CN107153192A - A kind of underwater robot target positioning identifying method and system - Google Patents
A kind of underwater robot target positioning identifying method and system Download PDFInfo
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- CN107153192A CN107153192A CN201710209500.XA CN201710209500A CN107153192A CN 107153192 A CN107153192 A CN 107153192A CN 201710209500 A CN201710209500 A CN 201710209500A CN 107153192 A CN107153192 A CN 107153192A
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- underwater robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to underwater robot technical field, there is provided a kind of underwater robot target positioning identifying method and system.Underwater robot is used to obtain first position information of the destination object relative to underwater robot in system, and sends first position information to lash ship；Lash ship is used for the second place information for obtaining micro-unmanned ship；The sonar reflected signal from underwater robot collected is fed back to lash ship by micro-unmanned ship；Lash ship is additionally operable to the sonar reflected signal of the underwater robot collected according to itself the 3rd positional information, the second place information of micro-unmanned ship, lash ship and micro-unmanned ship, and destination object calculates the location information for obtaining target relative to the first position information of underwater robot.Compare use in the prior art by underwater robot as active sonar source, the embodiment of the present invention can be on the premise of the underwater robot target fixation and recognition degree of accuracy be ensured, the endurance of underwater robot is improved, and reduces the operational efficiency of underwater robot.
Description
【Technical field】
The present invention relates to underwater robot technical field, more particularly to a kind of underwater robot target positioning identifying method
And system.
【Background technology】
Underwater robot can be generally divided into two major classes：One class is that have cable underwater robot；Another kind of is untethered machine under water
Device people.In addition, by the purpose used point, having the robot of investigation under water (for example：Observation, measurement, collection of test material etc.) and
Underwater operation robot is (for example：The operation such as Underwater Welding, stubborn pipe, submerged structure, imderwater cutting)；By playground point, have
Seafloor robot and Shui Zhong robots.
But, no matter any application field, the positioning of underwater robot is all very important.While underwater robot
When running into submarine target, the judgement to submarine target type is also quite crucial.The location information of underwater robot can be helped
Manipulation side understands the job schedule of underwater robot, so as to have one in advance to current work progress and following job placement
Judge, the judgement of submarine target type can help the side of manipulation to understand situation under water, determine whether to search out expectation target.
But, due to the limitation that underwater wireless is transmitted, gps signal can not be sent under water, and underwater robot is lacked in the prior art
The effective means of positioning, more lacks the intelligentized control method system that underwater robot location and submarine target type are judged to combination
System.
Inventor retrieves and have studied existing correlation technique, wherein, with Patent No. 201410506360.9, proprietary term
Referred to as《Underwater robot target positioning identification system》Patent of invention for, although propose a kind of underwater robot target determine
Position identifying system, still, it is achieved in that the active sonar process based on underwater robot to complete, and this mode is not only
The live load of underwater robot itself is added, in order to guarantee the sonar reflected signal for receiving its buoy, machine under water
Device people needs to consume substantial amounts of energy in positioning, the problem of this is larger for the robot of long-time underwater operation,
A kind of effective solution is not proposed in the prior art, robot does not possess high-power sonar set situation under water yet
Under, how to complete the fixation and recognition of submarine target.
【The content of the invention】
The technical problem to be solved of the embodiment of the present invention is how under water robot does not possess high-power sonar set feelings
Under condition, the fixation and recognition of submarine target is completed.
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 underwater robot target positioning identification system, wrapping in systems
Include the lash ship with active sonar function, at least one there is the micro-unmanned ship and underwater robot of passive sonar function,
Target identification subsystem and control subsystem are provided with the underwater robot, the target identification subsystem is used
In first position information of the acquisition destination object relative to underwater robot；The control subsystem and the lash ship, which are set up, the
One communication link, and the first position information is sent by first communication link；
Pre-determined distance is differed between the lash ship and micro-unmanned ship, lash ship is used to obtain the second of the micro-unmanned ship
Positional information；
Being set up between the lash ship and micro-unmanned ship has the second communication link, wherein, record has mother in micro-unmanned ship
The relevant parameter of ship Sonar Signal, and the sonar reflected signal from underwater robot collected is communicated by described second
Link Feedback is to lash ship；
The lash ship be used for gather the sonar reflected signal from underwater robot, the lash ship be additionally operable to according to itself
The underwater robot that 3rd positional information, the second place information of micro-unmanned ship, lash ship and micro-unmanned ship are collected respectively
Sonar reflected signal, and destination object is relative to the first position information of underwater robot, calculates the positioning for obtaining target
Information.
