computer 2, and a main control computer 3. The mini sonar 1 and the sonar computer 2 communicate through the serial port RS485. After the mini sonar 1 is powered on, the echo data is continuously sent to the sonar computer 2. The sonar computer 2 is loaded with a sonar processing program and can control the mini sonar at the same time. 1. The sonar computer 2 and the main control computer 3 are connected through an Ethernet network, and the sonar computer 2 sends the processed target position information to the main control computer 3 . The main control computer 3 is respectively connected to navigation sensors such as fiber optic gyroscope 4, Doppler velocimeter 5, altimet...

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Abstract

The invention relates to an underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention system based on mini sonar. The system comprises mini sonar, a sonar computer and a master control computer, wherein the mini sonar communicates with the sonar computer through a serial port RS485; the sonar computer is connected with the master control computer through anetwork; the master control computer is connected with an optical fiber gyro, a Doppler velocimeter, a height gauge, a dip angle sensor and a magnetic compass through a serial port RS232 respectively; and the master control computer is connected with a propeller and a rudder fin through a digital / analog (DA) channel simultaneously. The invention also provides an underwater object detection and AUV automatic collision prevention method based on mini sonar. By the system and the method, an underwater object is detected through the mini sonar, a position of an obstacle is determined, and a collision prevention instruction is given; therefore, an accurate collision prevention decision is made by the AUV.

Description

technical field [0001] The present invention relates to an acoustic detection system for underwater targets and AUV automatic collision avoidance technology, in particular to a method for using mini sonar to detect underwater targets, determine the position of obstacles, give collision avoidance instructions, and realize AUV automatic collision avoidance. The method system. Background technique [0002] Due to the extremely broad application prospects in both military and civilian applications, the technology of small underwater robots as underwater carrying platforms and operating tools has been rapidly developed. Many countries, especially developed countries, are committed to related technical research and product development. As a fully autonomous underwater robot, the detection system is its eyes and ears, which play an extremely important role. Through the detection system, the robot can quickly obtain information about the underwater environment and provide guidance...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01S15/93
Inventor 徐鹏飞
Owner 中国船舶重工集团公司第七〇二研究所
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