Underwater buried mine autonomous detection method and system based on swarm intelligence

Abstract

The invention discloses an underwater buried mine autonomous detection method and system based on swarm intelligence, and relates to the technical field of underwater small target detection. The system comprises an imaging UUV, a relay UUV and an exploration UUV group, and the relay UUV is located behind the imaging UUV. The method comprises the following steps that the imaging UUV images an underwater detection area through a sonar imaging device to obtain a first image, judges whether a suspicious target exists in the first image or not and obtains a detection result, the relay UUV broadcasts and sends the real-time position information to the exploration UUV group in real time, the exploration UUV group drives towards the suspicious target after receiving the real-time position information, and the suspicious target is identified and confirmed through an optical pump weak magnetic detector. According to the characteristics and task requirements of the UUVs, different detectors are carried respectively to complete searching, recognition and other tasks respectively, so that the UUVs can cooperate with one another to complete the tasks, and the detection efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of underwater small target detection, in particular to an autonomous detection method and system for underwater buried mines based on swarm intelligence. Background technique [0002] Sea mines are underwater weapons that can be deployed underwater for a long time to destroy ships and submarines and restrict their actions. Sea mines are an indispensable and important weapon in naval warfare. They have the advantages of good concealment, low cost, convenient use, high blasting power, long life in water, easy to deploy and difficult to sweep, and high cost-effectiveness. Effective combat weapons such as sea lines of communication, anti-landing, and protection of one's own coastline. The detection and identification of deep and long-distance sunken or buried targets is the bottleneck problem in today's Mine Countermeasures. [0003] In the process of mine detection, the underwater environment is complex and t...

AI Technical Summary

Problems solved by technology

[0005] 1. Poor real-time performance: UUV groups cannot process data independently and make decisions on detection results

[0006] 2. Low detection efficiency: In addition to sonar, the detection distance of other means is relatively short, so the search and identification tasks cannot be completed simultaneously. It is necessary to use sonar equipment to search first and then use other means to identify suspicious targets that have been screened out

[0007] 3. Weak adaptive ability: UUV cannot autonomously plan the optimal path if it encounters obstacles during mission execution

[0008] 4. Difficulty in positioning: When performing target recognition underwater, it is impossible to receive GPS positioning, and it needs to be corrected by inertial navigation positioning and other methods, and the equipment is expensive

[0009] Therefore, the current detection methods for buried mines cannot meet the actual needs in modern warfare

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