CN112946674B - 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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- CN112946674B CN112946674B CN202110133974.7A CN202110133974A CN112946674B CN 112946674 B CN112946674 B CN 112946674B CN 202110133974 A CN202110133974 A CN 202110133974A CN 112946674 B CN112946674 B CN 112946674B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000006870 function Effects 0.000 claims description 80
- 230000000149 penetrating effect Effects 0.000 claims description 25
- 238000012876 topography Methods 0.000 claims description 4
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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
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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 position the underwater deep hole in time, and further cannot dredge an existing drainage pipeline to perform self-drainage, and the like, and the method has lower dredging efficiency and larger workload, and comprises the following steps: 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; determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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; 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 an overwater rescue robot.
Background
The water robot can be divided into a water measuring robot, a water salvaging robot, a water cruising robot and a water rescue robot according to the function difference, wherein the water rescue 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 instrument and the like, and is mainly used for water emergency rescue in flood disasters and also can be used for security patrol of rivers and lakes.
At present, rescue equipment aiming at urban flood disasters is mainly unmanned remote control ships and drainage robots, and rescue content is mainly personnel search and rescue, water absorption and drainage. 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 belts and large-scale pressurizing equipment are required to be paved, so that the dredging efficiency is low, the operation amount is large, and due to the fact that a drainage robot body is large, a specific vehicle is required to be transported to a site, all terrain cannot be met, drainage operation can be completed only by continuous work of the drainage robot, and the drainage operation can be completed after the drainage robot is not dredged once. Therefore, the existing drainage rescue can not position the underwater deep hole in time, and further can not dredge the existing drainage pipeline to perform self-drainage, so that the problems of lower dredging efficiency, larger operation amount and the like exist.
Disclosure of Invention
The embodiment of the application provides a method for detecting an underwater deep hole and an overwater rescue robot, which are used for solving the technical problems that the conventional drainage rescue cannot position the underwater deep hole in time, and further cannot dredge the conventional drainage pipeline to perform self-drainage, and the dredging efficiency is low, the workload is large and the like.
In order to solve the above technical problems, an embodiment of the present application provides an on-water rescue robot, where the on-water rescue robot uses an unmanned remote control ship as a carrier, and the unmanned remote control ship includes:
At least two motors for providing power for the unmanned remote control boat to travel 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 of a specific frequency band to detect 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 at least two rotary encoders corresponding to the at least two motors are arranged at the tail 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.
According to 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 unmanned remote control ship is controlled to run in water, laser range finding data, left and right motor rotating speed data and electromagnetic wave signal intensity data, which are collected by the laser range finder and are collected by the left and right rotary encoders, are obtained, whether an underwater cavity exists below the unmanned remote control ship is determined according to the collected data, if the underwater cavity exists below the unmanned remote control ship, the unmanned remote control ship is controlled to stop running, alarm information is output, the underwater deep cavity is positioned in time, the existing drainage pipeline is dredged, the self drainage is carried out, the dredging efficiency is improved, and the operation amount is reduced.
In a second aspect, an embodiment of the present application further provides a method for detecting an underwater cavity, which is applied to the water rescue robot in any one of the embodiments of the first aspect, where the method includes:
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;
Determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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;
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.
According to the embodiment of the application, the water rescue robot is controlled to run in water, laser ranging data of different periods, collected by the laser ranging instrument of the water rescue robot, are obtained, whether the difference value between the average value of the laser ranging data of the first period set and the average value of the laser ranging data of the second period set is larger than a first preset threshold value is determined according to the laser ranging data of the different periods, if so, an underwater cavity is determined to exist below the water rescue robot, the water rescue robot is controlled to stop running, alarm information is output, and the purpose of timely positioning the underwater deep hole is achieved, so that the existing drainage pipeline is dredged for self drainage, the dredging efficiency is improved, and the work amount is reduced.
Optionally, the method further comprises:
If the rotation speed data of the left motor and the rotation speed data of the right motor are smaller than a first preset threshold value, acquiring the rotation speed data of the left motor and the rotation speed data of the right motor, which are acquired by left and right rotary encoders of the water rescue robot, and acquiring 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 rotating speed data of the left motor, the right motor 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;
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, as the laser ranging is more visual and the calculated amount is smaller, the laser ranging instrument can only determine the underground hole with more obvious difference, and the partially concealed underground hole can be ignored, if the difference between the average value of the laser ranging data collected by the laser ranging instrument and the average value of the laser ranging data collected by the second periodic set is smaller than the first preset threshold value according to the laser ranging data of different periods, the left and right motor rotating speed data collected by the left and right rotary encoders of the rescue robot on water and the electromagnetic wave signal intensity data collected by the ground penetrating radar of the rescue robot on water are obtained, a fitting signal intensity function and an actual signal intensity function are established according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data, whether the difference between the fitting signal intensity function of the current period and the actual signal intensity function is larger than the second preset threshold value is determined, if the difference between the fitting signal intensity function of the current period and the actual signal intensity function is larger than the second preset threshold value, the underwater hole exists below the rescue robot on water is determined, the rescue robot is controlled to stop running, and alarm information is output, so that the underground hole is not dredged through the determination of whether the collected data of the ground penetrating instrument is still needed, the underground hole is not dredged, and the underground hole is dredged is not determined, and the underground hole dredging operation is performed in time.
Optionally, establishing a fitting signal intensity function according to the rotation speed data of the left and right motors and the electromagnetic wave signal intensity data, including:
establishing a fitting signal intensity function by adopting a first formula according to the rotating speed data of the left motor, the right motor and the electromagnetic wave signal intensity data;
the first formula specifically comprises the following steps:
R(t)＝R0-10n1 log10 vt
Wherein R (t) is the fitted signal intensity function, R 0 is the signal intensity at the position 1m away from the ground penetrating radar of the water rescue robot, n 1 is the propagation factor in water, and v is the rotation speed of the left and right motors of the water rescue robot.
