Multi-ROV system and shallow water coral detection method

Abstract

The invention belongs to the technical field of underwater detection, and particularly relates to a multi-ROV system and a shallow water coral detection method. The multi-ROV system is connected withthe console on the water surface through the watertight cable. A console receives and transmits instructions on the water surface through radio, and real-time simultaneous positioning and mapping withalmost no time delay are achieved. According to the multi-ROV shallow water coral detection method, a multi-ROV system is adopted to detect tropical corals in a shallow water sea area, and a global scheduling scheme is corrected to a certain extent according to a decision algorithm, an optimization algorithm and behavior detection, so that local task allocation is realized, and the whole system has higher environmental adaptability. The detection efficiency is improved, and the detection time is saved; a three-step purification means is adopted to remove mismatching points, and the problem ofimage splicing and fusion in a shallow water tropical coral detection area is solved.

Description

technical field [0001] The invention belongs to the technical field of underwater detection, and in particular relates to a multi-ROV system and a shallow-water coral detection method. Background technique [0002] Tropical coral reefs are called "oases in tropical marine deserts". They are mainly formed by the accumulation of dead remains of reef-building corals through biological and diagenetic processes. 27 ~ 40 well developed in the water body. Coral reefs are rich in mineral resources. Reef limestone is a porous rock with good permeability and high abundance of organic matter, and is a good source and reservoir of oil and gas. So far, more than ten large reef-type oil fields have been discovered and exploited, with recoverable reserves of more than 5 billion tons. Reef-type gas fields are also highly productive. Large oil and gas fields are mostly produced in ancient barrier reefs. In coral reefs and their lagoon sediments, there are also coal, bauxite, manganese o...

AI Technical Summary

Problems solved by technology

A single ROV is too inefficient when searching for the location of tropical coral reefs and collecting tropical coral images. Therefore, in order to improve detection efficiency and adapt to complex environments, a multi-ROV tropical coral collaborative system is used to collect tropical coral images and detect tropical corals.

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