Target positioning and identifying method and system for underwater robot

Abstract

The invention that relates to the field of the underwater robot technology provides a target positioning and identifying method and system for an underwater robot. An underwater robot in the system is used for obtaining first position information of a target object relative to the underwater robot and transmitting the first position information to a mother ship; the mother ship is used for obtaining second position information of a miniature unmanned ship; and the miniature unmanned ship feeds back a collected sonar reflection signal from the underwater robot to the mother ship. The mother ship is also used for carrying out calculation based on third position information of the mother ship, the second position information of the miniature unmanned aerial vehicle, and sonar reflection signals collected by the mother ship and the miniature unmanned ship as well as the first position information of the target object relative to the underwater robot, thereby obtaining positioning information of the target. Compared with the prior art with the underwater robot as an active sonar source, the target positioning and identifying method and system have the following beneficial effects: the cruising power of the underwater robot can be enhanced on the premise that the target positioning and identifying accuracy of the underwater robot is guaranteed; and the operation efficiency of the underwater robot is reduced.

Description

【Technical field】 [0001] The invention relates to the technical field of underwater robots, in particular to an underwater robot target positioning and recognition method and system. 【Background technique】 [0002] Underwater robots can generally be divided into two categories: one is a cable underwater robot; the other is a cable-free underwater robot. In addition, according to the purpose of use, there are underwater survey robots (such as: observation, measurement, collection of test materials, etc.) and underwater operation robots (such as: underwater welding, pipe twisting, underwater construction, underwater cutting, etc.) ); according to the activity place, there are submarine robots and underwater robots. [0003] However, no matter which application field, the positioning of underwater robots is very important. At the same time, when an underwater robot encounters an underwater target, it is also critical to judge the type of the underwater target. The positionin...

AI Technical Summary

Problems solved by technology

However, due to the limitations of underwater wireless transmission, GPS signals cannot be transmitted underwater. The existing technology lacks effective means for underwater robot positioning, and even lacks the intelligent combination of underwater robot positioning and underwater target type judgment. Control System

[0004] The inventor retrieved and researched the existing related technologies. Among them, taking the invention patent with the patent number 201410506360.9 and the patent name "Underwater Robot Target Positioning and Recognition System" as an example, although a target positioning and recognition system for underwater robots is proposed , however, its implementation is based on the active sonar process of the underwater robot, which not only increases the workload of the underwater robot itself, but also requires the underwater robot to consume A large amount of energy is in positioning, which is a big problem for robots that work underwater for a long time, and an effective solution has not been proposed in the prior art. In the case of underwater robots that do not have high-power sonar equipment Next, how to complete the positioning and identification of underwater targets

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