CN107153192B - 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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- CN107153192B CN107153192B CN201710209500.XA CN201710209500A CN107153192B CN 107153192 B CN107153192 B CN 107153192B CN 201710209500 A CN201710209500 A CN 201710209500A CN 107153192 B CN107153192 B CN 107153192B
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- underwater robot
- ship
- micro
- target
- location information
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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
-
- 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
Abstract
The present invention relates to underwater robot technical field, a kind of underwater robot target positioning identifying method and system are provided.Underwater robot is for obtaining first location information of the target object relative to underwater robot in system, and sends first location information to lash ship；Lash ship is used to obtain the second location information of micro-unmanned ship；The collected sonar reflection signal from underwater robot is fed back to lash ship by micro-unmanned ship；Lash ship is also used to the sonar reflection signal of the third place information according to itself, the second location information of micro-unmanned ship, lash ship and the collected underwater robot of micro-unmanned ship, and first location information of the target object relative to underwater robot, the location information of target is calculated.Compare use in the prior art by underwater robot as active sonar source, the embodiment of the present invention can be under the premise of ensureing the fixation and recognition accuracy of underwater robot target, the cruising ability of underwater robot is improved, and reduces the operational efficiency of underwater robot.
Description
[technical field]
The present invention relates to underwater robot technical fields, more particularly to a kind of underwater robot target positioning identifying method
And system.
[background technique]
Underwater robot can be generally divided into two major classes: one kind is that have cable underwater robot；Another kind of is untethered underwater machine
Device people.In addition, by the purpose used point, have underwater investigation robot (such as: observation, measurement, collection of test material etc.) and
Underwater operation robot (such as: Underwater Welding twists the operations such as pipe, submerged structure, imderwater cutting)；By playground point, have
Seafloor robot and Shui Zhong robot.
But no matter any application field, the positioning of underwater robot is all very important.Underwater robot simultaneously
It is also quite crucial to the judgement of submarine target type when encountering submarine target.The location information of underwater robot can help
Manipulation side understands the job schedule of underwater robot, to have one to shift to an earlier date current work progress and following job placement
Judgement, the judgement of submarine target type can help the side of manipulation to understand underwater situation, determine whether to search out expectation target.
But since the limitation of underwater wireless transmission, GPS signal can not be transmitted under water, lack underwater robot in the prior art
The effective means of positioning more lacks the intelligentized control method system for organically combining underwater robot location and the judgement of submarine target type
System.
Inventor retrieves and has studied existing the relevant technologies, wherein with Patent No. 201410506360.9, proprietary term
Referred to as the patent of invention of " underwater robot target positioning identification system ", although it is fixed to propose a kind of underwater robot target
Position identifying system still be achieved in that the active sonar process based on underwater robot to complete, this mode is not only
The workload of underwater robot itself is increased, reflects signal, underwater machine to guarantee to receive the sonar of its buoy
Device people needs to consume a large amount of energy in positioning, this is larger problem for the robot of long-time underwater operation,
A kind of effective solution scheme is not proposed in the prior art yet, robot does not have high-power sonar set situation under water
Under, how to complete the fixation and recognition of submarine target.
[summary of the invention]
Technical problems to be solved of the embodiment of the present invention are how under water robot does not have high-power sonar set feelings
Under condition, the fixation and recognition of submarine target is completed.
The embodiment of the present invention adopts the following technical scheme that
In a first aspect, being wrapped in systems the embodiment of the invention provides a kind of underwater robot target positioning identification system
Lash ship, at least one micro-unmanned ship and underwater robot with passive sonar function with active sonar function are included,
Target identification subsystem and control subsystem are provided on the underwater robot, the target identification subsystem is used
In first location information of the acquisition target object relative to underwater robot；The control subsystem and lash ship foundation have the
One communication link, and the first location information is sent by first communication link；
Pre-determined distance is differed between the lash ship and micro-unmanned ship, lash ship is for obtaining the second of the micro-unmanned ship
Location information；
Establishing 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 collected sonar reflection signal from underwater robot is communicated by described second
Link Feedback is to lash ship；
The lash ship is used to acquire sonar from underwater robot and reflects signal, the lash ship be also used to according to itself
The third place information, the second location information of micro-unmanned ship, lash ship and micro-unmanned ship distinguish collected underwater robot
First location information relative to underwater robot of sonar reflection signal and target object, the positioning of target is calculated
Information.
