Target positioning and identifying method and system for underwater robot

An underwater robot and target positioning technology, which is applied in radio wave measurement systems, instruments, and sound wave re-radiation, etc., can solve the problems of increasing the workload of underwater robots, consuming a lot of energy, and not raising them, and reducing the amount of data processing. , the effect of reducing manufacturing costs and improving battery life

Active Publication Date: 2017-09-12
DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 a

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  • Target positioning and identifying method and system for underwater robot
  • Target positioning and identifying method and system for underwater robot
  • Target positioning and identifying method and system for underwater robot

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Embodiment 1

[0039] Embodiment 1 of the present invention provides an underwater robot target positioning and recognition system, such as figure 1 As shown, the system includes a mother ship 1 with active sonar function, at least one miniature unmanned ship 2 with passive sonar function and underwater robot 3, wherein the number of miniature unmanned ships can be two or more specifically, The increase in the number of micro unmanned ships can improve the accuracy of the calculation of the final target object positioning information to a certain extent.

[0040] The underwater robot 3 is provided with a target recognition subsystem 311 and a control subsystem 312 (such as figure 2 shown), the target recognition subsystem 311 is used to obtain the first position information of the target object 4 relative to the underwater robot 3; the control subsystem 312 has established a first communication link with the mother ship 1, and through The first communication link sends the first location i...

Embodiment 2

[0048] The embodiment of the present invention is a system combination form of the solution described in embodiment 1 in a specific implementation occasion. In this embodiment, the specific number of the micro unmanned ship 2 is one, and the underwater robot 3 is provided with a depth sensor. Under normal circumstances, water depth sensors exist as the standard configuration of most underwater robots. Of course, it is not ruled out that some underwater robots for shallow water operations or some underwater robots for specific seabed operations will, out of cost considerations, pass The water depth sensor is removed in a customized manner. Therefore, the present embodiment reduces the number of miniature unmanned ships required in the system to a minimum (that is, a miniature unmanned ship) on the basis of utilizing the functions of the depth sensor of the underwater robot itself. Such as Figure 4 As shown in this implementation, the system includes a mother ship 1 with an a...

Embodiment 3

[0057] The embodiment of the present invention is a system combination form of the scheme described in embodiment 1 in a specific realization occasion. In this embodiment, the specific number of miniature unmanned ships 2 is two or more (in this embodiment Two examples are used to illustrate). This embodiment is particularly suitable for situations where no water depth sensor is configured in the underwater robot, or where the number of miniature unmanned ships 2 is relatively sufficient and it is desired to obtain more accurate calculation of target object positioning information. In this embodiment, the specific number of miniature unmanned ships 2 is two or more, and the sonar equipment of the two or more miniature unmanned ships 2 and the mother ship 1 is used as a reference point, wherein each The reference points form an equilateral figure on the water surface. Such as Figure 5 As shown in this implementation, the system includes a mother ship 1 with an active sonar f...

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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...

Claims

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Application Information

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IPC IPC(8): G01S15/06G01S15/02
CPCG01S15/06G01S15/86
Inventor 刘飞池晓阳李刚张保平刘中凡张吉伟张良曦
Owner DAPENG GAOKE WUHAN INTELLIGENT EQUIP CO LTD
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