An underwater detection method for cooperative formation of unmanned ships

Abstract

The invention discloses an underwater detection method for coordinated formation of unmanned ships. The method specifically includes the following main processes: establish a grid map based on environmental information, conduct area coverage data detection after the unmanned ships are formed, search for the nearest uncovered area and plan a path when they fall into a blind spot or the round of coverage ends Arrive in this area to continue the task; at the same time, each unmanned ship has an obstacle avoidance function and a solution when the unmanned ship encounters obstacles. The invention uses a small unmanned ship for detection, which can pass freely in shallow water areas; the invention uses the unmanned ship formation method for detection, which can detect from different angles and overcome the misjudgment caused by the single unmanned ship itself and the angle limitation of the ultrasonic probe ; The present invention uses surface and underwater ultrasonic probes, and the range of obstacle avoidance is not limited to obstacles on the water surface, but also can detect underwater obstacles to avoid collisions caused by underwater reefs; when an unmanned ship breaks down suddenly, other The unmanned ship can re-plan to continue the mission.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and relates to an underwater detection method for coordinated formation of various unmanned ships. Background technique [0002] In today's world, science and technology are changing with each passing day, and robotics, as one of the emerging technologies, has also developed rapidly. Robotic equipment mainly includes three types of sea, land and air, namely unmanned aerial vehicles, land robots and water robots. As a kind of water robot, unmanned ship can effectively avoid casualties and reduce costs under harsh conditions due to its intelligent advantages, making it widely used in fields such as oil exploration, cargo transportation, meteorological monitoring, and water surveying. application. Our country is rich and vast, with numerous rivers and seas, and abundant resources. It is a strategic space with development potential. Therefore, the government regards the development of ...

AI Technical Summary

Problems solved by technology

[0003] For shallow waters such as coastal waters and lakes, there are currently some problems in the survey of unmanned ships: due to the large transmission power of the detection equipment for deep water exploration, large unmanned ships are bulky and heavy with auxiliary equipment, so the ship is heavy and has a deep draft. cause stranding problems

Therefore, for complex terrain, a single unmanned ship may collect inaccurate data under the condition of low repetition rate, and cannot complete the water survey task well.

Images