CN112946674A - Method for detecting underwater deep hole and water rescue robot - Google Patents
Method for detecting underwater deep hole and water rescue robot Download PDFInfo
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- CN112946674A CN112946674A CN202110133974.7A CN202110133974A CN112946674A CN 112946674 A CN112946674 A CN 112946674A CN 202110133974 A CN202110133974 A CN 202110133974A CN 112946674 A CN112946674 A CN 112946674A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 177
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000006870 function Effects 0.000 claims description 78
- 230000000149 penetrating effect Effects 0.000 claims description 24
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- 238000010586 diagram Methods 0.000 description 16
- 238000004590 computer program Methods 0.000 description 7
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- 238000012986 modification Methods 0.000 description 3
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- 238000010521 absorption reaction Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
Abstract
The invention provides a method for detecting an underwater deep hole and a water rescue robot, which are used for solving the technical problems that the existing drainage rescue cannot timely position the underwater deep hole, further cannot dredge the existing drainage pipeline for self drainage, and has lower dredging efficiency, larger workload and the like, and the method comprises the following steps: controlling the water rescue robot to run in water, and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot; determining whether the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value or not according to the laser ranging data of different periods; and if the water rescue robot is larger than a first preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
Description
Technical Field
The invention relates to the technical field of fire rescue equipment, in particular to a method for detecting an underwater deep hole and a water rescue robot.
Background
The water robot can be divided into a water measuring robot, a water fishing robot, a water cruising robot and a water rescuing robot according to the functional difference, wherein the water rescuing robot is a special robot which takes an unmanned remote control ship as a carrier and is provided with reconnaissance equipment such as a sonar, a shallow stratum profiler, a high-definition camera, a multi-beam depth finder, a night vision device and the like, is mainly used for water emergency rescue in case of flood disasters and can also be used for security patrol of rivers and lakes.
At present, rescue equipment aiming at urban flood disasters generally takes an unmanned remote control ship and a drainage robot as main parts, and rescue contents mainly take personnel search and rescue, water absorption and drainage as main parts. The existing drainage rescue mainly conveys water to adjacent drainage pipelines instead of utilizing and repairing the existing drainage pipelines, and by means of other drainage pipelines, longer water hoses and large-scale supercharging equipment need to be laid, so that the dredging efficiency is lower, the workload is larger, and the drainage robot is large in size, so that a specific vehicle is required to be transported to the site, the drainage robot cannot adapt to all terrains, the drainage operation can be completed only by continuously working, and the drainage operation can not be completed after one time of dredging. It is thus clear that current drainage rescue can't in time fix a position the deep hole under water, and then can't dredge current drainage pipe and carry out self-drainage, has the mediation efficiency lower, the great scheduling problem of work load.
Disclosure of Invention
The embodiment of the application provides a method for detecting an underwater deep hole and a water rescue robot, and is used for solving the technical problems that the existing drainage rescue cannot timely position the underwater deep hole, further cannot dredge the existing drainage pipeline to carry out self-drainage, and is low in dredging efficiency, large in workload and the like.
In order to solve the above technical problem, an embodiment of the present application provides a water rescue robot, where an unmanned remote control ship is used as a carrier for the water rescue robot, and the unmanned remote control ship includes:
the at least two motors are used for providing power for the unmanned remote control ship to run in water;
at least two rotary encoders corresponding to the at least two motors, the rotary encoders being configured to measure rotational speeds of the corresponding motors;
the ground penetrating radar is used for transmitting electromagnetic wave signals with a specific frequency band to detect the underwater topography of the current position of the unmanned remote control ship;
and the laser range finder is used for emitting laser to measure the water depth of the current position of the unmanned remote control ship.
Optionally, the water rescue robot further includes:
the at least two motors and the at least two rotary encoders corresponding to the at least two motors are arranged at the tail part of the unmanned remote control ship;
the ground penetrating radar and the laser range finder are arranged at the front part of the unmanned remote control ship.