Optionally, the micro-unmanned ship particular number is one, is provided with water depth sensor on the underwater robot；
Wherein, the vertical range that the water depth sensor is used to feed back underwater robot to sea；Underwater robot by it is described vertically away from
From feeding back to lash ship；
Lash ship is used for according to described for according to the third place information of itself the, vertical range of underwater robot, miniature
The sonar reflection signal and mesh of the second location information of unmanned boat, lash ship and the collected underwater robot of micro-unmanned ship
First location information of the object relative to underwater robot is marked, the location information of 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
The target range that hair device is used to obtain underwater robot to target object, the dual camera is for acquiring target object scene；
The underwater robot calculates target object phase also according to the target range and target object scene, and by rendering algorithm
For the first location information of underwater robot.
Second aspect, the embodiment of the invention provides a kind of underwater robot target positioning identifying methods, including have master
Lash ship, at least one micro-unmanned ship and underwater robot with passive sonar function of dynamic sonar function, method include:
Lash ship and/or micro-unmanned ship are controlled, so that differing pre-determined distance between lash ship and micro-unmanned ship, lash ship is obtained
The second location information of the micro-unmanned ship；
The underwater robot obtains first location information of the target object relative to underwater robot, and by described first
Location 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 acquired according to the relevant parameter
To from underwater robot sonar reflection signal feed back to lash ship；Wherein, the sonar reflection signal is launched by lash ship
Sonar Signal encounter the underwater robot back reflection and generate；
The lash ship is used to acquire sonar from underwater robot and reflects signal, the lash ship be also used to according to itself
The third place information, the second location information of micro-unmanned ship, lash ship and micro-unmanned ship distinguish collected underwater robot
The sonar reflection signal and first location information, the location information of target is calculated.
Optionally, the micro-unmanned ship particular number is one, is provided with water depth sensor on the underwater robot；
Wherein, the vertical range that the water depth sensor is used to feed back underwater robot to sea；Underwater robot by it is described vertically away from
From feeding back to lash ship；
Lash ship is used for according to described for according to the third place information of itself the, vertical range of underwater robot, miniature
The sonar reflection signal and mesh of the second location information of unmanned boat, lash ship and the collected underwater robot of micro-unmanned ship
First location information of the object relative to underwater robot is marked, the location information of 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
Target range for obtaining underwater robot to target object, the dual camera is for acquiring target object scene；It is described
Underwater robot calculates target object relative to water according to the target range and target object scene, and by rendering algorithm
The first location information of lower robot.
Optionally, the sonar of the lash ship and the collected underwater robot of micro-unmanned ship reflection signal includes that echo connects
Frequency displacement between time receiving, between echo wavefront normal and/or echo-signal and transmitting signal；Wherein, lash ship and/or micro-unmanned ship
It is determined at a distance from target by time delay of the echo-signal between transmitting signal, can determine the side of target by echo wavefront normal direction
To determining the radial velocity of target by the frequency displacement between echo-signal and transmitting signal.
Optionally, the second location information of the micro-unmanned ship is that the Radar Signal Detection emitted by the lash ship obtains
It arrives；Or when being equipped with GPS positioning module on the micro-unmanned ship, its GPS positioning mould is reported by the micro-unmanned ship
The second location information that block detects.
The embodiment of the present invention takes full advantage of the cruising ability and its sonar set function being equipped with of lash ship itself, letter
The design requirement of underwater robot and micro-unmanned ship is changed, and has been constructed using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem to get up, and the second positioning subsystem constructed by underwater robot and target object, by mother
The location information of target object is calculated in ship or land server, and the location information includes latitude and longitude information, depth of water letter
Breath etc..Compare use in the prior art by underwater robot as the active with first positioning subsystem of equal value
Sonar source, the embodiment of the present invention can improve underwater machine under the premise of ensureing the fixation and recognition accuracy of underwater robot target
The cruising ability of device people, and reduce the data processing amount of underwater robot, from side reduce the manufacture of underwater robot at
This.
[Detailed description of the invention]
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached 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 schematic illustration 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.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
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 present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
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 lash ship 1, at least one micro-unmanned ship 2 and underwater robot with passive sonar function with active sonar function
3, wherein the quantity of micro-unmanned ship specifically can be two or more, and the increase of micro-unmanned ship quantity can certain journey
The accuracy that final goal object location information calculates is improved on degree.
Target identification subsystem 311 and control subsystem 312 (as shown in Figure 2), institute are provided on the underwater robot 3
Target identification subsystem 311 is stated for obtaining first location information of the target object 4 relative to underwater robot 3；The control
Subsystem 312 and the lash ship 1 foundation have the first communication link, and send 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 for obtaining the micro-unmanned ship 2
Second location information.Wherein, pre-determined distance is generally according to detection environment (i.e. water-surface areas size, the depth of water depth of test object
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 differs is bigger, and the error being finally calculated is smaller.But sea level is curved surface in actual conditions, because
This, the pre-determined distance is less than 1* earth perimeter/360=111 kilometers.But actual measurement range is usually not so remote,
Therefore, pre-determined distance depth of water depth, the regional scope of underwater robot work preferably to be worked according to underwater robot,
And the best effort distance of sonar set is calculated on lash ship 1 and micro-unmanned ship 2.Such as the best effort distance of sonar
It is 5 kilometers, and the working region of underwater robot epicycle is the circle row region that radius is 1 kilometer, and public apart from sea level 1
In, then in order to guarantee that sonar set is in best effort distance range, the pre-determined distance is about 2 kilometers.Its Computing Principle
Figure is as shown in figure 3, obtaining x value less than 5 solutions according to a+b in Fig. 3 is about 2.5 kilometers.Wherein, A is lash ship position, B is miniature
Unmanned ship position, C are the highest distance position in underwater robot working region relative to micro-unmanned ship B.Practical pre-determined distance
Parameter value should further consider uptake in reflection process, and therefore, pre-determined distance in this example is about 2 kilometers.
Establishing between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein recording in micro-unmanned ship 2 has
The relevant parameter of 1 Sonar Signal of lash ship, and the collected sonar reflection signal from underwater robot 3 is passed through 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 also used to the third place information according to itself, the second location information of micro-unmanned ship 2, lash ship 1
Signal and target object 4 are reflected relative to underwater robot 3 with the sonar of the collected underwater robot 3 of micro-unmanned ship 2
First location information, the location information of target is calculated.
The embodiment of the present invention takes full advantage of the cruising ability and its sonar set function being equipped with of lash ship itself, letter
The design requirement of underwater robot and micro-unmanned ship is changed, and has been constructed using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem to get up, and the second positioning subsystem constructed by underwater robot and target object, by mother
The location information of target object is calculated in ship or land server, and the location information includes latitude and longitude information, depth of water letter
Breath etc..Compare use in the prior art by underwater robot as the active with first positioning subsystem of equal value
Sonar source, the embodiment of the present invention can be improved the cruising ability of underwater robot, and reduce the data processing of underwater robot
Amount, the manufacturing cost of underwater robot is reduced from side.
In 311 specific implementation of target identification of embodiment of the present invention subsystem, 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 for obtaining underwater robot 3 to mesh
The target range of object 4 is marked, the dual camera 31 is for acquiring 4 scene of target object；The underwater robot 3 is also according to institute
4 scene of target range and target object is stated, and of target object 4 relative to underwater robot 3 is calculated by rendering algorithm
One location information.
In embodiments of the present invention, the micro-unmanned ship 2 specifically can be underwater bionic machine fish, it is waterborne nobody
The either conventional buoy of ship.Wherein, when the micro-unmanned ship is underwater bionic machine fish, horizontal position and vertical
Depth is adjustable to cooperate signal to retrieve, for example, the micro-unmanned ship detect underwater robot 3 sonar reflection signal compared with
It, can be slight to improve signal acquisition by carrying out dive when weak；Machine fish has signal expander, starts when signal is weak,
To guarantee communication stability and then guarantee positioning accuracy, the signal expander can be closed to save power supply when signal is strong.This
The specific embodiment of the micro-unmanned ship illustrated in embodiment may be equally applied in other embodiments of the present invention, it is subsequent not
It repeats 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
Micro-unmanned 2 particular number of ship described in embodiment is one, is provided with water depth sensor on the underwater robot 3.Usually
In the case of, water depth sensor is the standard configuration presence as most of underwater robot, of course it is not excluded certain shallow water operations
Underwater robot or certain 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 function of underwater robot water depth sensor
On the basis of energy, micro-unmanned ship number needed for system is reduced to bottom line (i.e. a micro-unmanned ship).Such as Fig. 4
It is shown in this embodiment, the system comprises lash ship 1, one with active sonar function have passive sonar function it is miniature
Unmanned boat 2 and underwater robot 3, wherein the vertical range that the water depth sensor is used to feed back underwater robot 3 to 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 on the underwater robot 3
Target identification subsystem 311 is stated for obtaining first location information of the target object 4 relative to underwater robot 3；The control
Subsystem 312 and the lash ship 1 foundation have the first communication link, and send 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 for obtaining the micro-unmanned ship 2
Second location information；
Establishing between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein recording in micro-unmanned ship 2 has
The relevant parameter of 1 Sonar Signal of lash ship, and the collected sonar reflection signal from underwater robot 3 is passed through described second
Communication link feeds back to lash ship 1；
The lash ship 1 be used for according to it is described for according to itself the third place information, underwater robot 3 it is vertical away from
From, the sonar reflection of the second location information of micro-unmanned ship 2, lash ship 1 and the collected underwater robot 3 of micro-unmanned ship 2
The first location information of signal and target object 4 relative to underwater robot 3, is calculated the location information of target.
The cruising ability and its sonar set function being equipped with of lash ship itself is not only utilized in the embodiment of the present invention, and
And the water depth sensor being equipped in underwater robot is utilized, 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 underwater machine
The first positioning subsystem that device people constructs, and the second positioning subsystem constructed by underwater robot and target object
System, is calculated the location information of target 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 in first positioning subsystem
Active sonar source, the embodiment of the present invention can under the premise of ensureing the fixation and recognition accuracy of underwater robot target, improve
The cruising ability of underwater robot, and the data processing amount of underwater robot is reduced, underwater robot is reduced from side
Manufacturing cost.
In the present embodiment, the setting of associated communication link and pre-determined distance can with illustrated content in reference implementation example 1,
This is not repeated one by one.In the present embodiment, will layout as shown in connection with fig. 4, illustrate how the third place information according to itself,
The vertical range of underwater robot 3, the second location information of micro-unmanned ship 2, lash ship 1 and the collected water of micro-unmanned ship 2
First location information of sonar the reflection signal and target object 4 of lower robot 3 relative to underwater robot 3, is calculated
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 reflection signal of the collected underwater robot 3 of lash ship 1 can
To be calculated distance AC between lash ship 1 and underwater robot 3, and the sonar of the collected underwater robot 3 of micro-unmanned ship 2
The distance between micro-unmanned ship 2 and underwater robot 3 BC can be calculated in reflection signal, wherein position A and position B are
Location information has been obtained under original state, is known quantity.At this point it is possible to which AO is calculated by AC and OC, pass through BC and OC
BO is calculated, under Atria side AB, AO and BO all known cases, ∠ BAO can be calculated.Then 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 location information of people.Wherein, first location information of the target object relative to underwater robot in the second positioning subsystem
Can be by binocular recognition principle, phase of the target object for cooperating the second sonar transceiver 32 to detect relative to underwater robot
It adjusts the distance, is calculated using rendering algorithm.In summary the 4th location information of underwater robot and target object relative to
The location information of target object can be calculated in the first location information of underwater robot.
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
Micro-unmanned 2 particular number of ship described in embodiment is that two or more (are carried out for two in the present embodiment
It illustrates).The present embodiment no the case where configuring water depth sensor or micro-unmanned ship outstanding suitable for underwater robot
The more sufficient occasion for wanting to that target object location information is more accurately calculated of 2 quantity.It is described in the present embodiment
Micro-unmanned 2 particular number of ship 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 comprises micro-unmanned ships 2 and water that lash ship 1, two with active sonar function has passive sonar function
Lower robot 3,
Target identification subsystem 311 and control subsystem 312 (as shown in Figure 2), institute are provided on the underwater robot 3
Target identification subsystem 311 is stated for obtaining first location information of the target object 4 relative to underwater robot 3；The control
Subsystem 312 and the lash ship 1 foundation have the first communication link, and send 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 for obtaining the micro-unmanned ship 2
Second location information.
Establishing between the lash ship 1 and micro-unmanned ship 2 has the second communication link, wherein recording in micro-unmanned ship 2 has
The relevant parameter of 1 Sonar Signal of lash ship, and the collected sonar reflection signal from underwater robot 3 is passed through described second
Communication link feeds back to lash ship 1.
The lash ship 1 is used for the second position according to the third place information being used for according to itself, micro-unmanned ship
Information (including micro-unmanned ship 2 and micro-unmanned ship 21), lash ship 1 and the collected underwater robot 3 of each micro-unmanned ship
Sonar reflects the first location information of signal and target object 4 relative to underwater robot 3, and the positioning of target is calculated
Information.
The embodiment of the present invention takes full advantage of the cruising ability and its sonar set function being equipped with of lash ship itself, letter
The design requirement of underwater robot and micro-unmanned ship is changed, and has been constructed using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem to get up, and the second positioning subsystem constructed by underwater robot and target object, by mother
The location information of target object is calculated in ship or land server, and the location information includes latitude and longitude information, depth of water letter
Breath etc..Compare use in the prior art by underwater robot as the active with first positioning subsystem of equal value
Sonar source, the embodiment of the present invention can improve underwater machine under the premise of ensureing the fixation and recognition accuracy of underwater robot target
The cruising ability of device people, and reduce the data processing amount of underwater robot, from side reduce the manufacture of underwater robot at
This.On the other hand, moreover it is possible to which the detection system being made up of how micro-unmanned ship further increases the target pair being finally calculated
The location information of elephant.
In the present embodiment, the setting of associated communication link and pre-determined distance can with illustrated content in reference implementation example 1,
This is not repeated one by one.In the present embodiment, will structural schematic diagram as shown in connection with fig. 5, illustrate how according to it is described for according to from
The third place information, the second location information of micro-unmanned ship (including micro-unmanned ship 2 and micro-unmanned ship 21), lash ship of body
1 and the collected underwater robot 3 of each micro-unmanned ship sonar reflection signal and target object 4 relative to underwater
The location information of target is calculated in the first location information of people 3.
As shown in figure 5, (including micro- in figure according to the second location information of the third place information of lash ship and micro-unmanned ship
Type unmanned boat 2 and micro-unmanned ship 21) length on each side triangle ABD is calculated, it is adopted according to lash ship 1 and each micro-unmanned ship
The sonar reflection signal of the underwater robot 3 collected calculates separately to obtain the length of AB, BC and DC, at this point, cone can be constructed
Shape C-ABD model, and positional shift of the underwater robot 3 relative to 1 position A of lash ship is calculated according to cone-shaped model
Amount, to obtain the 4th location information.Wherein, in the second positioning subsystem target object relative to underwater robot
One location information can be by binocular recognition principle, and the target object for cooperating the second sonar transceiver 32 to detect is relative to underwater
The relative distance of robot, is calculated using rendering algorithm.In summary the 4th location information and target of underwater robot
First location information of the object relative to underwater robot, can be calculated the location information of target object.
In embodiments of the present invention, in order to increase the flexibility of whole system operation, for ship micro-unmanned for two,
It is a machine fish that its specific manifestation form, which can be micro-unmanned ship 2, and micro-unmanned ship 21 is buoy；Or micro-unmanned ship
2 be a unmanned boat, and micro-unmanned ship 21 is a buoy；It can be buoy etc. with micro-unmanned ship 2 and micro-unmanned ship 21
Deng.Above-mentioned possible combination, belongs in the protection scope of the embodiment of the present invention.
