CN105138008A - Multifunctional submersible for underwater submerged reef detection - Google Patents
Multifunctional submersible for underwater submerged reef detection Download PDFInfo
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- CN105138008A CN105138008A CN201510471949.4A CN201510471949A CN105138008A CN 105138008 A CN105138008 A CN 105138008A CN 201510471949 A CN201510471949 A CN 201510471949A CN 105138008 A CN105138008 A CN 105138008A
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Abstract
The invention relates to a multifunctional submersible for underwater submerged reef detection, and the submersible comprises a submersible main body, laser image equipment, feature extraction recognition equipment, and main control equipment. The laser image equipment and the feature extraction recognition equipment are located on the submersible main body, and are respectively used for taking an underwater laser picture and extracting the features of an underwater submerged reef from the underwater laser picture. The main control equipment is connected with the feature extraction recognition equipment, and is used for determining whether an alarm is given or not based on the features of the submerged reef. The submersible can accurately detect the underwater submerged reef and achieves the automatic avoiding on the basis of underwater high-precision laser imaging.
Description
Technical field
The present invention relates to field of image detection, particularly relate to a kind of Multifunction diving hydrophone detected for ledge.
Background technology
Submerged reef treatment facility for underwater vehicle outfit in prior art is comparatively simple, due to restive when underwater laser images shutter, underwater laser images weak effect, cause submerged reef recognition technology precision not high, lack effective image recognition apparatus and underwater vehicle structure simultaneously, ledge is detected and cannot adapt to complicated underwater environment.
For this reason, the present invention proposes a kind of Multifunction diving hydrophone detected for ledge, the shutter control of underwater imaging system can be improved, the precision of ledge identification can be improved, and suitable submerged reef can be formulated hide mode, improve the reliability of diving under water device.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of Multifunction diving hydrophone detected for ledge, sonar and sonar image processing equipment is utilized to optimize the shutter control of underwater laser images, utilize neural network recognization to be accurately identified the various shapes of ledge, finally determine that the mode by excavating, detouring, float or retreat carries out submerged reef process based on ledge height, avoid underwater vehicle and submerged reef directly to bump against.
According to an aspect of the present invention, provide a kind of Multifunction diving hydrophone detected for ledge, described underwater vehicle comprises underwater vehicle main body, laser imaging apparatus, feature extraction identification equipment and main control equipment, described laser imaging apparatus and described feature extraction identification equipment are all positioned in described underwater vehicle main body, be respectively used to shooting underwater laser image and extract ledge feature from described underwater laser image, described main control equipment is connected with described feature extraction identification equipment, for determining whether to send warning message based on described ledge feature.
More specifically, in the described Multifunction diving hydrophone detected for ledge, also comprise: excavating equipment, be arranged in described underwater vehicle main body, comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef, described underwater vehicle main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical arm, water proof sealing bore, transverse propeller, vertical screw propeller, longitudinal spiral oar and three direct current generators, described support is used for described underwater vehicle main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described mechanical arm is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw propeller and described longitudinal spiral oar, with the rotating by screw propeller, for underwater vehicle main body provides the thrust power of 6 degree of freedom, portable hard drive, be positioned in described underwater vehicle main body, for having prestored the luminance threshold upper limit and luminance threshold lower limit, submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value are also prestored, described submerged reef area threshold is directly proportional to the excavation output power of excavating equipment, the instantaneous output power of climbing that described submerged reef height threshold and described underwater vehicle direct current generator provide is directly proportional, and the instantaneous output power that detours that described submerged reef width threshold value and described underwater vehicle direct current generator provide is directly proportional, sonar, is positioned in described underwater vehicle main body, for performing sonar image collection, to obtain sonar image to the submarine target in described underwater vehicle main body front, sonar image treatment facility, be connected respectively with described sonar and described portable hard drive, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described portable hard drive, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit, described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region, described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range, described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to described underwater vehicle main body front gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image, described feature extraction identification equipment comprises pre-service subset, feature extraction subset and submerged reef type identification subset, described pre-service subset is connected with described laser imaging apparatus, comprises medium filtering subset, low-pass filtering subset and homomorphic