In the embodiment of the application, at least two motors and at least two rotary encoders corresponding to the at least two motors are arranged at the tail part of the unmanned remote control ship, and the ground penetrating radar and the laser range finder are arranged at the front part of the unmanned remote control ship, so that when the water rescue robot taking the unmanned remote control ship as a carrier is controlled to run in water, laser range data of different periods collected by the laser range finder, left and right motor rotating speed data collected by the left and right rotary encoders and electromagnetic wave signal intensity data collected by the ground penetrating radar are obtained, whether an underwater cavity exists below the water rescue robot is determined according to the collected data, if the underwater cavity exists below the water rescue robot is determined, the water rescue robot is controlled to stop running, alarm information is output, the underwater deep hole is timely positioned, and the existing drainage pipeline is dredged to perform self-drainage, the dredging efficiency is improved, and the workload is reduced.
In a second aspect, the present application provides a method for detecting an underwater cavity, which is applied to the water rescue robot described in any one of the embodiments in the first aspect, and the method includes:
controlling the water rescue robot to run in water, and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot;
determining whether the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value or not according to the laser ranging data of different periods;
and if the water rescue robot is larger than a first preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
In the embodiment of the application, the overwater rescue robot is controlled to run in water, laser ranging data of different periods collected by a laser range finder of the overwater rescue robot are obtained, whether the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value or not is determined according to the laser ranging data of different periods, if the difference value is larger than the first preset threshold value, it is determined that an underwater cavity exists below the overwater rescue robot, the overwater rescue robot is controlled to stop running, alarm information is output, underwater deep holes are located in time, then the existing drainage pipeline is dredged to conduct self-drainage, the dredging efficiency is improved, and the workload is reduced.
Optionally, the method further includes:
if the rotating speed data is smaller than a first preset threshold value, acquiring left and right motor rotating speed data acquired by left and right rotary encoders of the water rescue robot and electromagnetic wave signal intensity data acquired by a ground penetrating radar of the water rescue robot;
establishing a fitting signal intensity function and an actual signal intensity function according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
determining whether a difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold;
and if the water rescue robot is larger than a second preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
In the embodiment of the application, because laser ranging is intuitive and has a small calculation amount, the laser range finder can only determine underground cavities with obvious differences, and part of underground cavities with hidden differences can be ignored, if the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is determined to be smaller than a first preset threshold value according to laser ranging data of different periods collected by the laser range finder, the rotating speed data of left and right motors collected by left and right rotary encoders of a water rescue robot and the electromagnetic wave signal intensity data collected by a ground penetrating radar of the water rescue robot are obtained, a fitting signal intensity function and an actual signal intensity function are established according to the rotating speed data of the left and right motors and the electromagnetic wave signal intensity data, and whether the difference value between the fitting signal intensity function of the current period and the actual signal intensity function is larger than a second preset threshold value is determined, if the underwater hole is larger than the second preset threshold value, the underwater hole is determined to exist below the water rescue robot, the water rescue robot is controlled to stop running, and alarm information is output, so that whether the concealed underground hole which is not determined by the laser range finder still exists is determined according to data collected by the ground penetrating radar, the underwater deep hole is timely positioned, the existing drainage pipeline is dredged to conduct self-drainage, the dredging efficiency is improved, and the workload is reduced.
Optionally, establishing a fitting signal intensity function according to the left and right motor rotation speed data and the electromagnetic wave signal intensity data, including:
establishing a fitting signal intensity function by adopting a first formula according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
the first formula specifically includes:
R(t)＝R0-10n1 log10 vt
wherein R (t) is the fitted signal strength function, R0Is the signal intensity n at a position 1 meter away from the ground penetrating radar of the water rescue robot1Is a propagation factor in water, and v is the rotating speed of a left motor and a right motor of the water rescue robot.
Optionally, if the number of underwater holes below the water rescue robot is greater than a second preset threshold, determining that an underwater hole exists below the water rescue robot, including:
if the difference value between the fitting signal intensity function and the actual signal intensity function of the current period is larger than a second preset threshold value, determining whether the difference value between the fitting signal intensity function and the actual signal intensity function of a plurality of continuous periods is larger than the second preset threshold value;
and if so, determining that an underwater cavity exists below the water rescue robot.
In a third aspect, an embodiment of the present application further provides a device for detecting an underwater cavity, which is applied to the water rescue robot described in any one of the embodiments of the first aspect, and the device includes:
the acquisition module is used for controlling the water rescue robot to run in water and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot;
the determining module is used for determining whether a difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value according to the laser ranging data of different periods;
and the first processing module is used for determining that an underwater cavity exists below the water rescue robot if the underwater cavity is larger than a first preset threshold value, controlling the water rescue robot to stop running and outputting alarm information.
Optionally, the apparatus further includes a second processing module, configured to:
if the rotating speed data is smaller than a first preset threshold value, acquiring left and right motor rotating speed data acquired by left and right rotary encoders of the water rescue robot and electromagnetic wave signal intensity data acquired by a ground penetrating radar of the water rescue robot;
establishing a fitting signal intensity function and an actual signal intensity function according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
determining whether a difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold;
and if the water rescue robot is larger than a second preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
Optionally, the second processing module is specifically configured to:
establishing a fitting signal intensity function by adopting a first formula according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
the first formula specifically includes:
R(t)＝R0-10n1 log10 vt
wherein R (t) is the fitted signal strength function, R0Is the signal intensity n at a position 1 meter away from the ground penetrating radar of the water rescue robot1Is a propagation factor in water, and v is the rotating speed of a left motor and a right motor of the water rescue robot.
Optionally, the second processing module is specifically configured to:
if the difference value between the fitting signal intensity function and the actual signal intensity function of the current period is larger than a second preset threshold value, determining whether the difference value between the fitting signal intensity function and the actual signal intensity function of a plurality of continuous periods is larger than the second preset threshold value;
and if so, determining that an underwater cavity exists below the water rescue robot.
In a fourth aspect, an embodiment of the present application further provides a system for detecting an underwater cavity, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the steps included in any one of the embodiments of the second aspect according to the obtained program instructions.
In a fifth aspect, the present application further provides a storage medium storing computer-executable instructions for causing a computer to perform the steps included in any one of the embodiments in the second aspect.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application.
Fig. 1 is a schematic structural diagram of a water recourse robot in an embodiment of the present application;
FIG. 2a is a schematic flow chart of a method for detecting an underwater cavity in an embodiment of the present application;
fig. 2b is a schematic diagram illustrating a principle that a rescue robot on water detects an underwater cavity in an embodiment of the present application;
FIG. 2c is a schematic diagram of a fitting signal strength function and an actual signal strength function in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of an apparatus for detecting an underwater cavity in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a system for detecting an underwater cavity in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described can be performed in an order different than here.
The terms "first" and "second" in the description and claims of the present application and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the term "comprises" and any variations thereof, which are intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, "at least one" may mean at least two, for example, two, three, or more, and the embodiments of the present application are not limited.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document generally indicates that the preceding and following related objects are in an "or" relationship unless otherwise specified.
At present, rescue equipment aiming at urban flood disasters generally takes an unmanned remote control ship and a drainage robot as main parts, and rescue contents mainly take personnel search and rescue, water absorption and drainage as main parts. The existing drainage rescue mainly conveys water to adjacent drainage pipelines instead of utilizing and repairing the existing drainage pipelines, and by means of other drainage pipelines, longer water hoses and large-scale supercharging equipment need to be laid, so that the dredging efficiency is lower, the workload is larger, and the drainage robot is large in size, so that a specific vehicle is required to be transported to the site, the drainage robot cannot adapt to all terrains, the drainage operation can be completed only by continuously working, and the drainage operation can not be completed after one time of dredging. It is thus clear that current drainage rescue can't in time fix a position the deep hole under water, and then can't dredge current drainage pipe and carry out self-drainage, has the mediation efficiency lower, the great scheduling problem of work load.
In view of this, the embodiment of the present application provides a method for detecting an underwater deep hole, which includes controlling a water rescue robot to travel in water, acquiring laser ranging data of different periods acquired by a laser range finder of the water rescue robot, determining whether a difference between a mean value of the laser ranging data of a first period set and a mean value of the laser ranging data of a second period set is greater than a first preset threshold according to the laser ranging data of different periods, determining that an underwater cavity exists below the water rescue robot if the difference is greater than the first preset threshold, controlling the water rescue robot to stop traveling, and outputting alarm information, so that the underwater deep hole is timely located, an existing drainage pipeline is dredged to perform self-drainage, dredging efficiency is improved, and workload is reduced.
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments of the specification, and it should be understood that the specific features of the embodiments and examples of the present application are simply descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features of the embodiments and examples of the present application may be combined with each other without conflict.
