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Method and system for avoiding underwater roadblocks

A technology for roadblocks and underwater robots, applied in control/adjustment systems, vehicle position/route/altitude control, instruments, etc., can solve problems such as single avoidance mode, reduce the total amount of analysis and processing, improve the response rate and work efficiency. safety effect

Active Publication Date: 2019-11-22
DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Current underwater robots can recognize obstacles, but they need to follow the control instructions of the water control platform to complete the evasion action, and the evasion mode is too single, and sometimes even need to bypass very wide but actually very low obstacles to reach the destination

Method used

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  • Method and system for avoiding underwater roadblocks
  • Method and system for avoiding underwater roadblocks
  • Method and system for avoiding underwater roadblocks

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Embodiment 1 of the present invention provides an underwater roadblock avoidance method. The roadblock avoidance method is applicable to various underwater robot work occasions, especially suitable for underwater robot work fields near the seabed where there are a large number of repeated or cross routes. Such as figure 1 As shown, the method includes:

[0053] In step 201, the underwater robot determines the current location information, and sends a geographical module request carrying the location information to the server.

[0054] Wherein, the geographic module is a unit with a preset shape, and the geographic module contains roadblock information in a corresponding area in the real environment. The size of the geographical module is set according to the range area that the sensor equipment of the underwater robot can detect in the sea, and its shape can be a regular hexagon, a rectangle, or other shapes that can be detected by the detection The range area to be c...

Embodiment 2

[0079] In Embodiment 1, it is introduced how to use the geographic module to intelligently avoid the roadblock 4 by the underwater robot, and the embodiment of the present invention is described from the aspect of how to establish the geographic module maintained by the server. In the embodiment of the present invention, the geographical module is obtained by one or more underwater robots working in the target positioning and recognition system, such as Figure 5As shown, the system includes a mother ship 1 with an active sonar function, at least one buoy 2 with a passive sonar function, and an underwater robot 3. The underwater robot 3 can be a professional device for collecting geographical information, or it can be Using the equipment used to perform other tasks as introduced in Embodiment 1, the difference between the two may lie in the detection range and detection accuracy of the sensor, but the commonality between the two is that both can complete their own positioning a...

Embodiment 3

[0085] The embodiment of the present invention is a system combination form of the solution described in embodiment 2 in a specific implementation occasion. In this embodiment, the specific number of the buoy 2 is one, and the underwater robot 3 is provided with a water depth sensor. Such as Image 6 As shown in this implementation, the system includes a mother ship 1 with active sonar function, a buoy 2 with passive sonar function and underwater robot 3, wherein the water depth sensor is used to feed back the vertical position of underwater robot 3 to the sea surface. distance; the underwater robot 3 feeds back the vertical distance to the mother ship 1;

[0086] The underwater robot 3 is used to obtain first position information of the roadblock 4 relative to the underwater robot 3 ; and send the first position information to the mother ship 1 .

[0087] There is a preset distance between the mother ship 1 and the buoy 2, and the mother ship 1 is used to obtain the second p...

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Abstract

The invention provides an underwater barricade avoiding method and system, and relates to the technical field of underwater robots. The method comprises that an underwater robot determines present position information, and sends a geographical module request with the position information to a service end; the underwater robot generates an avoidance strategy according to obtained one or multiple geographical module(s); and according to the travel direction and real-time position information, the underwater robot determines threshold information that is satisfied at present, and adopts an avoidance motion corresponding to the threshold information. According to the method and system, barricades are pre-determined on the basis of the geographical modules, and the avoidance motions are executed according to determination. A working marine site is divided into multiple geographical modules according to sensing and detecting features of the underwater robot, a working area corresponding to a preset task can be determined, the corresponding geographical modules are sent to the corresponding robot, the total data analysis amount of the underwater robot is reduced, and the response speed and working security of the underwater robot are improved.

Description

【Technical field】 [0001] The invention relates to the technical field of underwater robots, in particular to an underwater roadblock avoidance method and system. 【Background technique】 [0002] Underwater robots can replace manual long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility. Among them, underwater robots are generally equipped with sonar systems, cameras, lights, and robotic arms, which can provide real-time video and sonar image information, and can use the robotic arm to grab heavy objects. Underwater robots are widely used in safety search and rescue, pipeline inspection, scientific research and teaching, underwater entertainment, energy industry, archaeology, fishery and other fields. [0003] Due to the particularity of the working environment of underwater robots, that is, working underwater without on-site control, the intelligent requirements for underwater robots are relatively high. The ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 刘飞池晓阳张保平李刚刘中凡张良曦张吉伟
Owner DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD