A method and system for performing detection tasks of a portable UUV

Abstract

The present invention discloses a method and system for performing detection tasks of a portable UUV, which relates to the technical field of unmanned underwater vehicles. The method includes: moving the portable UUV to a target water area and deploying the portable UUV in the target water area, wherein the portable UUV is provided with a side-looking detection device and a bottom-looking detection device; generating a first detection task according to the area where the target point is located; performing area detection on the area where the target point is located according to the first detection task through the side-looking detection device to obtain the position information of the target point; generating a second detection task according to the position information of the target point; and performing single-point detection on the target point according to the second detection task through the bottom-looking detection device to obtain the feature information of the target point. The present invention is applicable to the portable UUV, can adjust the detection scheme in real time, avoids modifying the software code of the vehicle or re-binding a specific detection task configuration file before each test, and improves the software reliability of the vehicle and the efficiency and flexibility of the detection test task.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned underwater vehicles, and particularly relates to a method and system for executing detection tasks of a portable UUV. Background Art

[0002] At present, portable UUVs (Underwater Unmanned Vehicles) generally adopt a design mode of "navigation platform + mission payload". For underwater target detection tasks, before executing the detection task, it is necessary to formulate a mission plan for the detection experiment according to the carried detection payload and detection requirements.

[0003] This is because it is difficult to achieve real-time communication after the UUV enters the water. Therefore, the detection task plan mostly adopts a fixed task program module or a task configuration file, which is added to the UUV before each execution of the detection task, and the UUV autonomously executes the detection task according to the fixed task program module or the task configuration file. Specifically, after the UUV arrives at the task location and enters the water, the UUV executes the detection task according to the added task configuration file. After completing the detection task, it automatically returns with the detection results.

[0004] Therefore, if it is necessary to adjust or modify the detection task before each task, it is necessary to modify the vehicle software code or re-bind a specific detection task configuration file according to the detection task plan, and once modified or bound, it cannot be modified, which greatly reduces the reliability and practicality of the vehicle software, and at the same time greatly reduces the efficiency and flexibility of the vehicle in executing the detection experiment task. Summary of the Invention

[0005] The present invention provides a method and system for executing detection tasks of a portable UUV to solve the problems of poor flexibility, poor reliability, poor practicality and low efficiency in modifying the detection task plan in the prior art.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A method for executing a detection task of a portable UUV includes:

[0008] Moving the portable UUV to a target water area, and putting the portable UUV into the target water area, wherein a side-looking detection device and a bottom-looking detection device are arranged on the portable UUV;

[0009] Generating a first detection task according to the area where the target point is located;

[0010] Performing area detection on the area where the target point is located by the side-looking detection device according to the first detection task to obtain the position information of the target point;

[0011] Generate a second detection task based on the position information of the target point;

[0012] Perform single-point detection on the target point according to the second detection task by the bottom-view detection device, and obtain the feature information of the target point.

[0013] On this basis, the present invention can also be improved as follows:

[0014] The method for executing the detection task of the portable UUV further includes:

[0015] If the position information of the target point is not obtained, change the parameters of the first detection task, and re-perform area detection on the area where the target point is located until the position information of the target point is obtained.

[0016] On this basis, the present invention can also be improved as follows:

[0017] The method for executing the detection task of the portable UUV further includes:

[0018] If the feature information of the target point is not obtained, change the parameters of the second detection task, and re-perform single-point detection on the target point until the feature information of the target point is obtained.

[0019] On this basis, the present invention can also be improved as follows:

[0020] Generating a first detection task according to the area where the target point is located specifically includes:

[0021] Obtain the position of the portable UUV, and determine the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-view detection device;

[0022] Determine the width and length of the detection area according to the size of the area where the target point is located, and determine the navigation direction and the starting point position;

[0023] Determine the waypoint interval and the navigation trajectory interval according to the width and length of the detection area and the acoustic beam opening angle of the side-view detection device;

[0024] Generate a reciprocating detection trajectory composed of the starting point and waypoints according to the navigation direction, the starting point position, the waypoint interval, and the navigation trajectory interval.

[0025] On this basis, the present invention can also be improved as follows:

[0026] Generating a second detection task according to the position information of the target point specifically includes:

[0027] Generate a starting point and an ending point that are distributed on the same straight line with the target point as the center;

[0028] Generate a linear detection trajectory based on the starting point, the target point, and the ending point.

[0029] To solve the above technical problems, the present invention can also adopt the following technical solutions:

[0030] A detection task execution system for a portable UUV, including: a transportation device, a ground control terminal, a communication module, and a UUV controller. The UUV controller is arranged inside the portable UUV, and the ground control terminal is connected to the UUV controller through the communication module, wherein:

[0031] The transportation device is used to move the portable UUV to a target water area and release the portable UUV in the target water area. The portable UUV is provided with a side-looking detection device and a bottom-looking detection device;

[0032] The ground control terminal is used to generate a first detection task according to the area where the target point is located and send it to the UUV controller through the communication module;

[0033] The UUV controller controls the side-looking detection device to perform area detection on the area where the target point is located according to the first detection task, obtains the position information of the target point, and sends it to the ground control terminal through the communication module;

[0034] The ground control terminal generates a second detection task according to the position information of the target point and sends it to the UUV controller through the communication module;

[0035] The UUV controller controls the bottom-looking detection device to perform single-point detection on the target point according to the second detection task, obtains the characteristic information of the target point, and sends it to the ground control terminal through the communication module.

[0036] On this basis, the present invention can also be improved as follows:

[0037] If the position information of the target point is not obtained, the ground control terminal is also used to change the parameters of the first detection task and re-control the side-looking detection device to perform area detection on the area where the target point is located through the UUV controller until the position information of the target point is obtained.

[0038] On this basis, the present invention can also be improved as follows:

[0039] If the feature information of the target point is not obtained, the ground control terminal is further configured to change the parameters of the second detection task, and re-control the bottom-view detection device to perform single-point detection on the target point through the UUV controller until the feature information of the target point is obtained.

[0040] On this basis, the present invention can also be improved as follows:

[0041] Specifically, the ground control terminal is configured to obtain the position of the portable UUV, and determine the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-view detection device;

[0042] Determine the width and length of the detection area according to the size of the area where the target point is located, and determine the navigation direction and the starting point position;

[0043] Determine the waypoint interval and the navigation trajectory interval according to the width and length of the detection area and the acoustic beam opening angle of the side-view detection device;

[0044] Generate a reciprocating detection trajectory composed of starting points and waypoints according to the navigation direction, the starting point position, the waypoint interval, and the navigation trajectory interval.

[0045] On this basis, the present invention can also be improved as follows:

[0046] Specifically, the ground control terminal is configured to generate a starting point and an ending point distributed on the same straight line with the target point as the center;

[0047] Generate a linear detection trajectory according to the starting point, the target point, and the ending point.

[0048] The detection task execution method and system provided by the present invention are applicable to portable UUVs. By using the detection device to detect the area where the target point is located, first determine the position information of the target point, and then use the bottom-view detection device to accurately detect the target point to obtain the feature information of the target point. It is not necessary to pre-generate a task configuration file, and the detection scheme can be adjusted in real time, avoiding modifying the software code of the vehicle or re-binding a specific detection task configuration file before each test, improving the software reliability of the vehicle and the efficiency and flexibility of the detection test task, and having the advantages of high flexibility, high reliability, good practicability, and high efficiency.

[0049] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0050] Figure 1Schematic diagram of the method for executing a detection task provided by an embodiment of the present invention;

[0051] Figure 2 Detailed flowchart of the method for executing a detection task provided by an embodiment of the present invention;

[0052] Figure 3 Track schematic diagram of the area detection mode provided by an embodiment of the present invention;

[0053] Figure 4 Schematic diagram of other optional tracks of the area detection mode provided by an embodiment of the present invention;

[0054] Figure 5 Track schematic diagram of the single-point detection mode provided by an embodiment of the present invention;

[0055] Figure 6 Schematic diagram of other optional tracks of the single-point detection mode provided by an embodiment of the present invention. Detailed implementation manners

[0056] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] As Figure 1 shown, it is a schematic diagram of the method for executing a detection task provided by an embodiment of the present invention. The method for executing a detection task of the portable UUV includes:

[0058] S1. Move the portable UUV to the target water area and deploy the portable UUV in the target water area. The portable UUV is provided with a side-looking detection device and a bottom-looking detection device;

[0059] S2. Generate a first detection task according to the area where the target point is located;

[0060] S3. Perform area detection on the area where the target point is located according to the first detection task through the side-looking detection device to obtain the position information of the target point;

[0061] S4. Generate a second detection task according to the position information of the target point;

[0062] S5. Perform single-point detection on the target point according to the second detection task through the bottom-looking detection device to obtain the characteristic information of the target point.

[0063] It should be noted that portable UUVs are usually equipped with optical and acoustic detection payloads to achieve the predetermined underwater target detection task. The optical detection payload mainly includes a bottom-view camera and underwater lighting equipment, etc. The bottom-view camera is mainly used to capture images of the underwater environment, and the underwater lighting equipment provides optical illumination. The acoustic detection payload mainly includes a side-scan sonar and a down-scan sonar, etc. Through the side-scan sonar equipment, the vehicle can be provided with the ability to search for point-like and linear targets laid on the bottom of the water over a large area, realizing the function of the vehicle's autonomous search for underwater targets. Through the down-scan sonar, the vehicle can be provided with the ability to detect and identify suspended targets, realizing the function of the vehicle's autonomous detection of suspended targets in water.

[0064] Therefore, the side-view detection device provided in this embodiment may include a side-scan sonar device, and the bottom-view detection device may include a bottom-view camera, underwater lighting equipment, a down-scan sonar device, etc.

[0065] The area detection mode utilizes the detection characteristics of the side-scan sonar to achieve a rough detection of a large target area; the single-point detection mode utilizes the detection characteristics of the down-scan sonar and the optical camera to achieve an accurate detection of the target point.

[0066] It should be noted that the first detection task and the second detection task include the position information of the area where the target point is located, the position information of the portable UUV itself, the detection parameters of the test detection device, etc., so that the depth to which the portable UUV needs to dive can be obtained through a preset program, and the navigation trajectory can be determined according to the detection parameters of the side-view detection device. For example, assuming that the area to be detected is small, for example, assuming it is 2*2, and the detection range of the side-view detection device is 1*1, then only need to set the flight path trajectory as a "U" shape to cover the entire area.

[0067] Therefore, those skilled in the art can write programs according to actual needs to automatically generate the first detection task and the second detection task according to the actual situation, or manually plan the first detection task and the second detection task, which will not be elaborated here.

[0068] The characteristic information of the target point refers to the characteristic information such as the image, texture, color, size or structure for identifying the target point. These information can determine the type of the target point, etc., facilitating the analysis and identification of the target point.

[0069] As Figure 2 shown, a more detailed schematic diagram of the detection task execution method flow is provided. First, UUV preparation and deployment are carried out, which mainly include UUV power-on, software startup, and routine inspections before the test. The UUV that meets the requirements can be deployed into the water.

[0070] Then, maneuver the UUV to the target area. Mainly, remotely control the UUV to maneuver towards the target area by the control equipment. If it is necessary for the UUV to maneuver to the designated target area at the fastest speed, the UUV can be remotely controlled to quickly maneuver underwater to the designated target area. Otherwise, the surface remote control method can be adopted.

[0071] Then, perform the underwater detection test task. Mainly, according to the detection task plan, perform the corresponding detection tasks. The specific steps include:

[0072] Adopt the area detection mode to roughly detect the target area.

[0073] Transmit the detection data back through the video transmission or fiber optic channel, analyze the detection results, and determine the suspicious target points. If the detection effect is not ideal, for example, there is a deviation between the detected range and the target point, or the error of the obtained position information is too large, etc., the task parameters of the area detection mode can be adjusted, and then the area detection mode is adopted again to roughly detect the target area.

[0074] If the detection effect is ideal, adopt the single-point detection mode to accurately detect the suspicious target points.

[0075] Transmit the detection data back through the video transmission or fiber optic channel, analyze the detection results. If the detection effect is not ideal, such as the obtained image is blurred or unclear, etc., the task parameters of the single-point detection mode can be adjusted, and the single-point detection mode is adopted again to accurately detect the suspicious target points.

[0076] If the detection task is not completed, repeat the above steps. Otherwise, transfer to the UUV recovery stage.

[0077] Finally, conduct the UUV recovery. Mainly, remotely control the UUV that has completed the detection task by the control equipment to return to the mother ship or the shore, salvage and recover it, and further analyze the detection task data.

[0078] The detection task execution method provided in this embodiment is applicable to portable UUVs. It detects the area where the target point is located through the detection equipment, first determines the position information of the target point, and then accurately detects the target point through the bottom view detection equipment to obtain the characteristic information of the target point. It does not require pre-generating a task configuration file and can adjust the detection plan in real time, avoiding modifying the vehicle software code or re-binding a specific detection task configuration file before each test, improving the reliability of the vehicle software and the efficiency and flexibility of the detection test task, and having the advantages of high flexibility, high reliability, good practicability, and high efficiency.

[0079] Optionally, in some possible implementation manners, the detection task execution method of the portable UUV further includes:

[0080] If the position information of the target point is not obtained, change the parameters of the first detection task and re-detect the area where the target point is located until the position information of the target point is obtained.

[0081] Optionally, in some possible implementation manners, the method for performing the detection task of the portable UUV further includes:

[0082] If the feature information of the target point is not obtained, change the parameters of the second detection task and re-detect the target point alone until the feature information of the target point is obtained.

[0083] It should be noted that since the detection area of the side-scan sonar is related to factors such as the acoustic beam opening angle and the height of the vehicle from the bottom of the water. To ensure full-coverage scanning detection of the target rectangular area, the task parameters matching it should be determined according to information such as the position of the vehicle, the size of the target rectangular area, and the acoustic beam opening angle, including: navigation depth, detection area width, detection area length, waypoint interval, navigation track interval, navigation direction, starting point position, task timeout protection value, etc. The corresponding task parameters can be transmitted to the portable UUV in real time through the video transmission or fiber optic channel.

[0084] Optionally, in some possible implementation manners, generating the first detection task according to the area where the target point is located specifically includes:

[0085] Obtain the position of the portable UUV, and determine the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-looking detection device;

[0086] Determine the width and length of the detection area according to the size of the area where the target point is located, and determine the navigation direction and starting point position;

[0087] Determine the waypoint interval and navigation track interval according to the width and length of the detection area and the acoustic beam opening angle of the side-looking detection device;

[0088] Generate a reciprocating detection track composed of the starting point and waypoints according to the navigation direction, starting point position, waypoint interval, and navigation track interval.

[0089] Such as Figure 3 , which is a schematic diagram of the track in the area detection mode provided by the embodiment of the present invention, Figure 3 is a reciprocating detection track, and the portable UUV starts from the starting point and passes through each waypoint in turn. W is the detection area width, L is the detection area length, H1 is the waypoint interval, and H2 is the navigation track interval.

[0090] Optionally, as Figure 4 shown, other optional track schematic diagrams are given, and a suitable reciprocating detection track can be generated according to actual needs.

[0091] The reciprocating detection trajectory can cover a large area and has a good detection effect.

[0092] Optionally, in some possible implementation manners, a second detection task is generated according to the position information of the target point, which specifically includes:

[0093] Taking the target point as the center, a starting point and an ending point distributed on the same straight line are generated;

[0094] A linear detection trajectory is generated according to the starting point, the target point, and the ending point.

[0095] Since both the downward-looking sonar and the optical camera are bottom-view detection devices, to achieve the best detection effect, it should be ensured that the vehicle passes smoothly directly above the target point underwater. Therefore, three waypoints A, B, and C are sequentially set on a straight line, where point B is the target point. As Figure 5 shown, an exemplary track schematic diagram of the single-point detection mode is given. The vehicle is controlled to find these three points in sequence so that the vehicle can adjust its heading to face the target point directly and pass directly above the target point in the order of A - B - C. Corresponding task parameters are adjusted for the vehicle in real time through the video transmission or fiber optic channel, including: navigation depth, starting point position, waypoint interval, task timeout protection value, etc. According to the starting point position and the navigation direction of the detection task, there are 4 cases for the navigation trajectory of this detection mode. As Figure 6 shown, where A is the starting point, B is the target point, C is the waypoint, and H is the waypoint interval.

[0096] Optionally, in some possible implementation manners, it may include all or part of the above various implementation manners.

[0097] The present invention also provides a detection task execution system for a portable UUV, including: a transportation device, a ground control terminal, a communication module, and a UUV controller. The UUV controller is arranged inside the portable UUV, and the ground control terminal is connected to the UUV controller through the communication module, where:

[0098] The transportation device is used to move the portable UUV to the target water area and release the portable UUV in the target water area. A side-view detection device and a bottom-view detection device are arranged on the portable UUV;

[0099] The ground control terminal is used to generate a first detection task according to the area where the target point is located and send it to the UUV controller through the communication module;

[0100] The UUV controller controls the side-view detection device to perform area detection on the area where the target point is located according to the first detection task, obtains the position information of the target point, and sends it to the ground control terminal through the communication module;

[0101] The ground control terminal generates a second detection task based on the position information of the target point and sends it to the UUV controller through the communication module;

[0102] The UUV controller controls the bottom-view detection device to perform single-point detection on the target point according to the second detection task, obtains the feature information of the target point, and sends it to the ground control terminal through the communication module.

[0103] The detection task execution system provided in this embodiment is applicable to portable UUVs. By using the detection device to detect the area where the target point is located, first determine the position information of the target point, and then use the bottom-view detection device to accurately detect the target point to obtain the feature information of the target point. It does not require pre-generating a task configuration file and can adjust the detection plan in real time, avoiding modifying the vehicle software code or re-binding a specific detection task configuration file before each test, improving the reliability of the vehicle software and the efficiency and flexibility of the detection test task, and having the advantages of high flexibility, high reliability, good practicability, and high efficiency.

[0104] Optionally, in some possible implementation manners, if the position information of the target point is not obtained, the ground control terminal is further configured to change the parameters of the first detection task and re-control the side-view detection device through the UUV controller to perform area detection on the area where the target point is located until the position information of the target point is obtained.

[0105] Optionally, in some possible implementation manners, if the feature information of the target point is not obtained, the ground control terminal is further configured to change the parameters of the second detection task and re-control the bottom-view detection device through the UUV controller to perform single-point detection on the target point until the feature information of the target point is obtained.

[0106] Optionally, in some possible implementation manners, the ground control terminal is specifically configured to obtain the position of the portable UUV, and determine the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-view detection device;

[0107] Determine the width and length of the detection area according to the size of the area where the target point is located, and determine the navigation direction and the starting point position;

[0108] Determine the waypoint interval and the navigation trajectory interval according to the width and length of the detection area and the acoustic beam opening angle of the side-view detection device;

[0109] Generate a reciprocating detection trajectory composed of the starting point and waypoints according to the navigation direction, the starting point position, the waypoint interval, and the navigation trajectory interval.

[0110] Optionally, in some possible implementation manners, the ground control terminal is specifically configured to generate a starting point and an end point distributed on the same straight line with the target point as the center;

[0111] Generate a linear detection trajectory based on the starting point, target point, and end point.

[0112] Optionally, in some possible implementation manners, all or part of the above implementation manners may be included.

[0113] It can be understood that the above implementation manners are product implementation manners corresponding to the prior method implementation manners. Therefore, the description of the product implementation manners can refer to the prior method implementation manners and will not be elaborated herein.

[0114] It should be noted that in the above implementation manners, the connection manners of the various devices / components may be wired connections and / or wireless connection manners. For example, wired connections include wired connections with power lines, standard serial port RS485, or Ethernet RJ45 as interfaces; wireless connections include wireless connections based on wireless communication transmission modes such as Zigbee, Z-wave, Wifi, or GPRS.

[0115] It should be understood that in the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the partial features of different embodiments or examples.

[0116] Certainly, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these changes and modifications should all fall within the protection scope of the claims of the present invention.