Fig. 1 shows a structure of a water rescue robot to which the method provided by the embodiment of the present application is applicable, although the method provided by the embodiment of the present application can be applied to various water rescue robots, it should be understood that the water rescue robot shown in fig. 1 is a simple illustration of a water rescue robot to which the method provided by the embodiment of the present application is applicable, and is not a limitation of a water rescue robot to which the method provided by the embodiment of the present application is applicable.
A in fig. 1 is an outline view of the water rescue robot, and as shown in a in fig. 1, the water rescue robot takes an unmanned remote control ship 1 as a carrier. B in fig. 1 is a cross-sectional view of the water rescue robot, and as shown in b in fig. 1, the unmanned remote control boat 1 comprises a handle 2, a main board 3, a driving module 4, a battery 5, a wireless communication module 6, a ground penetrating radar 7 and a laser range finder 8. Wherein, the handle 2 is arranged at the front part of the unmanned remote control ship 1 and is used for carrying the water rescue robot. The main board 3 is installed at the front of the unmanned remotely controlled vessel 1 for processing and transmitting control instructions. The driving module 4 is installed at the tail part of the unmanned remote control ship 1 and comprises at least two motors and at least two rotary encoders corresponding to the at least two motors, a propeller is externally connected to an output shaft of the motors and used for providing power for the unmanned remote control ship 1 to run in water, and the rotary encoders are used for measuring the rotating speeds of the corresponding motors. And a battery 5 is arranged at the rear side of the main board 3 and used for providing power for the water rescue robot. The wireless communication module 6 is arranged below the mainboard 3, is externally connected with a short antenna of the shell and is used for establishing wireless communication connection with the remote controller and receiving and transmitting a control instruction of the remote controller. The ground penetrating radar 7 is installed at the front part of the unmanned remote control ship 1 and is used for transmitting electromagnetic wave signals with specific frequency bands to detect the underwater topography of the current position of the unmanned remote control ship 1. The laser range finder 8 is installed at the front part of the unmanned remote control ship 1 and used for emitting laser to measure the water depth of the current position of the unmanned remote control ship 1. Exemplarily, c in fig. 1 is an outline view of the ground penetrating radar 7 and the laser range finder 8.
Referring to fig. 2a, the present embodiment provides a method for detecting an underwater cavity, which may be performed by the above-mentioned water rescue robot shown in fig. 1. The specific flow of the method is described below.
Step 201: and controlling the water rescue robot to run in water, and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot.
In the embodiment of the application, flooding refers to a phenomenon that a low-lying area is submerged and waterlogged due to heavy rain, heavy rain or continuous rainfall, and is one of the most main natural disasters in cities of China. As shown in fig. 2b, for the schematic diagram of the principle that the water rescue robot detects an underwater cavity provided by the embodiment of the present application, the water rescue robot is controlled to travel in a water accumulation area, and laser ranging data of different periods of the current position acquired by the laser range finder of the water rescue robot are acquired, where the period is a sampling period of the laser range finder, and the laser ranging data is a distance between a ship body and a water accumulation road surface when the water rescue robot is at the current position (for example, l shown in fig. 2 b)1)。
It should be noted that, in the embodiment of the present application, the laser distance meter may be a phase distance meter that detects a distance by detecting a phase difference generated when the emitted light and the reflected light propagate in a space, or may be a pulse distance meter that emits a pulse laser beam or a sequence of short pulse laser beams to a target during operation, receives the laser beam reflected by the target by a photoelectric element, and measures a time from the emission to the reception of the laser beam by a timer to calculate the distance from the distance meter to the target, which is not particularly limited in the embodiment of the present application.
Step 202: and determining whether the difference value between the mean value of the laser ranging data of the first periodic set and the mean value of the laser ranging data of the second periodic set is greater than a first preset threshold value according to the laser ranging data of different periods.
In the embodiment of the application, after the laser ranging data of different periods of the current position acquired by the laser range finder of the water rescue robot are acquired, whether the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value or not is determined according to the laser ranging data of different periods.
For example, 25 periods of laser ranging data are collected, the first 5 consecutive periods of laser ranging data are used as the laser ranging data of the first period set, the last 20 consecutive periods of laser ranging data are used as the laser ranging data of the second period set, and whether the difference value between the average value of the first 5 consecutive periods of laser ranging data and the average value of the last 20 consecutive periods of laser ranging data is greater than a first preset threshold value is determined, wherein the specific expression is as follows:
wherein, l (t)i) The laser range finder of the water rescue robot acquires laser range data of different periods of the current position, i represents the ith period, and delta1Representing a first preset threshold.
