CN106980317A - A kind of obstacle avoidance method and system under water - Google Patents

A kind of obstacle avoidance method and system under water Download PDF

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Publication number
CN106980317A
CN106980317A CN201710209882.6A CN201710209882A CN106980317A CN 106980317 A CN106980317 A CN 106980317A CN 201710209882 A CN201710209882 A CN 201710209882A CN 106980317 A CN106980317 A CN 106980317A
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CN
China
Prior art keywords
underwater robot
information
roadblock
avoidance
according
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CN201710209882.6A
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Chinese (zh)
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CN106980317B (en
Inventor
刘飞
池晓阳
张保平
李刚
刘中凡
张良曦
张吉伟
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大鹏高科(武汉)智能装备有限公司
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Publication of CN106980317A publication Critical patent/CN106980317A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0206Control of position or course in two dimensions specially adapted to water vehicles

Abstract

The present invention relates to underwater robot technical field, there is provided a kind of obstacle avoidance method and system under water.Wherein method determines current positional information including underwater robot, and the geographical module request for carrying positional information is sent to service end;Underwater robot generates avoidance strategy according to one or more the geographical module got;Underwater robot judges the threshold information currently met according to its conduct direction and real-time positional information, and take to should threshold information avoidance action.The embodiment of the present invention proposes a kind of roadblock based on geographical module and judged in advance, and according to the method and system for judging execution avoidance action.Working sea area is divided into many geographical modules according to the sensing detection characteristic of underwater robot, so as to it is determined that working region corresponding to current task, corresponding geographical module is sent to corresponding underwater robot, analysis total amount of the underwater robot to data is reduced, the speed of response of underwater robot and the security of work is improved.

Description

A kind of obstacle avoidance method and system under water

【Technical field】

The present invention relates to underwater robot technical field, more particularly to a kind of obstacle avoidance method and system under water.

【Background technology】

Underwater robot can be replaced manually under water in the waters of highly dangerous environment, contaminated environment and zero visibility Long working.Wherein, the devices such as Sonar system, video camera, illuminating lamp and mechanical arm are commonly equipped with underwater robot, can be carried For real-time video, sonar image information, and mechanical arm can be used to pick up weight.Underwater robot is in safety search and rescue, pipeline Inspection, research and teaching, under water the field such as amusement, energy industry, archaeology, fishery be used widely.

Due to the particularity of underwater robot working environment, i.e., work under water and unmanned field control, to underwater The intelligent requirements of people are higher.And the accident most possibly occurred under water is, underwater robot in the process of running, with obstacle Accident caused by thing collision, the structure to underwater robot causes badly damaged.In the prior art, underwater robot substantially can Enough detect front and whether there is barrier, and the avoidance for receiving console waterborne according to cordless communication network instructs to complete barrier Hinder thing to avoid, it is impossible to realize automatic avoidance, different measures to keep clear can not be formulated according to the concrete condition of barrier.

Under water during the underwater operation of robot, most common problem is, due to the complexity of environment under sea, often Barrier of different shapes can be run into, it is necessary to which effective to the progress of these barriers hide, to ensure the just normally opened of underwater operation Exhibition.Current underwater robot can recognize barrier, but need to be completed according to the control instruction of control platform waterborne Hide action, and hide that pattern is excessively single, even need to bypass that very wide but very low barrier is got in fact sometimes Destination.

【The content of the invention】

The technical problem to be solved of the embodiment of the present invention is how to improve underwater robot to hide the intelligent and pre- of roadblock The property sentenced.

The embodiment of the present invention is adopted the following technical scheme that:

In a first aspect, the embodiments of the invention provide a kind of obstacle avoidance method under water, including:

Underwater robot determines current positional information, and the geographical module for sending the carrying positional information to service end please Ask;Wherein, the geographical module is the unit of preset shape, and geographical inside modules include the roadblock of respective regions in actual environment Information;

Underwater robot generates avoidance strategy according to one or more the geographical module got;Wherein, it is described to avoid Strategy includes one or more threshold information, and the avoidance of each threshold information of correspondence is acted;

Underwater robot judges the threshold information currently met according to its conduct direction and real-time positional information, and Take to should threshold information avoidance action.

Optionally, when the conduct route of underwater robot is it has been confirmed that then methods described also includes:

Receive one or more geographical module that the conduct route is covered;

Wherein, one or more geographical module that the conduct route is covered is to confirm underwater by service end After the conduct route of people, search and obtain from database.

Optionally, according to one or more the geographical module got, avoidance strategy is generated, is specifically included:

According to one or more the geographical module got, the roadblock information included in each geographical module is determined;

According to size, the property of roadblock type, roadblock size and barrier structures in roadblock information, and underwater robot itself Can parameter and job category, generation avoidance strategy;The avoidance strategy includes:

Float and advanced through to after specified altitude assignment, sink to after specified altitude assignment and advance through, pass through after the specified location that detours In one or more avoidance action;

The respective threshold information of each avoidance action correspondence, the threshold information as perform judgement that the avoidance acts according to According to being stored in the underwater robot, or by the underwater robot dynamic generation.

