Novel underwater autonomous obstacle avoidance system and underwater obstacle avoidance method
A new type of obstacle avoidance technology, applied in the direction of height or depth control, can solve problems such as increased work difficulty, high manpower and material costs, and lack of independent judgment ability, so as to reduce the probability of judgment errors and improve accuracy.
Inactive Publication Date: 2019-01-18
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
At present, autonomous cruise ships mainly rely on lasers to avoid obstacles on the water surface, while underwater vehicles mainly use industrial-grade video transmission to perform path planning and obstacle avoidance on the ground. Therefore, current underwater vehicles lack certain independent judgment capabilities , higher manpower and material costs are also required when performing tasks, and the difficulty of work is significantly increased
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[0019] see figure 1 , an autonomous obstacle avoidance system for an underwater vehicle, including an information collection system, an underwater mapping system, a core processing system, a core control system, and a data transmission system.
[0020] The information collection system includes a sonar ranging module, a transmitting transducer module and a strapdown inertial navigation system. The strapdown inertial navigation system includes a GPS navigation system and an IMU inertial measurement unit, which specifically includes a gyroscope, an accelerometer, and a microcomputer. The sonar ranging module and the transmitting transducer module jointly perform ultrasonic ranging work, and measure the distance of obstacles around the underwater vehicle;
[0021] The underwater mapping system is an underwater panoramic camera module installed on the front of the underwater vehicle;
[0022] The core processing module is a small industrial control computer equipped with an inte...
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The invention relates to a novel underwater autonomous obstacle avoidance system and an underwater obstacle avoidance method. The novel underwater autonomous obstacle avoidance system scans the underwater obstacle using a sonar ranging system, combines the attitude information and position information of an underwater vehicle obtained by a strap down navigation system, and an industrial control computer uses the obstacle avoidance algorithm to plan an obstacle avoidance path, so that the system can work in a complicated underwater environment. The underwater obstacle avoidance method superimposes and outputs the attitude information, the position information and the ranging information combining with the image information obtained by an underwater mapping system to realize the environmentmodeling, thereby further reducing the probability of misjudgment of the surrounding environment, improving the accuracy of path planning, and also transferring the valuable underwater 3D environmentmodeling data back to a ground station for further research on the underwater environment.
Description
technical field [0001] The invention belongs to the field of underwater vehicles, and in particular relates to a novel underwater autonomous obstacle avoidance system and an underwater obstacle avoidance method. Background technique [0002] Since the 1990s, the development of marine engineering and technology has received extensive attention and research. As a low-risk autonomous operation product, unmanned aerial vehicles in water are widely used in various aspects such as military production. At present, unmanned vehicles include surface underwater vehicles, remote-controlled underwater vehicles, and autonomous underwater vehicles. These aircraft can realize the information collection and monitoring tasks on the water and underwater, and can avoid the risks brought by the cruise monitoring tasks in the ocean while having high work efficiency. At present, autonomous cruise ships mainly rely on lasers to avoid obstacles on the water surface, while underwater vehicles main...
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IPC IPC(8): G05D1/06
Inventor毛润泽陈玉春
OwnerNORTHWESTERN POLYTECHNICAL UNIV