Step 203: and if the water rescue robot is larger than a first preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
In the embodiment of the application, when the underwater cavity is determined according to the laser ranging data of different periods of the current position acquired by the laser range finder of the water rescue robot, if the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is greater than a first preset threshold value, the underwater cavity is determined to exist below the current position of the water rescue robot, the water rescue robot is controlled to stop running, and alarm information is output.
It should be noted that, in the embodiment of the present application, since laser ranging is relatively intuitive and the calculation amount is relatively small, the laser ranging apparatus can only determine the underground cavities with relatively obvious differences, and some underground cavities that are relatively hidden may be ignored. When determining an underwater cavity according to laser ranging data of different periods of the current position acquired by a laser range finder of the water rescue robot, if a difference value between a mean value of the laser ranging data of the first period set and a mean value of the laser ranging data of the second period set is not greater than a first preset threshold value, left and right motor rotation speed data (shown as v shown in fig. 2 b) acquired by left and right rotary encoders of the water rescue robot need to be acquiredli、vri) And electromagnetic wave signal intensity data (R shown in figure 2 b) collected by a ground penetrating radar of the water rescue robot0、R1、R2) And further determining whether an underwater cavity ignored by a laser range finder of the water rescue robot exists according to the rotating speed data of the left and right motors and the electromagnetic wave signal intensity data.
Specifically, a fitting signal intensity function and an actual signal intensity function are established according to the rotating speed data of the left motor, the rotating speed data of the right motor and the electromagnetic wave signal intensity data, whether the difference value between the fitting signal intensity function and the actual signal intensity function of the current period is larger than a second preset threshold value or not is determined, and a specific expression is as follows:
wherein R (t) is fittingSignal strength function, R0The signal intensity n of the ground penetrating radar 1 meter away from the water rescue robot1V is the transmission factor in water, v is the rotating speed of the left motor and the right motor of the water rescue robot, F (t) is the function of the actual signal intensity, and delta2Is a second preset threshold.
Exemplarily, as shown in fig. 2c, a schematic diagram of a fitting signal intensity function and an actual signal intensity function provided for the embodiment of the present application is provided, where n is2A signal intensity function (fitting signal intensity function R (t)) can be fitted according to the rotating speed data of the left motor, the rotating speed data of the right motor and the electromagnetic wave signal intensity data, the actually measured signal intensity function (actual signal intensity function f (t)) can fall on an accessory of the fitted signal intensity function, and when the actually measured signal intensity has large deviation and the deviation value is larger than delta R, an underwater cavity can exist below the current position of the water rescue robot.
If the difference value between the fitting signal intensity function and the actual signal intensity function of the current period is larger than a second preset threshold value, whether the difference value between the fitting signal intensity function and the actual signal intensity function of a plurality of continuous periods is larger than the second preset threshold value or not is determined, if yes, an underwater cavity ignored by a laser range finder of the water rescue robot is determined to exist below the current position of the water rescue robot, the water rescue robot is controlled to stop running, and alarm information is output.
And if the difference value between the fitted signal intensity function and the actual signal intensity function in the current period is not larger than a second preset threshold value, determining that no underwater cavity which is ignored by a laser range finder of the water rescue robot exists below the current position of the water rescue robot, and controlling the water rescue robot to continue running.
According to the method, at least two motors and at least two rotary encoders corresponding to the at least two motors are arranged at the tail of an unmanned remote control ship, a ground penetrating radar and a laser range finder are arranged at the front of the unmanned remote control ship, so that when a water rescue robot taking the unmanned remote control ship as a carrier is controlled to run in water, laser range data of different periods collected by the laser range finder, left and right motor rotating speed data collected by the left and right rotary encoders and electromagnetic wave signal intensity data collected by the ground penetrating radar are obtained, whether an underwater cavity exists below the water rescue robot is determined according to the collected data, if the underwater cavity exists below the water rescue robot is determined, the water rescue robot is controlled to stop running, alarm information is output, the underwater deep cavity is timely positioned, and then the existing drainage pipeline is dredged to perform self-drainage, the dredging efficiency is improved, and the workload is reduced.