Optionally, the micro-unmanned ship particular number is to be provided with water depth sensor on one, the underwater robot；
Wherein, the water depth sensor is used to feed back underwater robot to the vertical range on sea；Underwater robot by it is described it is vertical away from
From feeding back to lash ship；
Lash ship is used to be used for according to the 3rd positional information of itself the, vertical range of underwater robot, miniature according to described
The sonar reflected signal for the underwater robot that second place information, lash ship and the micro-unmanned ship of unmanned boat are collected, and mesh
First position information of the object relative to underwater robot is marked, the location information for obtaining target is calculated.
Optionally, the micro-unmanned ship particular number be two or more, with it is described two or two with
On micro-unmanned ship and lash ship sonar set it is as a reference point, wherein, each reference point constitutes equilateral figure on the water surface.
Optionally, the target identification subsystem includes the second sonar transceiver and dual camera, and second sonar is received
Hair device is used to obtain underwater robot to the target range of destination object, and the dual camera is used to gather destination object scene；
The underwater robot calculates destination object phase always according to the target range and destination object scene, and by rendering algorithm
For the first position information of underwater robot.
Second aspect, the embodiments of the invention provide a kind of underwater robot target positioning identifying method, including with master
The lash ship of dynamic sonar function, at least one there is the micro-unmanned ship and underwater robot of passive sonar function, method includes：
Control lash ship and/or micro-unmanned ship so that pre-determined distance is differed between lash ship and micro-unmanned ship, lash ship is obtained
The second place information of the micro-unmanned ship；
The underwater robot obtains first position information of the destination object relative to underwater robot, and by described first
Positional information is sent to the lash ship；
Record has the relevant parameter of lash ship Sonar Signal in the micro-unmanned ship, and will be gathered according to the relevant parameter
To the sonar reflected signal from underwater robot feed back to lash ship；Wherein, the sonar reflected signal is launched by lash ship
Sonar Signal run into the underwater robot back reflection and produce；
The lash ship be used for gather the sonar reflected signal from underwater robot, the lash ship be additionally operable to according to itself
The underwater robot that 3rd positional information, the second place information of micro-unmanned ship, lash ship and micro-unmanned ship are collected respectively
Sonar reflected signal and the first position information, calculate and obtain the location information of target.
Optionally, the micro-unmanned ship particular number is to be provided with water depth sensor on one, the underwater robot；
Wherein, the water depth sensor is used to feed back underwater robot to the vertical range on sea；Underwater robot by it is described it is vertical away from
From feeding back to lash ship；
Lash ship is used to be used for according to the 3rd positional information of itself the, vertical range of underwater robot, miniature according to described
The sonar reflected signal for the underwater robot that second place information, lash ship and the micro-unmanned ship of unmanned boat are collected, and mesh
First position information of the object relative to underwater robot is marked, the location information for obtaining target is calculated.
Optionally, the micro-unmanned ship particular number be two or more, with it is described two or two with
On micro-unmanned ship and lash ship sonar set it is as a reference point, wherein, each reference point constitutes equilateral figure on the water surface.
Optionally, the underwater robot includes the second sonar transceiver and dual camera, the second sonar transceiver
For obtaining underwater robot to the target range of destination object, the dual camera is used to gather destination object scene；It is described
Underwater robot calculates destination object relative to water according to the target range and destination object scene, and by rendering algorithm
The first position information of lower robot.
Optionally, the sonar reflected signal for the underwater robot that the lash ship and micro-unmanned ship are collected connects including echo
Frequency displacement between time receiving, between echo wavefront normal and/or echo-signal and transmission signal；Wherein, lash ship and/or micro-unmanned ship
The time delay asked by echo-signal and transmission signal determines the distance of target, and the side of target is can determine that by echo wavefront normal direction
To the frequency displacement between echo-signal and transmission signal determines the radial velocity of target.
Optionally, the second place information of the micro-unmanned ship is that the Radar Signal Detection launched by the lash ship is obtained
Arrive；Or when on the micro-unmanned ship d GPS locating module being installed, its GPS location mould is reported by the micro-unmanned ship
The second place information that block detection is obtained.
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 micro-unmanned ship is changed, and has been built using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem got up, and the second positioning subsystem constructed by underwater robot and destination object, by mother
Ship or land server calculate the location information for obtaining destination object, and the location information includes latitude and longitude information, the depth of water and believed
Breath 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 embodiment of the present invention can improve machine under water on the premise of the underwater robot target fixation and recognition degree of accuracy is ensured
The endurance of device people, and the data processing amount of underwater robot is reduced, reduce being manufactured into for underwater robot from side
This.