filtering subset, described medium filtering subset is connected with described detector, for performing medium filtering to described underwater laser image, with the spot noise in underwater laser image described in filtering, obtains the first filtering image, described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image, described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image, described feature extraction subset is connected with described pre-service subset, comprise image segmentation unit and eigenvector recognition unit, the submerged reef target in described enhancing underwater picture identifies to obtain ledge image based on submerged reef gradation of image threshold range by described image segmentation unit, described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties based on described ledge image determination ledge target: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle, and by described 8 geometric properties composition characteristics vector, described submerged reef type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neural network that 8 inputs 2 export, using 8 of ledge target geometric properties as input layer, output layer is ledge type, and described ledge type comprises rare type and general type, submerged reef state analysis equipment, with described feature extraction subset, described submerged reef type identification subset is connected respectively with described sonar image treatment facility, when to receive described ledge type be general type, the area percentage occupying described enhancing underwater picture based on described target range and described ledge image calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing underwater picture based on described target range and described ledge image calculates ledge height, the width percentage occupying described enhancing underwater picture transverse width based on described target range and described ledge image transverse width calculates ledge width, described main control equipment, is arranged in described underwater vehicle main body, is connected with described submerged reef type identification subset, when to receive described ledge type be rare type, sends alerting signal, wherein, described main control equipment is also connected respectively with described submerged reef state analysis equipment, described feature extraction identification equipment and described portable hard drive, when to receive described ledge type be general type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern, described main control equipment operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal, described main control equipment is also connected with the direct current generator of described underwater vehicle, to be detoured in described rising drive singal, described left and right drive singal or retreat the direct current generator that drive singal is sent to described underwater vehicle, described main control equipment is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
More specifically, in the described Multifunction diving hydrophone detected for ledge, described underwater vehicle also comprises: underwater cable, for being connected with processing enter waterborne by described main control equipment, described alerting signal is sent to described processing enter waterborne.
More specifically, in the described Multifunction diving hydrophone detected for ledge: described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset adopt different fpga chips to realize respectively.
More specifically, described for ledge detect Multifunction diving hydrophone in: described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are integrated in one piece of surface-mounted integrated circuit.
More specifically, in the described Multifunction diving hydrophone detected for ledge: described main control equipment is digital signal processor.
More specifically, in the described Multifunction diving hydrophone detected for ledge: described main control equipment, when sending described alerting signal, is also sent to described processing enter waterborne by after described ledge compression of images.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the Multifunction diving hydrophone for ledge detection illustrated according to an embodiment of the present invention.
Reference numeral: 1 underwater vehicle main body; 2 main control equipments; 3 laser imaging apparatus; 4 feature extraction identification equipments;
Embodiment
Below with reference to accompanying drawings the embodiment of the Multifunction diving hydrophone for ledge detection of the present invention is described in detail.
At present, increasing underwater vehicle starts for underwater operation, when underwater vehicle is walked under water and operates, need to adapt to various underwater environment, especially hiding and processing the submerged reef in front is noted, because underwater laser images is wayward in prior art, cause submerged reef analysis comparatively coarse, submerged reef identification equipment precision is not high simultaneously.
In order to overcome above-mentioned deficiency, the present invention has built a kind of Multifunction diving hydrophone detected for ledge, by transformation Underwater Imaging pattern and ledge recognition mode, formulates the submerged reef processing policy be applicable to, thus avoids underwater vehicle to sustain damage.
Fig. 1 is the block diagram of the Multifunction diving hydrophone for ledge detection illustrated according to an embodiment of the present invention, described underwater vehicle comprises underwater vehicle main body, laser imaging apparatus, feature extraction identification equipment and main control equipment, described laser imaging apparatus and described feature extraction identification equipment are all positioned in described underwater vehicle main body, be respectively used to shooting underwater laser image and extract ledge feature from described underwater laser image, described main control equipment is connected with described feature extraction identification equipment, for determining whether to send warning message based on described ledge feature.
