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Underwater obstacle detection method and detection apparatus

The technology of a detection device and detection method is applied in the direction of measuring device, radio wave measurement system, and sound wave re-radiation, which can solve the problems of high cost and high complexity of installation position calibration, and achieve simple installation and calibration, reduced azimuth range, and low cost. cheap effect

Active Publication Date: 2018-11-13
SHENZHEN ZHENDI INFORMATION TECH CO LTD
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Problems solved by technology

However, this method is costly and the installation position calibration complexity is high

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  • Underwater obstacle detection method and detection apparatus
  • Underwater obstacle detection method and detection apparatus
  • Underwater obstacle detection method and detection apparatus

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Embodiment Construction

[0031] In order to make the content of the present invention clearer and easier to understand, the content of the present invention will be further described below in conjunction with the accompanying drawings. Of course, the present invention is not limited to this specific embodiment, and general replacements known to those skilled in the art are also covered within the protection scope of the present invention.

[0032] figure 1 Shown is the block diagram of the underwater obstacle detection device of the present invention. Such as figure 1 As shown, the underwater obstacle detection device includes an ultrasonic sensor 1 , a drive unit 2 , an obstacle detection unit 3 and an obstacle orientation determination unit 4 . In the present invention, there is only one ultrasonic sensor 1, which can be installed on the aircraft. For example, for an aircraft sailing forward, the ultrasonic sensor is preferably installed directly in front of or on the side of the aircraft. Typica...

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Abstract

The invention discloses an underwater obstacle detection method. The underwater obstacle detection method includes the steps: an ultrasonic sensor is arranged on a navigation machine; the ultrasonic sensor sequentially emits ultrasonic waves of different frequencies and detects whether obstacles exist in the range of the pointing angle of the ultrasonic wave of each frequency according to ultrasonic echo signals; the ultrasonic sensor is driven to deflect by a certain angle, and then the ultrasonic sensor successively emits ultrasonic waves of different frequencies and detects whether obstacles exist in the range of the pointing angle of the ultrasonic wave of each frequency according to ultrasonic echo signals again; and according to the two times of obstacle detection results and the deflection angle of the ultrasonic sensor, the location range of the obstacles is determined. The invention also provides an underwater obstacle detection apparatus. The underwater obstacle detection apparatus only needs one ultrasonic sensor to determine the orientation of underwater obstacles, and has the advantages of being low in cost, being simple in mounting and calibration, and being convenient to use.

Description

technical field [0001] The invention relates to the technical field of underwater positioning, in particular to an underwater obstacle detection method and detection device. Background technique [0002] With the rapid development of underwater unmanned vehicles in recent years, the demand for ultrasonic sensors capable of underwater obstacle avoidance has greatly increased. Such ultrasonic sensors are generally used in automatic mobile devices such as underwater vehicles and underwater robots. The purpose of ultrasonic obstacle avoidance is to measure the distance to surrounding objects by emitting ultrasonic signals through ultrasonic sensors, and then let the automatic mobile device collect the surrounding distance data to decide which direction to move and sail. In practical applications, the aircraft is usually equipped with 6 ultrasonic sensors for underwater obstacle avoidance. By measuring the distance from the aircraft to obstacles in six directions, front, rear, le...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/93
CPCG01S15/93
Inventor 不公告发明人
Owner SHENZHEN ZHENDI INFORMATION TECH CO LTD
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