【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 underwater robot target positioning identification system schematic diagram provided in an embodiment of the present invention；
Fig. 2 is underwater robot illustrative view of functional configuration provided in an embodiment of the present invention；
Fig. 3 is a kind of principle schematic for calculating pre-determined distance provided in an embodiment of the present invention；
Fig. 4 is another underwater robot target positioning identification system schematic diagram provided in an embodiment of the present invention；
Fig. 5 is another underwater robot target positioning identification system schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of underwater robot target positioning identifying method flow chart 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 underwater robot target positioning identification system, as shown in figure 1, in systems
Including the lash ship 1 with active sonar function, at least one there is the micro-unmanned ship 2 and underwater robot of passive sonar function
3, wherein, the quantity of micro-unmanned ship can be specifically two or more, and the increase of micro-unmanned ship quantity can necessarily journey
The degree of accuracy that final goal object location information is calculated is improved on degree.
Target identification subsystem 311 and control subsystem 312 (as shown in Figure 2), institute are provided with the underwater robot 3
Stating target identification subsystem 311 is used to obtain first position information of the destination object 4 relative to underwater robot 3；The control
Subsystem 312 is set up with the lash ship 1 the first communication link, and sends the first position by first communication link
Information.Wherein, the first communication link can be HF (High Frequency, working frequency range is in 3-30MHz) radio link,
VHF (Very High Frequency, working frequency range is in 30-300MHz) radio link, UHF (Ultra High
Frequency, working frequency range is in 300MHz-3GHz) radio link, or satellite communication link.
Pre-determined distance is differed between the lash ship 1 and micro-unmanned ship 2, lash ship 1 is used to obtain the micro-unmanned ship 2
Second place information.Wherein, pre-determined distance generally according to detection environment (i.e. water-surface areas size, detection object depth of water depth
Deng), the detection accuracy of sonar set.Think sea level be plane model in, in the embodiment of the present invention lash ship 1 with it is miniature
The distance that unmanned boat 2 is differed is bigger, finally calculates obtained error smaller.But, sea level is curved surface in actual conditions, because
This, the pre-determined distance is less than 1* earth girth/360=111 kilometers.But, actual measurement range is usually not so remote,
Therefore, the preferred depth of water depth to be worked according to underwater robot of pre-determined distance, the regional extent of underwater robot work,
And the best effort distance calculating of sonar set is obtained on lash ship 1 and micro-unmanned ship 2.The best effort distance of such as sonar
For 5 kilometers, and to be radius be for the working region of underwater robot epicycle 1 kilometer of circle row region, and it is public apart from sea level 1
In, then in order to ensure that sonar set is in best effort distance range, the pre-determined distance is about 2 kilometers.Its Computing Principle
Figure obtains about 2.5 kilometers of x values as shown in figure 3, being less than 5 according to a+b in Fig. 3 and solving.Wherein, A is that lash ship position, B are miniature
Unmanned ship position, C are the highest distance position in underwater robot working region relative to micro-unmanned ship B.Actual pre-determined distance
Parameter value should further consider uptake in reflection process, therefore, and pre-determined distance in this example is about 2 kilometers.
Being set up between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein, being recorded in micro-unmanned ship 2 has
The relevant parameter of the Sonar Signal of lash ship 1, and by the sonar reflected signal from underwater robot 3 collected by described second
Communication link feeds back to lash ship 1.Wherein, the second communication link can be radio communication chain circuit, satellite communication link etc..
The lash ship 1 is additionally operable to the 3rd positional information, the second place information of micro-unmanned ship 2, lash ship 1 according to itself
The sonar reflected signal of the underwater robot 3 collected with micro-unmanned ship 2, and destination object 4 is relative to underwater robot 3
First position information, calculate and obtain the location information of target.
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 micro-unmanned ship is changed, and has been built using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem got up, and the second positioning subsystem constructed by underwater robot and destination object, by mother
Ship or land server calculate the location information for obtaining destination object, and the location information includes latitude and longitude information, the depth of water and believed
Breath 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 embodiment of the present invention can improve the endurance of underwater robot, and reduce the data processing of underwater robot
Amount, the manufacturing cost of underwater robot is reduced from side.