Then, continue to be further detailed the concrete structure of the Multifunction diving hydrophone for ledge detection of the present invention.
Described underwater vehicle also comprises: excavating equipment, is arranged in described underwater vehicle main body, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef.
Described underwater vehicle main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical arm, water proof sealing bore, transverse propeller, vertical screw propeller, longitudinal spiral oar and three direct current generators, described support is used for described underwater vehicle main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described mechanical arm is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw propeller and described longitudinal spiral oar, with the rotating by screw propeller, for underwater vehicle main body provides the thrust power of 6 degree of freedom.
Described underwater vehicle also comprises: portable hard drive, be positioned in described underwater vehicle main body, for having prestored the luminance threshold upper limit and luminance threshold lower limit, submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value are also prestored, described submerged reef area threshold is directly proportional to the excavation output power of excavating equipment, the instantaneous output power of climbing that described submerged reef height threshold and described underwater vehicle direct current generator provide is directly proportional, and the instantaneous output power that detours that described submerged reef width threshold value and described underwater vehicle direct current generator provide is directly proportional.
Described underwater vehicle also comprises: sonar, is positioned in described underwater vehicle main body, for performing sonar image collection, to obtain sonar image to the submarine target in described underwater vehicle main body front.
Described underwater vehicle also comprises: sonar image treatment facility, be connected respectively with described sonar and described portable hard drive, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described portable hard drive, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range.
Described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to described underwater vehicle main body front gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image.
Described feature extraction identification equipment comprises pre-service subset, feature extraction subset and submerged reef type identification subset; Described pre-service subset is connected with described laser imaging apparatus, comprises medium filtering subset, low-pass filtering subset and homomorphic filtering subset; Described medium filtering subset is connected with described detector, for performing medium filtering to described underwater laser image, with the spot noise in underwater laser image described in filtering, obtains the first filtering image; Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image; Described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image; Described feature extraction subset is connected with described pre-service subset, comprise image segmentation unit and eigenvector recognition unit, the submerged reef target in described enhancing underwater picture identifies to obtain ledge image based on submerged reef gradation of image threshold range by described image segmentation unit; Described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties based on described ledge image determination ledge target: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle, and by described 8 geometric properties composition characteristics vector; Described submerged reef type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neural network that 8 inputs 2 export, using 8 of ledge target geometric properties as input layer, output layer is ledge type, and described ledge type comprises rare type and general type.
Described underwater vehicle also comprises: submerged reef state analysis equipment, with described feature extraction subset, described submerged reef type identification subset is connected respectively with described sonar image treatment facility, when to receive described ledge type be general type, the area percentage occupying described enhancing underwater picture based on described target range and described ledge image calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing underwater picture based on described target range and described ledge image calculates ledge height, the width percentage occupying described enhancing underwater picture transverse width based on described target range and described ledge image transverse width calculates ledge width.
Described main control equipment, is arranged in described underwater vehicle main body, is connected with described submerged reef type identification subset, when to receive described ledge type be rare type, sends alerting signal; Described main control equipment is also connected respectively with described submerged reef state analysis equipment, described feature extraction identification equipment and described portable hard drive, when to receive described ledge type be general type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern.
Described main control equipment operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal.
Described main control equipment is also connected with the direct current generator of described underwater vehicle, to be detoured in described rising drive singal, described left and right drive singal or retreat the direct current generator that drive singal is sent to described underwater vehicle; Described main control equipment is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
Alternatively, in the described Multifunction diving hydrophone detected for ledge, described underwater vehicle also comprises: underwater cable, for being connected with processing enter waterborne by described main control equipment, described alerting signal is sent to described processing enter waterborne; Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset adopt different fpga chips to realize respectively; Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are integrated on one piece of surface-mounted integrated circuit; Described main control equipment is digital signal processor; Described main control equipment, when sending described alerting signal, is also sent to described processing enter waterborne by after described ledge compression of images.