Based on the same inventive concept, the embodiment of the application provides the device for detecting the underwater cavity, and the device for detecting the underwater cavity can realize the corresponding function of the method for detecting the underwater cavity. The device for detecting the underwater cavity can be a hardware structure, a software module or a hardware structure and a software module. The device for detecting the underwater cavity can be realized by a chip system, and the chip system can be formed by a chip and can also comprise the chip and other discrete devices. Referring to fig. 3, the apparatus for detecting an underwater cavity includes an obtaining module 301, a determining module 302, and a first processing module 303, where:
the acquiring module 301 is used for controlling the water rescue robot to run in water and acquiring laser ranging data of different periods acquired by a laser range finder of the water rescue robot;
a determining module 302, configured to determine, according to the laser ranging data of different periods, whether a difference between a mean value of the laser ranging data of the first period set and a mean value of the laser ranging data of the second period set is greater than a first preset threshold;
the first processing module 303 is configured to determine that an underwater cavity exists below the water rescue robot if the underwater cavity is larger than a first preset threshold, control the water rescue robot to stop running, and output alarm information.
Optionally, the apparatus further includes a second processing module, configured to:
if the rotating speed data is smaller than a first preset threshold value, acquiring left and right motor rotating speed data acquired by left and right rotary encoders of the water rescue robot and electromagnetic wave signal intensity data acquired by a ground penetrating radar of the water rescue robot;
establishing a fitting signal intensity function and an actual signal intensity function according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
determining whether a difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold;
and if the water rescue robot is larger than a second preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
Optionally, the second processing module is specifically configured to:
establishing a fitting signal intensity function by adopting a first formula according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
the first formula specifically includes:
R(t)＝R0-10n1 log10 vt
wherein R (t) is the fitted signal strength function, R0Is the signal intensity n at a position 1 meter away from the ground penetrating radar of the water rescue robot1Is a propagation factor in water, and v is the rotating speed of a left motor and a right motor of the water rescue robot.
Optionally, the second processing module is specifically configured to:
if the difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold, determining whether the difference between the fitted signal strength function and the actual signal strength function of a plurality of consecutive periods is greater than the second preset threshold,
and if so, determining that an underwater cavity exists below the water rescue robot.
Based on the same inventive concept, the present application provides a system for detecting a subsea cavity, please refer to fig. 4, where the system for detecting a subsea cavity includes at least one processor 402 and a memory 401 connected to the at least one processor, a specific connection medium between the processor 402 and the memory 401 is not limited in this embodiment, fig. 4 illustrates that the processor 402 and the memory 401 are connected by a bus 400, the bus 400 is represented by a thick line in fig. 4, and a connection manner between other components is only schematically illustrated and not limited thereto. The bus 400 may be divided into an address bus, a data bus, a control bus, etc., and is shown with only one thick line in fig. 4 for ease of illustration, but does not represent only one bus or type of bus.
In the embodiment of the present application, the memory 401 stores instructions executable by the at least one processor 402, and the at least one processor 402 may execute the steps included in the foregoing method for detecting an underwater cavity by calling the instructions stored in the memory 401.
The processor 402 is a control center of the system for detecting an underwater cavity, and can connect various parts of the entire system for detecting an underwater cavity by using various interfaces and lines, and implement various functions of the system for detecting an underwater cavity by executing instructions stored in the memory 401. Optionally, the processor 402 may include one or more processing units, and the processor 402 may integrate an application processor and a modem processor, wherein the application processor mainly handles operating systems, user interfaces, application programs, and the like, and the modem processor mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 402. In some embodiments, processor 402 and memory 401 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 402 may be a general-purpose processor, such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method for detecting the underwater cavity disclosed by the embodiment of the application can be directly implemented by a hardware processor, or implemented by combining hardware and software modules in the processor.
By programming the processor 402, the code corresponding to the method for detecting an underwater cavity described in the foregoing embodiment may be solidified in the chip, so that the chip can execute the steps of the method for detecting an underwater cavity when running.
Based on the same inventive concept, embodiments of the present application provide a storage medium storing computer instructions, which when executed on a computer, cause the computer to perform the steps of the method for detecting an underwater cavity as described above.