In the specific implementation of target identification of embodiment of the present invention subsystem 311, structure as shown in Figure 2 can be used,
Including the second sonar transceiver 32 and dual camera 31, the second sonar transceiver 32 is used to obtain underwater robot 3 to mesh
The target range of object 4 is marked, the dual camera 31 is used to gather the scene of destination object 4；The underwater robot 3 is always according to institute
Target range and the scene of destination object 4 are stated, and destination object 4 is calculated relative to the of underwater robot 3 by rendering algorithm
One positional information.
In embodiments of the present invention, the micro-unmanned ship 2 can be specifically bionic machine fish under water, it is waterborne nobody
The buoy of ship either routine.Wherein, when the micro-unmanned ship is bionic machine fish under water, its horizontal level and vertical
Depth is adjustable to coordinate signal to retrieve, for example detected in the micro-unmanned ship sonar reflected signal of underwater robot 3 compared with
, can be slight to improve signal acquisition by carrying out dive when weak；Machine fish possesses signal expander, starts when signal is weak,
To ensure communication stability and then ensure positioning precision, the signal expander can close to save power supply when signal is strong.This
The embodiment of the micro-unmanned ship illustrated in embodiment may be equally applied in other embodiments of the present invention, subsequently not
Repeat one by one.
Embodiment 2:
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 micro-unmanned particular number of ship 2 described in embodiment is to be provided with water depth sensor on one, the underwater robot 3.Generally
In the case of, water depth sensor is the standard configuration presence as most of underwater robot, of course it is not excluded some shallow water operations
Underwater robot or some underwater robots aiming at specified sea areas seabed operation can be for cost consideration, by fixed
Mode processed removes the water depth sensor.Therefore, the present embodiment is to utilize itself work(of underwater robot water depth sensor
On the basis of energy, the micro-unmanned ship number needed for system is reduced to bottom line (i.e. one micro-unmanned ship).Such as Fig. 4
It is shown in this embodiment, the system include with active sonar function lash ship 1, one have passive sonar function it is miniature
Unmanned boat 2 and underwater robot 3, wherein, the water depth sensor is used to feed back underwater robot 3 to the vertical range on sea；
The vertical range is fed back to lash ship 1 by underwater robot 3；
Target identification subsystem 311 and control subsystem 312 (as shown in Figure 2), institute are provided with the underwater robot 3
Stating target identification subsystem 311 is used to obtain first position information of the destination object 4 relative to underwater robot 3；The control
Subsystem 312 is set up with the lash ship 1 the first communication link, and sends the first position by first communication link
Information.
Pre-determined distance is differed between the lash ship 1 and micro-unmanned ship 2, lash ship 1 is used to obtain the micro-unmanned ship 2
Second place information；
Being set up between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein, being recorded in micro-unmanned ship 2 has
The relevant parameter of the Sonar Signal of lash ship 1, and by the sonar reflected signal from underwater robot 3 collected by described second
Communication link feeds back to 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 reflection of the, underwater robot 3 that collects of the second place information of micro-unmanned ship 2, lash ship 1 and micro-unmanned ship 2
Signal, and destination object 4 calculate the location information for obtaining target relative to the first position information of underwater robot 3.
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, the design requirement of underwater robot and micro-unmanned ship is simplified,
And the configuration needs (only needing one) of micro-unmanned ship quantity.And using by lash ship, micro-unmanned ship and machine under water
The first positioning subsystem that device people constructs, and the second positioning subsystem constructed by underwater robot and destination object
System, is calculated the location information for obtaining destination object by lash ship or land server, the location information include 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 embodiment of the present invention can ensure the underwater robot target fixation and recognition degree of accuracy on the premise of, improve
The endurance of underwater robot, and the data processing amount of underwater robot is reduced, reduce underwater robot from side
Manufacturing cost.
In the present embodiment, the setting of associated communication link and pre-determined distance may be referred to illustrate content in embodiment 1,
This is not repeated one by one.In the present embodiment, will with reference to shown in Fig. 4 layout, illustrate how the 3rd positional information according to itself,
The water that the vertical range of underwater robot 3, the second place information of micro-unmanned ship 2, lash ship 1 and micro-unmanned ship 2 are collected
The sonar reflected signal of lower robot 3, and destination object 4, relative to the first position information of underwater robot 3, calculating is obtained
The location information of target.