Adopt the Multifunction diving hydrophone detected for ledge of the present invention, the technical matters of submerged reef effectively cannot be hidden for underwater vehicle in prior art, equipment is hidden by increasing high-precision laser imaging apparatus, image recognition apparatus and submerged reef for underwater vehicle, realize effectively hiding ledge, avoid underwater vehicle operator to be subject to economic loss.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. the Multifunction diving hydrophone detected for ledge, described underwater vehicle comprises underwater vehicle main body, laser imaging apparatus, feature extraction identification equipment and main control equipment, described laser imaging apparatus and described feature extraction identification equipment are all positioned in described underwater vehicle main body, be respectively used to shooting underwater laser image and extract ledge feature from described underwater laser image, described main control equipment is connected with described feature extraction identification equipment, for determining whether to send warning message based on described ledge feature.
2., as claimed in claim 1 for the Multifunction diving hydrophone that ledge detects, it is characterized in that, described underwater vehicle also comprises:
Excavating equipment, is arranged in described underwater vehicle main body, and comprise digging motor and excavate driver, described excavation driver is connected with described digging motor, for excavating front submerged reef;
Described underwater vehicle main body comprises support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical arm, water proof sealing bore, transverse propeller, vertical screw propeller, longitudinal spiral oar and three direct current generators, described support is used for described underwater vehicle main body to be fixed under water, described connecting hoop is fixedly connected with described support, described storage platform is connected with described connecting hoop respectively with described mechanical arm, described mechanical arm is connected with described mechanical arm, the forearm that described mechanical arm comprises large arm and is connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical screw propeller and described longitudinal spiral oar, with the rotating by screw propeller, for underwater vehicle main body provides the thrust power of 6 degree of freedom,
Portable hard drive, be positioned in described underwater vehicle main body, for having prestored the luminance threshold upper limit and luminance threshold lower limit, submerged reef area threshold, submerged reef height threshold and submerged reef width threshold value are also prestored, described submerged reef area threshold is directly proportional to the excavation output power of excavating equipment, the instantaneous output power of climbing that described submerged reef height threshold and described underwater vehicle direct current generator provide is directly proportional, and the instantaneous output power that detours that described submerged reef width threshold value and described underwater vehicle direct current generator provide is directly proportional;
Sonar, is positioned in described underwater vehicle main body, for performing sonar image collection, to obtain sonar image to the submarine target in described underwater vehicle main body front;
Sonar image treatment facility, be connected respectively with described sonar and described portable hard drive, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described portable hard drive, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range;
Described laser imaging apparatus, comprise laser instrument, detector and microcontroller, the submarine target of described laser instrument to described underwater vehicle main body front gives off laser beam, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water velocity of propagation determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image,
Described feature extraction identification equipment comprises pre-service subset, feature extraction subset and submerged reef type identification subset;
Described pre-service subset is connected with described laser imaging apparatus, comprises medium filtering subset, low-pass filtering subset and homomorphic filtering subset; Described medium filtering subset is connected with described detector, for performing medium filtering to described underwater laser image, with the spot noise in underwater laser image described in filtering, obtains the first filtering image; Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, obtains the second filtering image; Described homomorphic filtering subset is connected with described low-pass filtering subset, for performing image enhaucament, to obtain enhancing underwater picture to described second filtering image;
Described feature extraction subset is connected with described pre-service subset, comprise image segmentation unit and eigenvector recognition unit, the submerged reef target in described enhancing underwater picture identifies to obtain ledge image based on submerged reef gradation of image threshold range by described image segmentation unit; Described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties based on described ledge image determination ledge target: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, length-diameter ratio, tight ness rating and main shaft angle, and by described 8 geometric properties composition characteristics vector;