Optionally, the geographical module is worked by one or more underwater robot in target positioning identification system Arrive, wherein, system include the lash ship with active sonar function, at least one there is the buoy of passive sonar function and described Underwater robot,

The underwater robot is used to obtain first position information and roadblock content of the roadblock relative to underwater robot, and The first position information is sent to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is used to obtain described floating Target second place information;Record has the relevant parameter of lash ship Sonar Signal in buoy, and comes from underwater by what is collected The sonar reflected signal of people feeds back to lash ship;

The lash ship is additionally operable to be adopted according to the 3rd positional information of itself, second place information, lash ship and the buoy of buoy The sonar reflected signal of the underwater robot collected, and roadblock are calculated relative to the first position information of underwater robot To the location information of roadblock;And location information and roadblock content according to the roadblock, it is raw according to the setting of geographical block size Into one or more geographical module.

Optionally, methods described also includes:

If underwater robot occurs to avoid failure when performing avoidance action;

Recall the positional information of underwater robot and perform avoidance and act corresponding geographical module, confirm that threshold information judges It is whether correct;

The environmental information recorded if correct judgment according to the underwater robot updates corresponding geographical module;If judging It is wrong, then adjust avoidance strategy generting machanism.

Second aspect, the embodiment of the present invention additionally provides a kind of obstacle avoidance system under water, and system includes underwater People and service end include:

The service end is used to store geographical module, and please in the geographical module for receiving carrying underwater robot positional information When asking, one or more corresponding geographical module is fed back;Wherein, the geographical module is the unit of preset shape, geographical mould The roadblock information of respective regions in actual environment is included inside block;

The underwater robot, for according to one or more the geographical module got, generating avoidance strategy;Its In, the avoidance strategy includes one or more threshold information, and the avoidance of each threshold information of correspondence is acted;Underwater People is additionally operable to according to its conduct direction and real-time positional information, judges the threshold information currently met, and is taken to should The avoidance action of threshold information.

Optionally, when the conduct route of underwater robot is it has been confirmed that then the system also includes:

Service end is searched from database after the conduct route of underwater robot is confirmed and obtains the conduct route and covered One or more geographical module of lid, and it is sent to underwater robot;

The underwater robot is additionally operable to receive one or more geographical module that the conduct route is covered.

Optionally, the system also include with active sonar function lash ship, at least one there is passive sonar function Buoy,

The underwater robot is additionally operable to obtain first position information and roadblock content of the roadblock relative to underwater robot, And the first position information is sent to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is used to obtain described The second place information of buoy;Record has the relevant parameter of lash ship Sonar Signal in buoy, and will collect from machine under water The sonar reflected signal of device people feeds back to lash ship;

The lash ship or service end are additionally operable to the 3rd positional information, the second place information of buoy, lash ship according to itself The sonar reflected signal of the underwater robot collected with buoy, and roadblock are believed relative to the first position of underwater robot Breath, calculates the location information for obtaining roadblock;And location information and roadblock content according to the roadblock, according to geographical block size Setting, generate one or more geographical module.

Optionally, the service end is additionally operable to statistics underwater robot avoidance strategy and run succeeded rate, if underwater robot When performing avoidance action, occur to avoid failure;

Server is additionally operable to recall the positional information of underwater robot and performs the corresponding geographical module of avoidance action, confirms Threshold information judges whether correctly;

The environmental information recorded if correct judgment according to the underwater robot updates corresponding geographical module;If judging It is wrong, then adjust the avoidance strategy generting machanism of underwater robot.

Optionally, the geographical block size is the sensing equipment possessed according to the underwater robot in marine institute The range areas that can be detected is come what is set, and its shape can be regular hexagon, rectangle is either other can be by the detection To range areas cut out come, and be available for complete splice figure.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judged in advance, and performs avoidance action according to judgement Method.This method can make full use of the gathered data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to it is determined that work corresponding to current task Region, gives corresponding underwater robot to send corresponding geographical module, be effectively reduced underwater robot to the analysis of data at Total amount is managed, and the speed of response of underwater robot and the security of work can be improved.

【Brief description of the drawings】

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is a kind of obstacle avoidance method flow diagram under water provided in an embodiment of the present invention;

Fig. 2 is a kind of geographical module generating principle schematic diagram provided in an embodiment of the present invention;

Fig. 3 is a kind of obstacle avoidance method flow diagram under water provided in an embodiment of the present invention;

Fig. 4 is a kind of obstacle avoidance method flow diagram under water provided in an embodiment of the present invention;

Fig. 5 is a kind of system architecture diagram of geographical module generation provided in an embodiment of the present invention;

Fig. 6 is the system architecture diagram of another geographical module generation provided in an embodiment of the present invention;

Fig. 7 is the system architecture diagram of another geographical module generation provided in an embodiment of the present invention.

【Embodiment】

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

In the description of the invention, term " interior ", " outer ", " longitudinal direction ", " transverse direction ", " on ", " under ", " top ", " bottom " etc. refer to The orientation or position relationship shown be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention rather than It is required that the present invention must be with specific azimuth configuration and operation, therefore it is not construed as limitation of the present invention.

As long as in addition, technical characteristic involved in each embodiment of invention described below is each other not Constituting conflict can just be mutually combined.

Embodiment 1:

The embodiment of the present invention 1 provides a kind of obstacle avoidance method under water, and the obstacle avoidance method is applied to various water The underwater being located near seabed of lower robot workplace, a large amount of repetitions of the presence that is particularly suitable for use in or intersecting routes is artificial Make field, as shown in figure 1, methods described includes:

In step 201, underwater robot determines current positional information, is sent to service end and carries the positional information Geographical module request.

Wherein, the geographical module is the unit of preset shape, and geographical inside modules include respective regions in actual environment Roadblock information.The geographical block size is that the sensing equipment possessed according to the underwater robot can be examined marine The range areas measured is come what is set, and its shape, which can be regular hexagon, rectangle is either other to be detected by described Range areas, which is cut out, to be come, and is available for completing the figure of splicing.For example shown in Fig. 2 (it is not shown to scale in figure, it is actual to visit Ranging is from may be much larger than the size of underwater robot), wherein, the profile of underwater robot is its sensor institute shown in 3 in figure Can detection scope as shown in the regions of 31 marks in figure, and the geographic model cut out is marks shown in 32 regions in figure.It is real In the situation of border because underwater robot be kept in motion (for example:Horizontal movement), therefore, the length reason of geographic model By above can arbitrarily be set on a continuous length and complete interception.

In step 202., underwater robot generates avoidance strategy according to one or more the geographical module got.

Wherein, the avoidance strategy includes one or more threshold information, and the avoidance of each threshold information of correspondence is moved Make.Wherein, threshold information be really avoidance action basis for estimation, the threshold information can be single parameter, for example by Positional information (including longitude and latitude and ocean depth);Can also be the combination of several parameters, such as by positional information, underwater The form that the translational speed of people, the job category of underwater robot etc. multiple dimensions combine.

In step 203, underwater robot judges what is currently met according to its conduct direction and real-time positional information Threshold information, and take to should threshold information avoidance action.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judged in advance, and performs avoidance action according to judgement Method.This method can make full use of the gathered data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to it is determined that work corresponding to current task Behind region, corresponding geographical module is sent to corresponding underwater robot, analysis of the underwater robot to data is effectively reduced Total amount is handled, and the speed of response of underwater robot and the security of work can be improved.

Scheme described in the embodiment of the present invention 1 can apply among two ways, and the first often reaches pre- for underwater If displacement, just initiate once geographical module request to service end.Which is adapted to do the searching for not specifying specific route The tracing task that task or path can change at random.Wherein, one or more received in step 202. is geographical The radius in the real region that module is covered is more than the default displacement, so as to ensure that each underwater robot initiates ground When managing module request, its shift position is without departing from the corresponding real region of geographical module.Correspondence step 201-203 method step Suddenly what can be circulated under water in robot whole work process is performed.

Second of task for underwater robot can be sought by set path, now, in step 201-203 method Rong Ze is applied to after initial underwater robot is delivered reach the implementation procedure between specified path starting point.In the second way In, the embodiment of the present invention is additionally provided for arriving at the geographical module acquisition methods after specified path starting point, as shown in figure 3, Methods described also includes:

In step 204, one or more geographical module that the conduct route is covered is received.

Wherein, one or more geographical module that the conduct route is covered is to confirm underwater by service end After the conduct route of people, search and obtain from database.

In step 202 of the embodiment of the present invention, according to one or more the geographical module got, generation avoids plan Slightly, specifically include:

According to one or more the geographical module got, the roadblock information included in each geographical module is determined;Wherein, Roadblock information includes roadblock type, roadblock size and barrier structures etc., and the roadblock type can be according to the figure of underwater robot Analyze and obtain as collecting device (such as camera), and roadblock size and barrier structures may then need underwater robot progress many Task is obtained by the module integrated analysis of multiple geography of dedicated probe Procedure Acquisition, and for constituting above-mentioned large-scale roadblock For each geographical module of object, although each geographical module depicts the real region content of its management in detail, still, as The geographical module forming member of large-scale roadblock, can retain the size parameter value and barrier structures model of a large-scale roadblock, And current block positional information in large-scale barrier structures.So as to allow underwater robot getting the large-scale roadblock of composition During a certain composition geography module member of object, the Global Information of current large-scale roadblock just can be recognized, and formulate more rational Avoidance strategy.

In addition to the related Global Information of the above-mentioned roadblock obtained by geographical module analysis, in order to formulate rational avoidance Strategy, another indispensable element is the size, performance parameter and job category of underwater robot itself.Wherein, machine The size of people itself, which is directly affected, faces whether specific roadblock object can be passed through over using the gap of roadblock itself presence; The performance parameter of robot itself then determines whether whether it be able to can be selected with dive to certain depth or its translational speed Select a certain avoidance strategy and can within a specified time complete etc.;And the job category then also influences whether avoidance strategy Formulation, for example:If underwater robot is to be used to pull optical cable, when roadblock object is higher, just it is not suitable for Across past scheme, target object task type, the work of load article to specified location are also included in addition Make task type etc..

After have above-mentioned roadblock information and underwater robot relevant information, it is how to generate avoidance strategy, has Body is realized as follows:

According to size, the property of roadblock type, roadblock size and barrier structures in roadblock information, and underwater robot itself Can parameter and job category, generation avoidance strategy.

The avoidance strategy includes:

Float and advanced through to after specified altitude assignment, sink to after specified altitude assignment and advance through, pass through after the specified location that detours In one or more avoidance action;Under truth avoidance action, generally with it is described float to after specified altitude assignment advance, Sink to after specified altitude assignment the three kinds of motor units of specified location that advance and detour and be combined realization, for example:Avoidance action can be with Show as " floating 5M- to move ahead towards northeast advance 3 meters of 10 meters-dive-holding ".Certainly, carried to improve the embodiment of the present invention Go out the security and robustness of method, when preferably offer can not be analyzed and processed in avoidance strategy, start artificial be situated between Enter to operate the scheme of underwater robot;And it is possible to manually-operated mode be recorded, so that service end can be according to underwater The environmental information that people detects under prevailing circumstances learns and updates avoidance strategy generting machanism.

The respective threshold information of each avoidance action correspondence, the threshold information as perform judgement that the avoidance acts according to According to being stored in the underwater robot, or by the underwater robot dynamic generation.For example:It is same for a certain roadblock object When have it is multiple when being available for the current underwater robot to pass through past hole, then respective threshold information can with reach each hole when Between calculate cut-point, now, more than the cut-point then select through the first hole as in corresponding avoidance strategy avoidance act, And select to act as the avoidance in corresponding avoidance strategy through the second hole if the not up to cut-point.

In order to further improve the fault-tolerant ability of methods described of the embodiment of the present invention, with reference to methods described of the embodiment of the present invention A kind of update mechanism is additionally provided, as shown in figure 4, methods described also includes step performed below:

In step 205, if underwater robot occurs to avoid failure when performing avoidance action.

Here avoid and unsuccessfully typically refer to underwater robot in actual moving process, position is estimated where roadblock is reached When, the avoidance strategy that preferential can be proposed according to the embodiment of the present invention is performed, still, during execution underwater robot from The sensor of body can still keep work, also can be in the case where following the avoidance strategy for the in the case of of may colliding Take emergent stopping, interim adjustment direction hedging.The above-mentioned situation robot under water that mostly occurs runs into large-scale benthon, or When there is mistake in underwater robot self poisoning.

In step 206, the positional information of backtracking underwater robot and execution avoidance act corresponding geographical module, confirm Threshold information judges whether correctly.

Here threshold information judges to be concentrated mainly on the judgement of location information, and the possibility gone wrong is typically machine under water The device people alignment sensor of itself goes wrong, or whole alignment system receives the reasons such as signal interference and causes positioning wrong By mistake.

In step 207, the environmental information recorded if correct judgment according to the underwater robot updates correspondingly Manage module;If getting the wrong sow by the ear, avoidance strategy generting machanism is adjusted.

The avoidance strategy generting machanism includes setting relative distance of the anticipation from roadblock object after each avoidance action executing. For example, if it is original according to 15 nautical miles of underwater robot translational speed/when, and required in strategy generation mechanism from roadblock It is 5M recently, threshold information is that underwater robot is 10M at a distance of roadblock distance, and the avoidance of generation acts to be floated up 6M.Now, if the risk still collided, need in adjustable strategies generting machanism from 5M to make 8M, phase into recently from roadblock The underwater robot answered, will be according to the parameter after being adjusted in the strategy generation mechanism, according under water when generating avoidance strategy Robot translational speed and roadblock information, which are recalculated, obtains threshold information, such as the threshold information after adjusting is underwater robot It is 15M at a distance of roadblock distance, the avoidance action of generation floats up 6M for progress.Above-mentioned feedback mechanism can further improve water Lower robot is under burst adverse circumstances, the robustness of the avoidance strategy of generation.

Embodiment 2:

Describe in embodiment 1 and how to carry out the method that underwater robot intelligently hides roadblock 4 using geographical module, this Inventive embodiments are illustrated in terms of how setting up the geographical module of service end maintenance.Institute in embodiments of the present invention State geographical module and worked by one or more underwater robot in target positioning identification system and obtained, as shown in figure 5, system Include the lash ship 1 with active sonar function, at least one there is the buoy 2 and underwater robot 3 of passive sonar function, institute It can be for gathering the equipment of geography information or using as introduced in embodiment 1 using specialty to state underwater robot 3 The equipment for performing other tasks, both differences may is that in the detection range and accuracy of detection of sensor, still, Both exist general character be can complete itself positioning and roadblock content acquisition.But, it is used as the water of the embodiment of the present invention Lower robot also needs to it and possesses ability of the acquisition roadblock with respect to itself first position information.It is specifically described as follows:

The underwater robot 3 is used to obtain first position information of the roadblock 4 relative to underwater robot 3, and sends institute First position information is stated to lash ship 1;Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used to obtain the buoy 2 Second place information;Record has the relevant parameter of the Sonar Signal of lash ship 1 in buoy 2, and comes from underwater by what is collected The sonar reflected signal of people 3 feeds back to lash ship 1;

The lash ship 1 is additionally operable to according to the 3rd positional information of itself, the second place information of buoy 2, lash ship 1 and buoy The sonar reflected signal of 2 underwater robots 3 collected, and roadblock 4 is relative to the first position information of underwater robot 3, Calculate the location information for obtaining roadblock 4;And according to the location information and roadblock 4 of the roadblock 4, according to setting for geographical block size It is fixed, generate one or more geographical module.

In various embodiments of the present invention, the roadblock object includes rock, seabed massif, coral and trench etc., if under water Robot does not take rational avoid to produce the object of substantial damage to underwater robot.And for other aquatic organisms Avoidance can then rely on underwater robot itself install sensing equipment carry out (such as sonar set and camera device). Simplify the bandwidth pressure brought in the embodiment of the present invention using geographical module to transmission channel in order to further, this can be implemented Underwater robot is collected in example is labeled as sky or with simple identifier without the geographical module corresponding to the region of roadblock Show its corresponding region without roadblock, so as to largely simplify the geography in embodiment 1 between service end and underwater robot Bandwidth needed for module transfer.

Roadblock content described in the embodiment of the present invention is more original information, and it is probably the sound of the picture of roadblock, roadblock Feedback signal, it is also possible to the sub-fraction of roadblock;Roadblock information described in the embodiment that compares 1, then be that service end is led to Cross the roadblock content fed back from one or more underwater robot received and location information parses what is obtained.For example: Service end can be according to the multigroup location information and roadblock content corresponding to same roadblock object received, by way of modeling The roadblock object of completion is restored, and analyzes roadblock information (including the type of roadblock, the structure of roadblock and the road of roadblock object The size of barrier), and corresponding information is allocated to the multiple geographical modules for constituting search roadblock object.

Embodiment 3:

The embodiment of the present invention is a kind of system in combination form of the scheme described in embodiment 2 in the case where implementing occasion, at this The particular number of buoy 2 described in embodiment is to be provided with water depth sensor on one, the underwater robot 3.Exist as shown in Figure 6 In this implementation, the system includes the lash ship 1 with active sonar function, a buoy 2 and water with passive sonar function Lower robot 3, wherein, the water depth sensor is used to feed back underwater robot 3 to the vertical range on sea;Underwater robot 3 The vertical range is fed back into lash ship 1;

The underwater robot 3 is used to obtain first position information of the roadblock 4 relative to underwater robot 3;And to lash ship 1 Send the first position information.

Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used for the second confidence for obtaining the buoy 2 Breath;

Being set up between the lash ship 1 and buoy 2 has the second communication link, wherein, record has the sonar of lash ship 1 letter in buoy 2 Number relevant parameter, it is and the sonar reflected signal from underwater robot 3 collected is anti-by second communication link Feed lash ship 1;

The lash ship 1 be used for according to it is described be used for according to the 3rd positional information of itself, the vertical of underwater robot 3 away from From, the sonar reflected signal of underwater robot 3 that collects of the second place information of buoy 2, lash ship 1 and buoy 2, and roadblock 4 relative to underwater robot 3 first position information, calculate and obtain the location information of roadblock.

The embodiment of the present invention not only make use of the endurance of lash ship itself, and its sonar set function for being equipped with, and And the water depth sensor being equipped with underwater robot is make use of, simplify the design requirement of underwater robot and buoy, Yi Jifu Mark the configuration needs (only needing one) of quantity.And utilize first constructed by lash ship, buoy and underwater robot Positioning subsystem, and the second positioning subsystem constructed by underwater robot and roadblock, are serviced by lash ship or land Device calculates the location information for obtaining roadblock, and the location information includes latitude and longitude information, Water Depth Information etc..Compared to more existing skill Used in art by underwater robot as it is of equal value with first positioning subsystem in active sonar source, the embodiment of the present invention The endurance of underwater robot can be improved, and reduces the data processing amount of underwater robot, is reduced under water from side The manufacturing cost of robot.

In the present embodiment, will with reference to shown in Fig. 6 layout, illustrate how the 3rd positional information according to itself, under water The sonar for the underwater robot 3 that the vertical range of robot 3, the second place information of buoy 2, lash ship 1 and buoy 2 are collected is anti- Signal is penetrated, and roadblock 4 calculates the location information for obtaining roadblock relative to the first position information of underwater robot 3.

As shown in Figure 6, it is assumed that underwater robot position (being marked in Fig. 6 with letter C) projects to the position on sea level For O, then the vertical range of shown underwater robot 3 is OC, and the sonar reflected signal for the underwater robot 3 that lash ship 1 is collected can Obtained with calculating apart from AC between lash ship 1 and underwater robot 3, and the reflection of the sonar for the underwater robot 3 that buoy 2 is collected is believed Number can calculate and to obtain the distance between buoy 2 and underwater robot 3 BC, wherein, position A and position B be under original state It is known quantity through obtaining positional information.AO is obtained at this point it is possible to be calculated by AC and OC, is calculated by BC and OC and obtains BO, Under Atria side AB, AO and BO all known cases, it just can calculate and obtain ∠ BAO.Then it just can obtain and believed according to A point locations Breath obtains O point location information, and according to vertical range OC, obtains the 4th position letter of underwater robot in the first positioning subsystem Breath.Wherein, roadblock can recognize original relative to the first position information of underwater robot by binocular in the second positioning subsystem Reason, relative distance of the roadblock relative to underwater robot for coordinating the second sonar transceiver 32 to detect, utilizes rendering algorithm meter Obtain.The first position information of the 4th positional information and roadblock relative to underwater robot of summary underwater robot, Just the location information for obtaining roadblock can be calculated.

In embodiments of the present invention, the preferred depth of water depth to be worked according to underwater robot of pre-determined distance, under water The regional extent of robot work, and the best effort distance calculating of sonar set is obtained on lash ship 1 and buoy 2.

Embodiment 4:

The embodiment of the present invention is a kind of system in combination form of the scheme described in embodiment 1 in the case where implementing occasion, at this The particular number of buoy 2 described in embodiment is two or more (being illustrated in the present embodiment exemplified by two). The situation that water depth sensor is configured without suitable for underwater robot that the present embodiment is protruded, or the quantity of buoy 2 are relatively filled Foot wants to more accurately calculate the occasion for obtaining destination object location information.The buoy 2 is specifically counted in the present embodiment Measure for two or more, reference is used as using the sonar set of described two or more than two buoys 2 and lash ship 1 Point, wherein, each reference point constitutes equilateral figure on the water surface.As shown in Figure 7 in this embodiment, the system includes having actively The lash ship 1 of sonar function, two buoys 2 and underwater robot 3 with passive sonar function,

The underwater robot 3 is used to obtain first position information of the destination object 4 relative to underwater robot 3;And to The lash ship 1 sends the first position information.

Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used for the second confidence for obtaining the buoy 2 Breath;

Being set up between the lash ship 1 and buoy 2 has the second communication link, wherein, record has the sonar of lash ship 1 letter in buoy 2 Number relevant parameter, it is and the sonar reflected signal from underwater robot 3 collected is anti-by second communication link Feed lash ship 1;

The lash ship 1 is used for according to the 3rd positional information being used for according to itself, the second place information of buoy (bag Include buoy 2 and buoy 21), the sonar reflected signal of underwater robot 3 that collects of lash ship 1 and each buoy, and destination object 4 Relative to the first position information of underwater robot 3, the location information for obtaining destination object is calculated.

The embodiment of the present invention takes full advantage of the endurance of lash ship itself, and its sonar set function for being equipped with, letter The design requirement of underwater robot and buoy is changed, and has determined using constructed by lash ship, buoy and underwater robot first Sub-systems, and the second positioning subsystem constructed by underwater robot and destination object, are taken by lash ship or land Business device calculates the location information for obtaining destination object, and the location information includes latitude and longitude information, Water Depth Information etc..Compare Use in the prior art by underwater robot as it is of equal value with first positioning subsystem in active sonar source, the present invention Embodiment can improve the endurance of underwater robot, and reduce the data processing amount of underwater robot, be reduced from side The manufacturing cost of underwater robot.On the other hand, moreover it is possible to the detecting system being made up of many buoys, final meter is further improved The location information of obtained destination object.

In the present embodiment, will with reference to shown in Fig. 7 structural representation, illustrate how to be used for the according to itself according to described The machine under water that three positional informations, the second place information of buoy (including buoy 2 and buoy 21), lash ship 1 and each buoy are collected The sonar reflected signal of device people 3, and destination object 4, relative to the first position information of underwater robot 3, calculating obtains target The location information of object.

As shown in fig. 7, according to the 3rd positional information of lash ship and the second place information of buoy (including the He of buoy 2 in figure Buoy 21) calculate the length for obtaining each sides of triangle ABD, the sonar of the underwater robot 3 collected according to lash ship 1 and each buoy Reflected signal calculates the length for obtaining AB, BC and DC respectively, now, just can build taper C-ABD models, and according to conical die Type calculates and obtains position offset of the underwater robot 3 relative to the position A of lash ship 1, so as to obtain the 4th position letter Breath.Wherein, destination object can be known relative to the first position information of underwater robot by binocular in the second positioning subsystem Other principle, coordinates relative distance of the destination object relative to underwater robot that detects of the second sonar transceiver 32, using saturating Calculate and obtain depending on algorithm.Of the 4th positional information and destination object of summary underwater robot relative to underwater robot One positional information, just can calculate the location information for obtaining destination object.

In embodiments of the present invention, the preferred depth of water depth to be worked according to underwater robot of pre-determined distance, under water The regional extent of robot work, and the best effort distance calculating of sonar set is obtained on lash ship 1 and buoy 2.

Embodiment 5:

By the elaboration of embodiment 2, it can only be obtained by having drawn the underwater robot of a kind of example case, i.e. work at present The part geographic model in work waters.Therefore the embodiment of the present invention can be completed before the execution of the methods described of embodiment 1 (can fully meet geographical module demand of the underwater robot under various positional informations in embodiment 1), this mode is excellent Choosing;On the other hand can also be only completed the geographical module in part collection (i.e. in embodiment 1 pieces of position information it is right The geographical module answered may collect) this occurrence of be perhaps because service end be not in time for whole waters also Geographic model safeguard get up.In embodiments of the present invention, it is specifically described as follows:

Underwater robot is provided with two kinds of avoidance patterns, its pattern one is to have geographic model block for service end Marine site then generates according to the methods described of embodiment 1 and performed after corresponding avoidance strategy;Its pattern two is self-sensor device to detect ring Border and the pattern avoided after being analyzed;The marine site of geographic model block is not updated also for service end, then underwater robot can be cut The pattern for changing to self-sensor device to detect environment and avoid after being analyzed.Wherein, pattern two compares the embodiment of the present invention The mode one proposed, no matter analysis efficiency and execution efficiency (scheme of the embodiment of the present invention 1 can realize pre- judgement, and Take Anti-collision Actions in advance) on can all have larger gap, however, it is possible to which the geographical module made up as described in the embodiment lacks Situation.During implementing, underwater robot can be provided simultaneously with above two and avoid pattern, also, pattern two is excellent First level can also be higher than pattern one, still, then be keeping away according to pattern one in the case where the avoidance action of pattern two is without triggering Allow strategy execution.

Embodiment 6:

The embodiment of the present invention additionally provides a kind of obstacle avoidance system under water, and system includes underwater robot and service End, wherein, the service end described in concrete application occasion can be the administrative center that lash ship 1 or land are set, also Can be with server of internet distal end etc., in the system:

The service end is used to store geographical module, and please in the geographical module for receiving carrying underwater robot positional information When asking, one or more corresponding geographical module is fed back;Wherein, the geographical module is the unit of preset shape, geographical mould The roadblock information of respective regions in actual environment is included inside block;

The underwater robot, for according to one or more the geographical module got, generating avoidance strategy;Its In, the avoidance strategy includes one or more threshold information, and the avoidance of each threshold information of correspondence is acted;Underwater People is additionally operable to according to its conduct direction and real-time positional information, judges the threshold information currently met, and is taken to should The avoidance action of threshold information.

The embodiment of the present invention proposes a kind of roadblock based on geographical module and judged in advance, and performs avoidance action according to judgement Method.This method can make full use of the gathered data in the underwater robot course of work in history, and according to underwater Working sea area is divided into many geographical modules by the sensing detection characteristic of people, so as to it is determined that work corresponding to current task Region, gives corresponding underwater robot to send corresponding geographical module, be effectively reduced underwater robot to the analysis of data at Total amount is managed, and the speed of response of underwater robot and the security of work can be improved.

With reference to the embodiment of the present invention, corresponding to second of implementation described in embodiment 1, when the conduct of underwater robot Route is it has been confirmed that then the system also includes:

Service end is searched from database after the conduct route of underwater robot is confirmed and obtains the conduct route and covered One or more geographical module of lid, and it is sent to underwater robot;

The underwater robot is additionally operable to receive one or more geographical module that the conduct route is covered.

, can be with when the service end is specially the server of the administrative center that land is set or internet distal end The system proposed using the present embodiment carries out the collection of geography information in marine site, and the specific system also includes having actively The lash ship 1 of sonar function, at least one there is the buoy 2 of passive sonar function, wherein, underwater robot uses the present embodiment system Possess in system.

The underwater robot is additionally operable to obtain first position information and roadblock content of the roadblock relative to underwater robot, And the first position information is sent to lash ship 1;Pre-determined distance is differed between the lash ship 1 and buoy 2, lash ship 1 is used to obtain The second place information of the buoy 2;Record has the relevant parameter of the Sonar Signal of lash ship 1 in buoy 2, and by coming from for collecting The sonar reflected signal of underwater robot feeds back to lash ship 1;

The lash ship 1 or service end are additionally operable to the 3rd positional information, the second place information of buoy 2, mother according to itself The sonar reflected signal for the underwater robot that ship 1 and buoy 2 are collected, and roadblock is relative to the first position of underwater robot Information, calculates the location information for obtaining roadblock;And location information and roadblock content according to the roadblock, it is big according to geographical module Small setting, generates one or more geographical module.

Wherein, according to the location information of the roadblock and roadblock content, according to the setting of geographical block size, one is generated Or the execution of multiple geographical modules, after the completion of being realized on lash ship, and by geographical module be sent to service end carry out it is whole Reason.In addition, the location information and roadblock content according to the roadblock, according to the setting of geographical block size, generation One or more geographical module can also be realized by service end, and as then being needed the positioning letter of roadblock for lash ship Breath and roadblock content are sent to service end.Above-mentioned implementation is flexibly pacified generally according to the data-handling capacity of each node Row, therefore, the scheme obtained by different execution actions in the embodiment of the present invention are done after accommodation accordingly belong to this In the protection domain of invention.

With reference to the embodiment of the present invention, also there is a kind of optional implementation, the service end is additionally operable to statistics machine under water Device people's avoidance strategy runs succeeded rate, if underwater robot occurs to avoid failure when performing avoidance action;

Server is additionally operable to recall the positional information of underwater robot and performs the corresponding geographical module of avoidance action, confirms Threshold information judges whether correctly;

The environmental information recorded if correct judgment according to the underwater robot updates corresponding geographical module;If judging It is wrong, then adjust the avoidance strategy generting machanism of underwater robot.

Wherein, the explanation of the specific situation and generting machanism for avoiding failure may be referred to content described in embodiment 1, herein Do not repeat one by one.

What deserves to be explained is, the content such as information exchange, implementation procedure between module, unit in said system, due to Same design is based on the processing method embodiment of the present invention, particular content can be found in the narration in the inventive method embodiment, Here is omitted.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of embodiment is to lead to Cross program to instruct the hardware of correlation to complete, the program can be stored in a computer-readable recording medium, storage medium It can include:Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc..