It is assumed that underwater robot position (being marked in Fig. 4 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 between lash ship 1 and underwater robot 3 apart from AC, and the sonar for the underwater robot 3 that micro-unmanned ship 2 is collected
Reflected signal, which can be calculated, obtains the distance between micro-unmanned ship 2 and underwater robot 3 BC, wherein, position A and position B are
Positional information has been obtained under original state, has been known quantity.AO is obtained at this point it is possible to be calculated by AC and OC, passes through BC and OC
Calculating obtains BO, under Atria side AB, AO and BO all known cases, just can calculate and obtain ∠ BAO.Then just it can obtain
O point location information is obtained according to A point location information, and according to vertical range OC, obtains underwater in the first positioning subsystem
The 4th positional information of people.Wherein, first position information of the destination object relative to underwater robot in the second positioning subsystem
Can be by binocular recognition principle, phase of the destination object relative to underwater robot for coordinating the second sonar transceiver 32 to detect
Adjust the distance, calculated and obtained using rendering algorithm.The 4th positional information and destination object of summary underwater robot relative to
The first position information of underwater robot, just can calculate the location information for obtaining destination object.
Embodiment 3:
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 micro-unmanned particular number of ship 2 described in embodiment (is carried out exemplified by two in the present embodiment for two or more
Illustrate).The situation that water depth sensor is configured without suitable for underwater robot that the present embodiment is protruded, or micro-unmanned ship
2 quantity are more sufficient to be wanted to more accurately calculate the occasion for obtaining destination object location information.It is described in the present embodiment
The micro-unmanned particular number of ship 2 is two or more, with described two or more than two micro-unmanned ships 2 and mother
The sonar set of ship 1 is as a reference point, wherein, each reference point constitutes equilateral figure on the water surface.As shown in Figure 5 in this implementation
In, the system includes the lash ship 1 with active sonar function, two micro-unmanned ships 2 and water with passive sonar function
Lower robot 3,
Target identification subsystem 311 and control subsystem 312 (as shown in Figure 2), institute are provided with the underwater robot 3
Stating target identification subsystem 311 is used to obtain first position information of the destination object 4 relative to underwater robot 3；The control
Subsystem 312 is set up with the lash ship 1 the first communication link, and sends the first position by first communication link
Information.
Pre-determined distance is differed between the lash ship 1 and micro-unmanned ship 2, lash ship 1 is used to obtain the micro-unmanned ship 2
Second place information.
Being set up between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein, being recorded in micro-unmanned ship 2 has
The relevant parameter of the Sonar Signal of lash ship 1, and by the sonar reflected signal from underwater robot 3 collected by described second
Communication link feeds back to lash ship 1.
The lash ship 1 is used for the second place according to the 3rd positional information being used for according to itself, micro-unmanned ship
The underwater robot 3 that information (including micro-unmanned ship 2 and micro-unmanned ship 21), lash ship 1 and each micro-unmanned ship are collected
Sonar reflected signal, and destination object 4 calculate the positioning for obtaining target relative to the first position information of underwater robot 3
Information.
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 micro-unmanned ship is changed, and has been built using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem got up, and the second positioning subsystem constructed by underwater robot and destination object, by mother
Ship or land server calculate the location information for obtaining destination object, and the location information includes latitude and longitude information, the depth of water and believed
Breath 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 embodiment of the present invention can improve machine under water on the premise of the underwater robot target fixation and recognition degree of accuracy is ensured
The endurance of device people, and the data processing amount of underwater robot is reduced, reduce being manufactured into for underwater robot from side
This.On the other hand, moreover it is possible to the detecting system being made up of how micro-unmanned ship, the target pair for finally calculating and obtaining further is improved
The location information of elephant.
In the present embodiment, the setting of associated communication link and pre-determined distance may be referred to illustrate content in embodiment 1,
This is not repeated one by one.In the present embodiment, will with reference to shown in Fig. 5 structural representation, illustrate how according to it is described be used for according to from
3rd positional information of body, the second place information of micro-unmanned ship (including micro-unmanned ship 2 and micro-unmanned ship 21), lash ship
1 and the sonar reflected signal of underwater robot 3 that collects of each micro-unmanned ship, and destination object 4 is relative to underwater
The first position information of people 3, calculates the location information for obtaining target.
As shown in figure 5, (including micro- in figure according to the 3rd positional information of lash ship and the second place information of micro-unmanned ship
Type unmanned boat 2 and micro-unmanned ship 21) length for obtaining each sides of triangle ABD is calculated, adopted according to lash ship 1 and each micro-unmanned ship
The sonar reflected signal of the underwater robot 3 collected calculates the length for obtaining AB, BC and DC respectively, now, just can build cone
Shape C-ABD models, and position skew of the underwater robot 3 relative to the position A of lash ship 1 is obtained according to cone-shaped model calculating
Amount, so as to obtain the 4th positional information.Wherein, of destination object relative to underwater robot in the second positioning subsystem
One positional information can coordinate the destination object that the second sonar transceiver 32 is detected relative under water by binocular recognition principle
The relative distance of robot, is calculated using rendering algorithm and obtained.The 4th positional information and target of summary underwater robot
Object just can calculate the location information for obtaining destination object relative to the first position information of underwater robot.