Described submerged reef type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neural network that 8 inputs 2 export, using 8 of ledge target geometric properties as input layer, output layer is ledge type, and described ledge type comprises rare type and general type;
Submerged reef state analysis equipment, with described feature extraction subset, described submerged reef type identification subset is connected respectively with described sonar image treatment facility, when to receive described ledge type be general type, the area percentage occupying described enhancing underwater picture based on described target range and described ledge image calculates ledge horizontal area, the height percent longitudinally highly occupying the longitudinal height of described enhancing underwater picture based on described target range and described ledge image calculates ledge height, the width percentage occupying described enhancing underwater picture transverse width based on described target range and described ledge image transverse width calculates ledge width,
Described main control equipment, is arranged in described underwater vehicle main body, is connected with described submerged reef type identification subset, when to receive described ledge type be rare type, sends alerting signal;
Wherein, described main control equipment is also connected respectively with described submerged reef state analysis equipment, described feature extraction identification equipment and described portable hard drive, when to receive described ledge type be general type, described ledge horizontal area is compared with described submerged reef area threshold, described ledge horizontal area is less than or equal to described submerged reef area threshold and then sends excavation drive singal, and described ledge horizontal area is greater than described submerged reef area threshold and then enters leadswinging pattern;
Wherein, described main control equipment operates below performing in described leadswinging pattern: then send rising drive singal when described ledge height is less than or equal to described submerged reef height threshold, when described ledge height is greater than described submerged reef height threshold, the comparative result of further judgement described ledge width and described submerged reef width threshold value: detour about then sending when described ledge width is less than or equal to described submerged reef width threshold value drive singal, otherwise, send retrogressing drive singal;
Wherein, described main control equipment is also connected with the direct current generator of described underwater vehicle, to be detoured in described rising drive singal, described left and right drive singal or retreat the direct current generator that drive singal is sent to described underwater vehicle;
Wherein, described main control equipment is also connected with described excavation driver, so that described excavation drive singal is sent to described excavation driver.
3., as claimed in claim 2 for the Multifunction diving hydrophone that ledge detects, it is characterized in that, described underwater vehicle also comprises:
Underwater cable, for being connected with processing enter waterborne by described main control equipment, is sent to described processing enter waterborne by described alerting signal.
4., as claimed in claim 2 for the Multifunction diving hydrophone that ledge detects, it is characterized in that:
Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset adopt different fpga chips to realize respectively.
5., as claimed in claim 2 for the Multifunction diving hydrophone that ledge detects, it is characterized in that:
Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are integrated on one piece of surface-mounted integrated circuit.
6., as claimed in claim 2 for the Multifunction diving hydrophone that ledge detects, it is characterized in that:
Described main control equipment is digital signal processor.
7., as claimed in claim 2 for the Multifunction diving hydrophone that ledge detects, it is characterized in that:
Described main control equipment, when sending described alerting signal, is also sent to described processing enter waterborne by after described ledge compression of images.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510471949.4A CN105138008A (en) | 2015-08-05 | 2015-08-05 | Multifunctional submersible for underwater submerged reef detection |
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| CN201510471949.4A CN105138008A (en) | 2015-08-05 | 2015-08-05 | Multifunctional submersible for underwater submerged reef detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106651866A (en) * | 2016-12-23 | 2017-05-10 | 江苏中海达海洋信息技术有限公司 | Multi-beam water column target automatic segmentation method based on neural network |
| CN109218674A (en) * | 2018-09-25 | 2019-01-15 | 杭州翼兔网络科技有限公司 | A kind of diving apparatus group control system |
-
2015
- 2015-08-05 CN CN201510471949.4A patent/CN105138008A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106651866A (en) * | 2016-12-23 | 2017-05-10 | 江苏中海达海洋信息技术有限公司 | Multi-beam water column target automatic segmentation method based on neural network |
| CN109218674A (en) * | 2018-09-25 | 2019-01-15 | 杭州翼兔网络科技有限公司 | A kind of diving apparatus group control system |
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