Claims

1. A method for performing a detection task of a portable UUV, characterized in that, it includes: Moving the portable UUV to the target water area, and dropping the portable UUV in the target water area. A side-looking detection device and a bottom-looking detection device are arranged on the portable UUV; Generating a first detection task according to the area where the target point is located; Performing area detection on the area where the target point is located according to the first detection task through the side-looking detection device, and obtaining the position information of the target point; Generating a second detection task according to the position information of the target point; Performing single-point detection on the target point according to the second detection task through the bottom-looking detection device, and obtaining the characteristic information of the target point.

2. The method for performing a detection task of a portable UUV according to claim 1, characterized in that, it further includes: If the position information of the target point is not obtained, changing the parameters of the first detection task, and re-performing area detection on the area where the target point is located until the position information of the target point is obtained.

3. The method for performing a detection task of a portable UUV according to claim 1, characterized in that, it further includes: If the characteristic information of the target point is not obtained, changing the parameters of the second detection task, and re-performing single-point detection on the target point until the characteristic information of the target point is obtained.

4. The method for performing a detection task of a portable UUV according to claim 1, characterized in that, Generating a first detection task according to the area where the target point is located specifically includes: Obtaining the position of the portable UUV, and determining the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-looking detection device; Determining the width and length of the detection area according to the size of the area where the target point is located, and determining the navigation direction and the starting point position; Determining the waypoint interval and the navigation track interval according to the width and length of the detection area and the acoustic beam opening angle of the side-looking detection device; Generating a reciprocating detection track composed of starting points and waypoints according to the navigation direction, the starting point position, the waypoint interval, and the navigation track interval.

5. The method for performing a detection task of a portable UUV according to claim 1, characterized in that, Generating a second detection task according to the position information of the target point specifically includes: Taking the target point as the center, generating a starting point and an ending point distributed on the same straight line; Generating a linear detection track according to the starting point, the target point, and the ending point.

6. A detection task execution system of a portable UUV, characterized in that, it includes: A transportation device, a ground control terminal, a communication module, and a UUV controller. The UUV controller is arranged inside the portable UUV, and the ground control terminal is connected to the UUV controller through the communication module, where: The transportation device is used to move the portable UUV to the target water area and drop the portable UUV in the target water area. A side-looking detection device and a bottom-looking detection device are arranged on the portable UUV; The ground control terminal is used to generate a first detection task according to the area where the target point is located, and send it to the UUV controller through the communication module; The UUV controller controls the side-looking detection device to perform area detection on the area where the target point is located according to the first detection task, obtains the position information of the target point, and sends it to the ground control terminal through the communication module; The ground control terminal generates a second detection task according to the position information of the target point, and sends it to the UUV controller through the communication module; The UUV controller controls the bottom-looking detection device to perform single-point detection on the target point according to the second detection task, obtains the feature information of the target point, and sends it to the ground control terminal through the communication module.

7. The detection task execution system of the portable UUV according to claim 6, wherein, If the position information of the target point is not obtained, the ground control terminal is further configured to change the parameters of the first detection task, and re-control the side-looking detection device through the UUV controller to perform area detection on the area where the target point is located until the position information of the target point is obtained.

8. The detection task execution system of the portable UUV according to claim 6, wherein, If the feature information of the target point is not obtained, the ground control terminal is further configured to change the parameters of the second detection task, and re-control the bottom-looking detection device through the UUV controller to perform single-point detection on the target point until the feature information of the target point is obtained.

9. The detection task execution system of the portable UUV according to claim 6, wherein, The ground control terminal is specifically configured to obtain the position of the portable UUV, and determine the navigation depth of the portable UUV according to the position of the portable UUV, the size of the area where the target point is located, and the acoustic beam opening angle of the side-looking detection device; Determine the width and length of the detection area according to the size of the area where the target point is located, and determine the navigation direction and the starting point position; Determine the waypoint interval and the navigation track interval according to the width and length of the detection area and the acoustic beam opening angle of the side-looking detection device; Generate a reciprocating detection track composed of starting points and waypoints according to the navigation direction, the starting point position, the waypoint interval, and the navigation track interval.

10. The detection task execution system of the portable UUV according to claim 6, wherein, The ground control terminal is specifically configured to generate a starting point and an ending point distributed on the same straight line with the target point as the center; Generate a linear detection track according to the starting point, the target point, and the ending point.

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