In embodiments of the present invention, in order to increase the flexibility of whole system operation, for two micro-unmanned ships,
Its specific manifestation form can be that micro-unmanned ship 2 is a machine fish, and micro-unmanned ship 21 is buoy；Or micro-unmanned ship
2 be a unmanned boat, and micro-unmanned ship 21 is a buoy；Can be buoy etc. with micro-unmanned ship 2 and micro-unmanned ship 21
Deng.Above-mentioned possible combination, is belonged in the protection domain of the embodiment of the present invention.
Embodiment 4:
After the underwater robot target positioning identification system described in above-described embodiment 1- embodiments 3 is disclosed, the present invention
Embodiment is used to illustrate how the system operates, and therefore, the present embodiment proposes a kind of underwater robot target fixation and recognition side
Method, as Figure 1-Figure 4, including the lash ship 1 with active sonar function, at least one there is the miniature nothing of passive sonar function
People's ship 2 and underwater robot 3, as shown in fig. 6, method includes：
In step 201, control lash ship 1 and/or micro-unmanned ship 2 so that differed between lash ship 1 and micro-unmanned ship 2
Pre-determined distance, lash ship 1 obtains the second place information of the micro-unmanned ship 2.
When implementing, the micro-unmanned ship 2 can be fixed on for a long time on marine site, now then control lash ship 1
To realize with the micro-unmanned ship 2 at a distance of pre-determined distance；If the micro-unmanned ship 2 is carried by lash ship, and is setting up this
The specified location into marine site is just delivered under inventive embodiments reclaimed water during robot target positioning identification system, then can be by specific
Dispensing opportunity controls micro-unmanned ship 2, so as to its placement position with the position to be stopped of lash ship 1 at a distance of pre-determined distance.Wherein,
The calculating of pre-determined distance may be referred to described in embodiment 1, will not be repeated here.
In step 202., the underwater robot 3 obtains destination object 4 and believed relative to the first position of underwater robot 3
Breath, and the first position information is sent to the lash ship 1.
Wherein, destination object 4 can be the static objects such as reef, shipwreck, seabed traces or fish, shell-fish
Dynamic object in ocean.Wherein, because underwater robot calculates the first position information for obtaining destination object 4 relative to embodiment
The 4th positional information (i.e. the location information of underwater robot) described in 1-3 it is more efficient, it is described more efficient to refer to
Under identical calculations ability, the time required for calculating first position information is much smaller than the time for calculating the 4th positional information, because, meter
Calculating the 4th positional information needs certain time to be used for the transmission of sonar.Therefore, lash ship is receiving the of the feedback of underwater robot 3
During one positional information, while the generation time of related first position information, the reception time of first position information etc. are recorded, with
It is easy to, when follow-up calculating obtains four positional informations, both time points can be matched, more accurate destination object is reached
Location information.
In step 203, record has the relevant parameter of the Sonar Signal of lash ship 1 in the micro-unmanned ship 2, and according to described
The sonar reflected signal from underwater robot 3 collected is fed back to lash ship 1 by relevant parameter；Wherein, the sonar reflection
The Sonar Signal that signal is launched by lash ship 1 runs into the back reflection of underwater robot 3 and produced.
In step 204, the lash ship 1 is additionally operable to the 3rd positional information according to itself, the second of micro-unmanned ship 2
The sonar reflected signal and the first position information for the underwater robot 3 that confidence breath, lash ship 1 and micro-unmanned ship 2 are collected,
Calculate the location information for obtaining target.Content described in Related Computational Methods reference implementation example 2 and embodiment 3, will not be repeated here.
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 micro-unmanned ship is changed, and has been built using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem got up, and the second positioning subsystem constructed by underwater robot and destination object, by mother
Ship or land server calculate the location information for obtaining destination object, and the location information includes latitude and longitude information, the depth of water and believed
Breath etc..Compare use in the prior art by underwater robot as it is of equal value with first positioning subsystem in active
Sonar source, methods described of the embodiment of the present invention can improve the endurance of underwater robot, and reduce underwater robot
Data processing amount, the manufacturing cost of underwater robot is reduced from side.
