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Underwater flexible obstacle detection system and method

An obstacle detection and obstacle detection technology, which is applied in the field of underwater flexible obstacle detection systems, can solve problems such as inability to return images, and achieve the effects of simple methods, narrow laser beams, and high energy density

Inactive Publication Date: 2019-12-17
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, flexible obstacles such as seaweed, fish schools, and ropes have a strong absorption effect on sonar, and cannot return images that can be clearly identified. Therefore, the above technical means are not suitable for the detection of underwater flexible obstacles.

Method used

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  • Underwater flexible obstacle detection system and method
  • Underwater flexible obstacle detection system and method

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Experimental program
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Embodiment 1

[0035] In this embodiment, an underwater obstacle detection system is provided, such as figure 1 As shown, the detection system includes a support device 4, a detection device 1 and a data processing system 5;

[0036] The support device 4 is used to fix the detection device 1 and the data processing system 5 and to control the movement of the detection device 1; in this embodiment, the support device 4 is an omnidirectional pan-tilt.

[0037] The detection device 1 comprises a housing, a laser emitter 3, a photosensitive element 2 and a display, and the laser emitter 3 and the photosensitive element 2 are installed on the housing; the laser emitter 3 is used to emit beam laser signals, so The photosensitive element 2 is used to receive the laser signal scattered by the obstacle and convert it into a level signal and send it to the data processing system; the display is used to view the obstacle signal output by the data processing system;

[0038] The data processing system ...

Embodiment 2

[0042] The detection steps of the underwater obstacle detection system described in Embodiment 1 are as follows:

[0043] (1) Detection equipment initialization;

[0044] (2) Set the pan / tilt to move up, down, left, and right, so that the signal transmitter installed on the pan / tilt scans and emits laser light evenly under water;

[0045] (3) The laser is reflected when encountering an obstacle, and the photosensitive element receives the reflected laser and outputs a level signal corresponding to the laser;

[0046] (4) The data processing module processes the level signal, cancels the level signal delivered by the photosensitive element, and eliminates the direct reflected wave component; Variable, the level signal is the dependent variable, obtain the mapping relationship f(α, β) between the angle and the level signal, and derivate and sharpen the two-dimensional signal, and obtain the relationship between the rate of change of the level signal and the horizontal angle α a...

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Abstract

The disclosure, which belongs to the technical field of underwater obstacle detection, particularly relates to an underwater flexible obstacle detection system and method. In the prior art, detectionfor underwater obstacles is mostly concentrated on rigid obstacles, and detection for flexible obstacles is still blank. In order to solve the problem in the prior art, the disclosure provides a system and method for detecting an underwater flexible obstacle. The system comprises a cloud platform, a detection device and a data processing system. The omnibearing cloud platform is used for controlling a laser emitter to uniformly scan a to-be-detected area; a photosensitive element receives a signal returned by an obstacle, converts the signal into a level signal, and then transmits the level signal to the data processing system; and the data processing system analyzes a relation between a level signal change rate and an angle to obtain an obstacle image and the type of the obstacle is obtained by comparing the obtained obstacle image with a known obstacle image.

Description

technical field [0001] The disclosure belongs to the technical field of underwater obstacle detection, and in particular relates to an underwater flexible obstacle detection system, a corresponding detection method and an application. Background technique [0002] The information disclosed in this Background section is only intended to increase the understanding of the general background of the disclosure, and is not necessarily to be taken as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art. [0003] At present, the main underwater obstacle detection mainly uses image sonar equipment. According to different scanning methods, image sonar is divided into sector-scan sonar and side-scan sonar, and multiple frames of video images of the same scene can be obtained without moving. Therefore, most current underwater obstacle detection technologies are based on multi-wave forward-looking son...

Claims

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Application Information

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IPC IPC(8): G01S17/93
CPCG01S17/93
Inventor 吕文红王国娟郭银景范晓静张建华魏珊葛家丽鲍健康
Owner SHANDONG UNIV OF SCI & TECH
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