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

1. a kind of obstacle avoidance method under water, it is characterised in that including:
Underwater robot determines current positional information, and the geographical module request for carrying the positional information is sent to service end; Wherein, the geographical module is the unit of preset shape, and geographical inside modules include the roadblock letter of respective regions in actual environment Breath;
Underwater robot generates avoidance strategy according to one or more the geographical module got;Wherein, the avoidance strategy Include the avoidance action of one or more threshold information, and each threshold information of correspondence;
Underwater robot judges the threshold information currently met, and take according to its conduct direction and real-time positional information To should threshold information avoidance action.
2. obstacle avoidance method under water according to claim 1, it is characterised in that when underwater robot conduct route Confirmed, then methods described also includes:
Receive one or more geographical module that the conduct route is covered;
Wherein, one or more geographical module that the conduct route is covered is to confirm underwater robot by service end After conduct route, search and obtain from database.
3. obstacle avoidance method under water according to claim 1, it is characterised in that according to one or more got Geographical module, generates avoidance strategy, specifically includes:
According to one or more the geographical module got, the roadblock information included in each geographical module is determined;
According to size, the performance ginseng of roadblock type, roadblock size and barrier structures in roadblock information, and underwater robot itself Number and job category, generate avoidance strategy;The avoidance strategy includes:
Float advanced through to after specified altitude assignment, sink to after specified altitude assignment advance through, after the specified location that detours in One or more avoidance is acted;
The respective threshold information of each avoidance action correspondence, the threshold information is deposited as the basis for estimation for performing the avoidance action Store up in the underwater robot, or by the underwater robot dynamic generation.
4. according to any described obstacle avoidance methods under water of claim 1-3, it is characterised in that the geographical module is by one Or multiple underwater robots work in target positioning identification system and obtained, wherein, system is included with active sonar work( Can lash ship, at least one there is the buoy and the underwater robot of passive sonar function,
The underwater robot is used to obtain first position information and roadblock content of the roadblock relative to underwater robot, and sends The first position information is to lash ship;Pre-determined distance is differed between the lash ship and buoy, lash ship is used to obtain the buoy Second place information;In buoy record has the relevant parameter of lash ship Sonar Signal, and will collect from underwater robot Sonar reflected signal feeds back to lash ship;
The lash ship is additionally operable to be collected according to the 3rd positional information of itself, second place information, lash ship and the buoy of buoy Underwater robot sonar reflected signal, and roadblock is relative to the first position information of underwater robot, and calculating obtains road The location information of barrier;And location information and roadblock content according to the roadblock, according to the setting of geographical block size, generation one Individual or multiple geographical modules.
5. according to any described obstacle avoidance methods under water of claim 1-3, it is characterised in that methods described also includes:
If underwater robot occurs to avoid failure when performing avoidance action;
Recall the positional information of underwater robot and perform avoidance and act corresponding geographical module, confirm that threshold information judges whether Correctly;
The environmental information recorded if correct judgment according to the underwater robot updates corresponding geographical module;If judgement has By mistake, then avoidance strategy generting machanism is adjusted.
6. a kind of obstacle avoidance system under water, it is characterised in that system, which includes underwater robot and service end, to be included:
The service end is used to store geographical module, and in the geographical module request for receiving carrying underwater robot positional information When, feed back one or more corresponding geographical module;Wherein, the geographical module is the unit of preset shape, geographical module Inside includes the roadblock information of respective regions in actual environment;
The underwater robot, for according to one or more the geographical module got, generating avoidance strategy;Wherein, institute Stating avoidance strategy includes one or more threshold information, and the avoidance of each threshold information of correspondence is acted;Underwater robot is also For according to its conduct direction and real-time positional information, judging the threshold information currently met, and take to should threshold value The avoidance action of information.
7. obstacle avoidance system under water according to claim 6, it is characterised in that when underwater robot conduct route Confirmed, then the system also includes:
Service end is searched from database after the conduct route of underwater robot is confirmed and obtains what the conduct route was covered One or more geographical module, and it is sent to underwater robot;
The underwater robot is additionally operable to receive one or more geographical module that the conduct route is covered.
8. obstacle avoidance system under water according to claim 6, it is characterised in that the system also includes having Active Acoustic The lash ship of function, at least one there is the buoy of passive sonar function, the underwater robot is additionally operable to obtain roadblock relative In the first position information and roadblock content of underwater robot, and the first position information is sent to lash ship;The lash ship and Pre-determined distance is differed between buoy, lash ship is used for the second place information for obtaining the buoy;Record has lash ship sonar in buoy The relevant parameter of signal, and the sonar reflected signal from underwater robot collected is fed back into lash ship;
The lash ship or service end are additionally operable to according to the 3rd positional information of itself, the second place information of buoy, lash ship and floated The sonar reflected signal of the underwater robot collected, and roadblock are marked relative to the first position information of underwater robot, meter Calculate the location information for obtaining roadblock;And location information and roadblock content according to the roadblock, according to setting for geographical block size It is fixed, generate one or more geographical module.
9. obstacle avoidance system under water according to claim 6, it is characterised in that the service end is additionally operable to statistics under water Robot avoidance strategy runs succeeded rate, if underwater robot occurs to avoid failure when performing avoidance action;
Server is additionally operable to recall the positional information of underwater robot and performs the corresponding geographical module of avoidance action, confirms threshold value Information judges whether correctly;
The environmental information recorded if correct judgment according to the underwater robot updates corresponding geographical module;If judgement has By mistake, then the avoidance strategy generting machanism of underwater robot is adjusted.
10. obstacle avoidance system under water according to claim 8, it is characterised in that the geographical block size is root What the sensing equipment possessed according to the underwater robot was set in the marine range areas that can be detected, its shape can be with Be regular hexagon, rectangle either it is other can be cut out by the range areas detected come, and be available for complete splicing Figure.
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