With reference to the embodiment of the present invention, there is a kind of optional implementation, the micro-unmanned particular number of ship 2 is two
Or two or more, it is as a reference point with the sonar set of described two or more than two micro-unmanned ships 2 and lash ship 1,
Wherein, each reference point constitutes equilateral figure on the water surface.By calculating checking, by waiting edge image as facies basialis pyramidis, by under water
The cone model that robot is constituted as the vertex of a cone, it is far high relative to the efficiency of the relative position of lash ship 1 that it calculates underwater robot
The facies basialis pyramidis constituted in irregular figure.
With reference to the embodiments of the invention provide a kind of feasible underwater robot implementation, as shown in Fig. 2 it is described under water
Robot 3 includes the second sonar transceiver 32 and dual camera 31, and the second sonar transceiver 32 is used to obtain underwater
People 3 arrives the target range of destination object 4, and the dual camera 31 is used to gather the scene of destination object 4；The underwater robot 3
Destination object 4 is calculated relative to underwater robot according to the target range and the scene of destination object 4, and by rendering algorithm
3 first position information.Underwater robot 3 can also be equipped with processor 33, wireless transceiver 34 and Powered Propulsion under normal circumstances
Device 35, wherein wireless transceiver 34 are used to set up communication link with the lash ship 1；And the Powerpush Unit 35 is then to use
In the completion corresponding moving operation of underwater robot；The processor 33 be connected to dual camera 31, the second sonar transceiver 32,
Wireless transceiver 34 and Powerpush Unit 35, image information and the second sonar transceiver for handling the collection of dual camera 31
The sonar information of 32 collections, and analyze first position information；It is additionally operable to control the wireless transceiver 34 to send described first
Positional information is to lash ship 1, and controls the Powerpush Unit 35 to complete underwater navigation action.
In embodiments of the present invention, the sonar reflection for the underwater robot 3 that the lash ship 1 and micro-unmanned ship 2 are collected
Signal includes the frequency displacement between echo reception time, echo wavefront normal and/or echo-signal and transmission signal；Wherein, lash ship 1
And/or the time delay asked by echo-signal and transmission signal of micro-unmanned ship 2 determines the distance of target, by echo wavefront normal side
To the direction that can determine that target, the frequency displacement between echo-signal and transmission signal determines the radial velocity of target.
In embodiments of the present invention, the second place information of the micro-unmanned ship 2 is the radar launched by the lash ship 1
Signal detection is obtained；Or when on the micro-unmanned ship 2 d GPS locating module being installed, reported by the micro-unmanned ship
The second place information that the detection of its d GPS locating module is obtained.
Because based on a common inventive concept, the related content illustrated in the embodiment of the present invention can equally be well applied to
Corresponding contents in embodiment 1- embodiments 3.Those skilled in the art can be in the case where not needing creative work, will be above-mentioned
Correlation technique content is used in embodiment of the method 4 in system embodiment 1-3, can also be by the correlation technique of embodiment of the method 4
Appearance is used in system embodiment 1-3.Above-mentioned possible combination and the technical scheme expanded, belong to the protection model of the present invention
In enclosing.
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 underwater robot target positioning identification system, it is characterised in that in systems including with active sonar function
Lash ship, at least one there is the micro-unmanned ship and underwater robot of passive sonar function,
Target identification subsystem and control subsystem are provided with the underwater robot, the target identification subsystem is used to obtain
Destination object is taken relative to the first position information of underwater robot；The control subsystem is set up with the lash ship has first to lead to
Link is interrogated, and the first position information is sent by first communication link；
Pre-determined distance is differed between the lash ship and micro-unmanned ship, lash ship is used for the second place for obtaining the micro-unmanned ship
Information；
Being set up between the lash ship and micro-unmanned ship has the second communication link, wherein, record has lash ship sound in micro-unmanned ship
The relevant parameter of signal, and the sonar reflected signal from underwater robot collected is passed through into second communication link
Feed back to lash ship；
The lash ship is used to gather the sonar reflected signal from underwater robot, and the lash ship is additionally operable to the 3rd according to itself
The sound for the underwater robot that positional information, the second place information of micro-unmanned ship, lash ship and micro-unmanned ship are collected respectively
Reflected signal, and destination object calculate the location information for obtaining target relative to the first position information of underwater robot.
