Water leakage detection protection method for underwater robot multi-sensor information fusion

Abstract

The invention provides a water leakage detection protection method for underwater robot multi-sensor information fusion. The method comprises the steps that S1, a plurality of water leakage sensors are installed at the edge position of a cabin door, prone to water leakage, of an underwater robot cabin body; S2, humidity sensors used for detecting humidity are installed at the head, the middle andthe tail of a cabin of the underwater robot; S3, pressure sensors are installed inside and outside the cabin of the underwater robot; S4, the underwater robot is started, and signal acquisition of multiple paths of sensors is started; S5, interference signals are eliminated through signal processing, and signal feature extraction is performed on the acquired signals; S6, a controller performs decision output, and if water leakage occurs in the cabin of the underwater robot, upper computer alarm prompt is performed; according to the invention, through information fusion of multiple sensors, theanti-interference capability and the detection precision of a detection system can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a water leakage detection and protection method for multi-sensor information fusion of underwater robots. Background technique [0002] The underwater robot is a kind of extreme operation robot that works underwater. The underwater environment is harsh and dangerous. Due to the limited depth of human diving, underwater robots can replace humans for long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility. Therefore, underwater robots have become an important tool for marine development. . [0003] Underwater robots are generally equipped with sonar systems, cameras, lights, and controllers. In places where the water depth is relatively high, water leakage may occur in the sealed cabin due to excessive water pressure, causing the underwater robot to not work normally, and even causing internal damage. Devi...

AI Technical Summary

Problems solved by technology

[0003] Underwater robots are generally equipped with sonar systems, cameras, lights, and controllers. In places where the water depth is relatively high, water leakage may occur in the sealed cabin due to excessive water pressure, causing the underwater robot to not work normally, and even causing internal damage. Devices and components are damaged by short circuit, which is extremely harmful

[0004] The water leakage detection devices currently on the market generally use a single sensor (such as a water leakage sensor or a pressure sensor) to identify whether there is water leakage in the cabin by collecting sensor signals. Due to the lack of sensor accuracy and anti-interference ability, false alarms sometimes occur, resulting in Waste of manpower maintenance resources

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