In some possible embodiments, the various aspects of the method for detecting an underwater cavity provided by the present application may also be implemented in the form of a program product, which includes program code for causing a system for detecting an underwater cavity to perform the steps of the method for detecting an underwater cavity according to various exemplary embodiments of the present application described above in this specification when the program product is run on the system for detecting an underwater cavity.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A water rescue robot is characterized in that the water rescue robot takes an unmanned remote control ship as a carrier, and the unmanned remote control ship comprises:
the at least two motors are used for providing power for the unmanned remote control ship to run in water;
at least two rotary encoders corresponding to the at least two motors, the rotary encoders being configured to measure rotational speeds of the corresponding motors;
the ground penetrating radar is used for transmitting electromagnetic wave signals with a specific frequency band to detect the underwater topography of the current position of the unmanned remote control ship;
and the laser range finder is used for emitting laser to measure the water depth of the current position of the unmanned remote control ship.
2. The water rescue robot of claim 1, further comprising:
the at least two motors and the at least two rotary encoders corresponding to the at least two motors are arranged at the tail part of the unmanned remote control ship;
the ground penetrating radar and the laser range finder are arranged at the front part of the unmanned remote control ship.
3. A method for detecting underwater cavities, which is applied to the water rescue robot of any one of claims 1-2, and comprises the following steps:
controlling the water rescue robot to run in water, and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot;
determining whether the difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value or not according to the laser ranging data of different periods;
and if the water rescue robot is larger than a first preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
4. The method of claim 3, wherein the method further comprises:
if the rotating speed data is smaller than a first preset threshold value, acquiring left and right motor rotating speed data acquired by left and right rotary encoders of the water rescue robot and electromagnetic wave signal intensity data acquired by a ground penetrating radar of the water rescue robot;
establishing a fitting signal intensity function and an actual signal intensity function according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
determining whether a difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold;
and if the water rescue robot is larger than a second preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
5. The method of claim 4, wherein establishing a fitted signal strength function based on the left and right motor speed data and the electromagnetic wave signal strength data comprises:
establishing a fitting signal intensity function by adopting a first formula according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
the first formula specifically includes:
R(t)＝R0-10n1 log10 vt
wherein R (t) is the fitted signal strength function, R0Is the signal intensity n at a position 1 meter away from the ground penetrating radar of the water rescue robot1Is a propagation factor in water, and v is the rotating speed of a left motor and a right motor of the water rescue robot.
6. The method of claim 4 or 5, wherein if the underwater hole is larger than a second preset threshold, determining that an underwater hole exists below the water rescue robot comprises:
if the difference value between the fitting signal intensity function and the actual signal intensity function of the current period is larger than a second preset threshold value, determining whether the difference value between the fitting signal intensity function and the actual signal intensity function of a plurality of continuous periods is larger than the second preset threshold value;
and if so, determining that an underwater cavity exists below the water rescue robot.
7. An apparatus for detecting underwater cavities, which is applied to the water rescue robot according to any one of claims 1-2, the apparatus comprising:
the acquisition module is used for controlling the water rescue robot to run in water and acquiring laser ranging data of different periods, which are acquired by a laser range finder of the water rescue robot;
the determining module is used for determining whether a difference value between the mean value of the laser ranging data of the first period set and the mean value of the laser ranging data of the second period set is larger than a first preset threshold value according to the laser ranging data of different periods;
and the first processing module is used for determining that an underwater cavity exists below the water rescue robot if the underwater cavity is larger than a first preset threshold value, controlling the water rescue robot to stop running and outputting alarm information.
8. The apparatus of claim 7, wherein the apparatus further comprises a second processing module to:
if the rotating speed data is smaller than a first preset threshold value, acquiring left and right motor rotating speed data acquired by left and right rotary encoders of the water rescue robot and electromagnetic wave signal intensity data acquired by a ground penetrating radar of the water rescue robot;
establishing a fitting signal intensity function and an actual signal intensity function according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data;
determining whether a difference between the fitted signal strength function and the actual signal strength function of the current period is greater than a second preset threshold;
and if the water rescue robot is larger than a second preset threshold value, determining that an underwater cavity exists below the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
9. A system for detecting underwater cavities, comprising:
a memory for storing program instructions;
a processor for calling program instructions stored in said memory and for executing the steps comprised by the method of any one of claims 2 to 6 in accordance with the obtained program instructions.
10. A storage medium storing computer-executable instructions for causing a computer to perform the steps comprising the method of any one of claims 2-6.
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| CN202110133974.7A CN112946674A (en) | 2021-02-01 | 2021-02-01 | Method for detecting underwater deep hole and water rescue robot |
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