2. underwater robot target positioning identification system according to claim 1, it is characterised in that the micro-unmanned ship
Particular number is to be provided with water depth sensor on one, the underwater robot；Wherein, the water depth sensor is used to feed back water
Vertical range of the lower robot to sea；The vertical range is fed back to lash ship by underwater robot；
Lash ship is used to be used for according to the 3rd positional information of itself the, vertical range of underwater robot, micro-unmanned according to described
The sonar reflected signal for the underwater robot that second place information, lash ship and the micro-unmanned ship of ship are collected, and target pair
As the first position information relative to underwater robot, the location information for obtaining target is calculated.
3. underwater robot target positioning identification system according to claim 1, it is characterised in that the micro-unmanned ship
Particular number is two or more, with described two or more than two micro-unmanned ships and the sonar set of lash ship
It is as a reference point, wherein, each reference point constitutes equilateral figure on the water surface.
4. according to any described underwater robot target positioning identification systems of claim 1-3, it is characterised in that the target
Recognition subsystem includes the second sonar transceiver and dual camera, and the second sonar transceiver is arrived for obtaining underwater robot
The target range of destination object, the dual camera is used to gather destination object scene；The underwater robot is always according to described
Target range and destination object scene, and first position of the destination object relative to underwater robot is calculated by rendering algorithm
Information.
5. a kind of underwater robot target positioning identifying method, it is characterised in that including the lash ship with active sonar function, extremely
Few a micro-unmanned ship and underwater robot with passive sonar function, method include：
Control lash ship and/or micro-unmanned ship so that pre-determined distance is differed between lash ship and micro-unmanned ship, lash ship obtains described
The second place information of micro-unmanned ship；
The underwater robot obtains first position information of the destination object relative to underwater robot, and by the first position
Information is sent to the lash ship；
In the micro-unmanned ship record has the relevant parameter of lash ship Sonar Signal, and will be collected according to the relevant parameter
Sonar reflected signal from underwater robot feeds back to lash ship；Wherein, the sound that the sonar reflected signal is launched by lash ship
Signal runs into the underwater robot back reflection and produced；
The lash ship is used to gather the sonar reflected signal from underwater robot, and the lash ship is additionally operable to the 3rd according to itself
The sound for the underwater robot that positional information, the second place information of micro-unmanned ship, lash ship and micro-unmanned ship are collected respectively
Reflected signal and the first position information, calculate the location information for obtaining target.
6. underwater robot target positioning identifying method according to claim 5, it is characterised in that the micro-unmanned ship
Particular number is to be provided with water depth sensor on one, the underwater robot；Wherein, the water depth sensor is used to feed back water
Vertical range of the lower robot to sea；The vertical range is fed back to lash ship by underwater robot；
Lash ship is used to be used for according to the 3rd positional information of itself the, vertical range of underwater robot, micro-unmanned according to described
The sonar reflected signal for the underwater robot that second place information, lash ship and the micro-unmanned ship of ship are collected, and target pair
As the first position information relative to underwater robot, the location information for obtaining target is calculated.
7. underwater robot target positioning identifying method according to claim 5, it is characterised in that the micro-unmanned ship
Particular number is two or more, with described two or more than two micro-unmanned ships and the sonar set of lash ship
It is as a reference point, wherein, each reference point constitutes equilateral figure on the water surface.
8. according to any described underwater robot target positioning identifying methods of claim 5-7, it is characterised in that it is described under water
Robot includes the second sonar transceiver and dual camera, and the second sonar transceiver is used to obtain underwater robot to target
The target range of object, the dual camera is used to gather destination object scene；The underwater robot according to the target away from
From with destination object scene, and first position information of the destination object relative to underwater robot is calculated by rendering algorithm.
9. according to any described underwater robot target positioning identifying methods of claim 5-7, it is characterised in that the lash ship
The sonar reflected signal of the underwater robot collected with micro-unmanned ship include the echo reception time, echo wavefront normal and/
Or the frequency displacement between echo-signal and transmission signal；Wherein, lash ship and/or micro-unmanned ship pass through echo-signal and transmission signal
The time delay asked determines the distance of target, and the direction of target is can determine that by echo wavefront normal direction, is believed by echo-signal with transmitting
Frequency displacement between number determines the radial velocity of target.
10. according to any described underwater robot target positioning identifying methods of claim 5-7, it is characterised in that described micro-
The second place information of type unmanned boat is that the Radar Signal Detection launched by the lash ship is obtained；Or in the micro-unmanned ship
On when d GPS locating module is installed, the second confidence that the detection of its d GPS locating module is obtained is reported by the micro-unmanned ship
Breath.
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| CN113138364A (en) * | 2021-04-22 | 2021-07-20 | 华能澜沧江水电股份有限公司 | Landslide safety monitoring device and positioning method based on underwater photography equipment |
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