Embodiment 4:
After disclosing above-described embodiment 1- underwater robot target positioning identification system described in embodiment 3, the present invention
Embodiment is for illustrating 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 miniature nothing with passive sonar function
People's ship 2 and underwater robot 3, as shown in fig. 6, method includes:
In step 201, lash ship 1 and/or micro-unmanned ship 2 are controlled, so that differing between lash ship 1 and micro-unmanned ship 2
Pre-determined distance, lash ship 1 obtain the second location information of the micro-unmanned ship 2.
In specific implementation, the micro-unmanned ship 2 can be is fixed on sea area for a long time, then controls lash ship 1 at this time
To realize with the micro-unmanned ship 2 at a distance of pre-determined distance；If the micro-unmanned ship 2 is to be carried by lash ship, and setting up this
The designated position into sea area is just launched in inventive embodiments when underwater robot target positioning identification system, then it can be by specific
Delivering opportunity controls micro-unmanned ship 2, so that its placement position and the position to be stopped of lash ship 1 are at a distance of pre-determined distance.Wherein,
The calculating of pre-determined distance can be with described in reference implementation example 1, details are not described herein.
In step 202, the underwater robot 3 obtains target object 4 and believes relative to the first position of underwater robot 3
Breath, and the first location information is sent to the lash ship 1.
Wherein, target object 4 can be the static objects such as reef, shipwreck, seabed traces, be also possible to fish, shell-fish
Dynamic object in ocean.Wherein, because the first location information of target object 4 is calculated relative to embodiment in underwater robot
4th location 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 first location information is calculated much smaller than the time for calculating the 4th location information, because, meter
Calculate the transmitting that the 4th location information needs certain time for sonar.Therefore, lash ship is receiving the of the feedback of underwater robot 3
When one location information, while the generation time of relevant first location information is recorded, the receiving time etc. of first location information, with
Convenient for it is subsequent four location informations is calculated when, at the time point that both can be matched, reach more accurate target object
Location information.
In step 203, the relevant parameter for having 1 Sonar Signal of lash ship is recorded in the micro-unmanned ship 2, and according to described
The collected sonar reflection signal from underwater robot 3 is fed back to lash ship 1 by relevant parameter；Wherein, the sonar reflection
Signal encounters 3 back reflection of underwater robot by the Sonar Signal that lash ship 1 is launched and generates.
In step 204, the lash ship 1 is also used to the second of the third place information according to itself, micro-unmanned ship 2
The sonar reflection signal of confidence breath, lash ship 1 and the collected underwater robot 3 of micro-unmanned ship 2 and the first location information,
The location information of target is calculated.Content described in Related Computational Methods reference implementation example 2 and embodiment 3, details are not described herein.
The embodiment of the present invention takes full advantage of the cruising ability and its sonar set function being equipped with of lash ship itself, letter
The design requirement of underwater robot and micro-unmanned ship is changed, and has been constructed using by lash ship, micro-unmanned ship and underwater robot
The first positioning subsystem to get up, and the second positioning subsystem constructed by underwater robot and target object, by mother
The location information of target object is calculated in ship or land server, and the location information includes latitude and longitude information, depth of water letter
Breath etc..Compare use in the prior art by underwater robot as the active with first positioning subsystem of equal value
Sonar source, the method for the embodiment of the present invention can be improved the cruising ability of underwater robot, and reduce underwater robot
Data processing amount reduces the manufacturing cost of underwater robot from side.
In conjunction with the embodiment of the present invention, there are a kind of optional implementation, micro-unmanned 2 particular number of ship is two
It is perhaps more than two 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.It is verified by calculating, by waiting edge images as facies basialis pyramidis, by underwater
It is far high relative to the efficiency of the relative position of lash ship 1 to calculate underwater robot for the cone model that robot is constituted as the vertex of a cone
In the facies basialis pyramidis that irregular figure is constituted.
