Sonar-based aided self-propelled undersea exploration and rescue search method

A search method and self-propelled technology, applied in the field of self-propelled seabed exploration and search strategy, can solve problems such as waste of manpower and material resources

Active Publication Date: 2016-03-23
OCEAN UNIV OF CHINA
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Problems solved by technology

However, this search method can only search for the predetermined target area, and cannot complete the exploration and search of other search areas other than the target area, and it has obvious human intervention when real

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  • Sonar-based aided self-propelled undersea exploration and rescue search method
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  • Sonar-based aided self-propelled undersea exploration and rescue search method

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with accompanying drawing.

[0024] Such as figure 1 As shown, when the seabed exploration and rescue work are to be carried out, the AUV dives into the seabed, and sensors such as side-scan sonar start to work. Using the sonar-based self-propelled self-propelled seabed exploration and rescue search method of the present invention includes the following steps:

[0025] Step 1: The AUV dives into the seabed, and the side-scan sonar works to collect image features of the seabed.

[0026] Step 2. Perform dimensionality reduction processing on the high-dimensional submarine sonar detection image data:

[0027] Use the bag of words BoW (BagofWords) local feature expression model to describe the seabed detection image to meet the rapid response ability to massive observation information;

[0028] First, the SURF (SpeededUpRobustFeatures, fast robust features) algorithm is used to extract the submarine voca...

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Abstract

The invention relates to a sonar-based aided self-propelled undersea exploration and rescue search method, belongs to the technical field of self-propelled undersea exploration search strategies, and mainly solves the problems that the current search method for undersea exploration and rescue can only search a set target area, and cannot complete exploration and search for other search areas except the target area. The method comprises the following steps: diving to the sea by an AUV (Autonomous Underwater Vehicle), enabling a side scanning sonar to work, and collecting undersea image features; performing dimension reduction process on high-dimensional undersea sonar detection image data; respectively calculating conspicuousness of features of sonar images at the two sides; comparing the conspicuousness of the sonar images at the two sides; and making a decision according to a comparison result, and returning to step 1 to perform the area exploration of the next step. The sonar-based aided self-propelled undersea exploration and rescue search method provided by the invention enables the AUV to autonomously and dynamically explore and search the seabed, overcomes the blindness in a traditional exploration and search strategy, and provides a feasible plan for the application of the AUV with artificial intelligence to carry out undersea exploration and rescue.

Description

technical field [0001] The invention relates to a sonar-assisted self-propelled seabed exploration and rescue search method, and belongs to the technical field of self-propelled seabed exploration and search strategies. Background technique [0002] The current popular search methods for seabed exploration and rescue are mainly to plan the navigation route of the underwater vehicle in advance for the target area, so that the underwater vehicle can complete the seabed exploration and search and rescue according to the established route. However, this search method can only search for the predetermined target area, and cannot complete the exploration and search of other search areas other than the target area, and it has obvious human intervention when realizing the exploration and search of a larger area Sex and aimlessness, a great waste of manpower and material resources, shows the limitations and non-intelligence of current seabed exploration and search strategies. Conte...

Claims

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Application Information

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IPC IPC(8): G06K9/46G06K9/62G01S15/88
CPCG01S15/88G06V10/464G06V2201/07G06F18/213G06F18/23
Inventor 何波郭佳年睿沈钺沙启鑫高强冯晨
Owner OCEAN UNIV OF CHINA
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