In conjunction with the embodiment of the invention provides a kind of feasible underwater robot implementation, as shown in Fig. 2, described underwater
Robot 3 includes the second sonar transceiver 32 and dual camera 31, and the second sonar transceiver 32 is for obtaining underwater
People 3 arrives the target range of target object 4, and the dual camera 31 is for acquiring 4 scene of target object；The underwater robot 3
Target object 4 is calculated relative to underwater robot according to 4 scene of the target range and target object, and by rendering algorithm
3 first location information.Underwater robot 3 can also be equipped with processor 33, wireless transceiver 34 and Powered Propulsion under normal conditions
Device 35, wherein wireless transceiver 34 is used to establish 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, for handling the image information and the second sonar transceiver of the acquisition of dual camera 31
The sonar information of 32 acquisitions, and analyze first location information；It is also used to control the wireless transceiver 34 and sends described first
Location information completes underwater navigation movement to lash ship 1, and the control Powerpush Unit 35.
In embodiments of the present invention, the sonar of the lash ship 1 and the collected underwater robot 3 of micro-unmanned ship 2 reflects
Signal includes the frequency displacement between echo reception time, echo wavefront normal and/or echo-signal and transmitting signal；Wherein, lash ship 1
And/or micro-unmanned ship 2 is determined at a distance from target by time delay of the echo-signal between transmitting signal, by echo wavefront normal side
To the direction that can determine target, the radial velocity of target is determined by the frequency displacement between echo-signal and transmitting signal.
In embodiments of the present invention, the second location information of the micro-unmanned ship 2 is the radar emitted by the lash ship 1
Signal detection obtains；Or it when being equipped with GPS positioning module on the micro-unmanned ship 2, is reported by the micro-unmanned ship
The second location information that its GPS positioning module detects.
Since based on a common inventive concept, the related content illustrated in the embodiment of the present invention be can equally be well applied to
Corresponding contents in embodiment 1- embodiment 3.Those skilled in the art can be in the case where not needing creative work, will be above-mentioned
The relevant technologies content uses in embodiment of the method 4 in system embodiment 1-3, can also will be in 4 the relevant technologies of embodiment of the method
Appearance uses in system embodiment 1-3.Above-mentioned possible combination and the technical solution expanded, belong to protection model of the invention
In enclosing.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of embodiment is can to lead to
Program is crossed to instruct relevant hardware and complete, which can be stored in a computer readable storage medium, storage medium
It may include: read-only memory (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 in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of underwater robot target positioning identification system, which is characterized in that in systems include having the function of active sonar
Lash ship, at least one micro-unmanned ship and underwater robot with passive sonar function,
Target identification subsystem and control subsystem are provided on the underwater robot, the target identification subsystem is for obtaining
Take first location information of the target object relative to underwater robot；The control subsystem and lash ship foundation have first to lead to
Link is interrogated, and the first location 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 position of the micro-unmanned ship
Information；
Establishing 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 collected sonar reflection signal from underwater robot is passed through into second communication link
Feed back to lash ship；
The lash ship is used to acquire the sonar reflection signal from underwater robot, and the lash ship is also used to the third according to itself
Location information, the second location information of micro-unmanned ship, lash ship and micro-unmanned ship distinguish the sound of collected underwater robot
The first location information of signal and target object relative to underwater robot is reflected, the location information of target is calculated.
2. underwater robot target positioning identification system according to claim 1, which is characterized in that the micro-unmanned ship
Particular number is one, is provided with water depth sensor on the underwater robot；Wherein, the water depth sensor is for feeding 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 for according to described for according to the third place information of itself the, vertical range of underwater robot, micro-unmanned
The sonar reflection signal and target pair of the second location information of ship, lash ship and the collected underwater robot of micro-unmanned ship
As the first location information relative to underwater robot, the location information of target is calculated.
3. underwater robot target positioning identification system according to claim 1, which is characterized in that the micro-unmanned ship
Particular number is two or more, with the sonar set of described two or more than two micro-unmanned ships and lash ship
It is as a reference point, wherein each reference point constitutes equilateral figure on the water surface.
4. underwater robot target positioning identification system according to claim 1 to 3, which is characterized 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 target object, the dual camera is for acquiring target object scene；The underwater robot is also according to described
Target range and target object scene, and first position of the target object relative to underwater robot is calculated by rendering algorithm
Information.
5. a kind of underwater robot target positioning identifying method, which is characterized in that including the lash ship, extremely with active sonar function
Few one micro-unmanned ship and underwater robot, method with passive sonar function include:
Lash ship and/or micro-unmanned ship are controlled, so that pre-determined distance is differed between lash ship and micro-unmanned ship, described in lash ship acquisition
The second location information of micro-unmanned ship；
The underwater robot obtains first location information of the target object relative to underwater robot, and by the first position
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 collected according to the relevant parameter
Sonar reflection signal from underwater robot feeds back to lash ship；Wherein, the sound that the sonar reflection signal is launched by lash ship
Signal encounters the underwater robot back reflection and generates；
The lash ship is used to acquire the sonar reflection signal from underwater robot, and the lash ship is also used to the third according to itself
Location information, the second location information of micro-unmanned ship, lash ship and micro-unmanned ship distinguish the sound of collected underwater robot
Signal and the first location information are reflected, the location information of target is calculated.
6. underwater robot target positioning identifying method according to claim 5, which is characterized in that the micro-unmanned ship
Particular number is one, is provided with water depth sensor on the underwater robot；Wherein, the water depth sensor is for feeding 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 for according to described for according to the third place information of itself the, vertical range of underwater robot, micro-unmanned
The sonar reflection signal and target pair of the second location information of ship, lash ship and the collected underwater robot of micro-unmanned ship
As the first location information relative to underwater robot, the location information of target is calculated.
7. underwater robot target positioning identifying method according to claim 5, which is characterized in that the micro-unmanned ship
Particular number is two or more, with the sonar set of described two or more than two micro-unmanned ships and lash ship
It is as a reference point, wherein each reference point constitutes equilateral figure on the water surface.
8. according to any underwater robot target positioning identifying method of claim 5-7, which is characterized in that described underwater
Robot includes the second sonar transceiver and dual camera, and the second sonar transceiver is for obtaining underwater robot to target
The target range of object, the dual camera is for acquiring target object scene；The underwater robot according to the target away from
From with target object scene, and first location information of the target object relative to underwater robot is calculated by rendering algorithm.
9. according to any underwater robot target positioning identifying method of claim 5-7, which is characterized in that the lash ship
With the sonar of the collected underwater robot of micro-unmanned ship reflection signal include the echo reception time, echo wavefront normal and/
Or the frequency displacement between echo-signal and transmitting signal；Wherein, lash ship and/or micro-unmanned ship pass through echo-signal and transmitting signal
Between time delay determine the distance of target, can determine the direction of target by echo wavefront normal direction, believed by echo-signal and transmitting
Frequency displacement between number determines the radial velocity of target.
10. according to any underwater robot target positioning identifying method of claim 5-7, which is characterized in that described micro-
The second location information of type unmanned boat is that the Radar Signal Detection emitted by the lash ship obtains；Or in the micro-unmanned ship
On when GPS positioning module is installed, the second confidence that reports its GPS positioning module to detect by the micro-unmanned ship
Breath.
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| CN109080799A (en) * | 2018-09-21 | 2018-12-25 | 上海得枢智能科技有限公司 | Underwater robot location and control system based on water surface trunking auxiliary |
| CN109655056A (en) * | 2018-11-26 | 2019-04-19 | 江苏科技大学 | A kind of compound positioning system of Sea miner and its localization method |
| CN110133667B (en) * | 2019-05-15 | 2023-07-18 | 上海大学 | Underwater three-dimensional detection system based on mobile forward looking sonar |
| CN112926381B (en) * | 2021-01-08 | 2022-06-21 | 浙江大学 | Underwater target recognition system based on laser detection technology |
| CN113589227B (en) * | 2021-07-14 | 2022-03-29 | 飞马滨(青岛)智能科技有限公司 | Underwater robot positioning system and method |
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| CN103513248A (en) * | 2013-10-23 | 2014-01-15 | 广州市海林电子科技发展有限公司 | Underwater object monitoring device |
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