Optionally, if the number of the underwater holes is greater than a second preset threshold, determining that the underwater holes exist below the water rescue robot includes:
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;
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 rescue robot on water according to 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 acquired by the laser range finder of the water rescue robot;
The determining module is used for determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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 the first processing module is used for determining that an underwater cavity exists below the water rescue robot if the first processing module 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 rotation speed data of the left motor and the rotation speed data of the right motor are smaller than a first preset threshold value, acquiring the rotation speed data of the left motor and the rotation speed data of the right motor, which are acquired by left and right rotary encoders of the water rescue robot, and acquiring 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 rotating speed data of the left motor, the right motor 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;
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 rotating speed data of the left motor, the right motor and the electromagnetic wave signal intensity data;
the first formula specifically comprises the following steps:
R(t)＝R0-10n1 log10 vt
Wherein R (t) is the fitted signal intensity function, R 0 is the signal intensity at the position 1m away from the ground penetrating radar of the water rescue robot, n 1 is the propagation factor in water, and v is the rotation speed of the left and right motors 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;
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 a processor for invoking program instructions stored in the memory, the steps included in any one of the implementations of the second aspect being performed in accordance with the obtained program instructions.
In a fifth aspect, embodiments of the present application also provide a storage medium storing computer-executable instructions for causing a computer to perform steps comprised in any one of the embodiments of 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 that are used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application.
Fig. 1 is a schematic structural diagram of a water rescue robot in an embodiment of the application;
FIG. 2a is a flow chart of a method for detecting an underwater cavity according to an embodiment of the present application;
fig. 2b is a schematic diagram of a rescue robot on water detecting an underwater cavity according to an embodiment of the present application;
FIG. 2c is a diagram of a fitted signal strength function and an actual signal strength function according to an embodiment of the present application;
FIG. 3 is a schematic structural view of an apparatus for detecting underwater cavities according to an embodiment of the present application;
Fig. 4 is a schematic structural diagram of a system for detecting underwater cavities according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Embodiments of the application and features of the embodiments may be combined with one another arbitrarily without conflict. Also, although a logical order is depicted in the flowchart, in some cases the steps depicted or described may be performed in a different order than presented herein.
The terms first and second in the description and claims of the application and in the above-mentioned figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the term "include" and any variations thereof is 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 listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
In the embodiment of the present application, the "at least one" may mean at least two, for example, two, three or more, and the embodiment of the present application is not limited.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The character "/" herein generally indicates that the associated object is an "or" relationship unless otherwise specified.
At present, rescue equipment aiming at urban flood disasters is mainly unmanned remote control ships and drainage robots, and rescue content is mainly personnel search and rescue, water absorption and drainage. 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 belts and large-scale pressurizing equipment are required to be paved, so that the dredging efficiency is low, the operation amount is large, and due to the fact that a drainage robot body is large, a specific vehicle is required to be transported to a site, all terrain cannot be met, drainage operation can be completed only by continuous work of the drainage robot, and the drainage operation can be completed after the drainage robot is not dredged once. Therefore, the existing drainage rescue can not position the underwater deep hole in time, and further can not dredge the existing drainage pipeline to perform self-drainage, so that the problems of lower dredging efficiency, larger operation amount and the like exist.
In view of this, the embodiment of the application provides a method for detecting an underwater deep hole, which is characterized in that a water rescue robot is controlled to run in water to obtain laser ranging data of different periods collected by a laser range finder of the water rescue robot, whether the difference between the average value of the laser ranging data of a first period set and the average value of the laser ranging data of a second period set is larger than a first preset threshold value is determined according to the laser ranging data of the different periods, if so, an underwater cavity is determined to exist below the water rescue robot, the water rescue robot is controlled to stop running, alarm information is output, the water deep hole is positioned in time, the existing drainage pipeline is dredged to perform self drainage, dredging efficiency is improved, and the operation amount is reduced.
In order to better understand the above technical solutions, the following detailed description of the technical solutions of the present application is made by using the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are simple descriptions of the technical solutions of the present application, and not limitations of the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
Fig. 1 is a schematic diagram of a water rescue robot to which the method according to the embodiment of the present application is applicable, and of course, the method according to the embodiment of the present application may be applied to a plurality of water rescue robots, and it should be understood that the water rescue robot shown in fig. 1 is a simple description of a water rescue robot to which the method according to the embodiment of the present application is applicable, and is not a limitation of a water rescue robot to which the method according to the embodiment of the present application is applicable.
A in fig. 1 is an outline view of a 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 sectional view of the water rescue robot, and as shown in b in fig. 1, the unmanned remote control ship 1 includes 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 remote control ship 1 for processing and transmitting control instructions. The driving module 4 is installed at the tail 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, an output shaft of each motor is externally connected with a propeller and is used for providing power for the unmanned remote control ship 1 to travel in water, and the rotary encoders are used for measuring the rotating speeds of the corresponding motors. A battery 5 is installed at the rear side of the main board 3 for supplying power to the rescue robot on water. The wireless communication module 6 is arranged below the main board 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 control instructions of the remote controller. The ground penetrating radar 7 is arranged at the front part of the unmanned remote control ship 1 and is used for transmitting electromagnetic wave signals of specific frequency bands to detect 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 is used for emitting laser to measure the water depth of the current position of the unmanned remote control ship 1. Illustratively, c in fig. 1 is an outline view of the ground penetrating radar 7 and the laser range finder 8.
Referring to fig. 2a, an embodiment of the present application provides a method for detecting an underwater cavity, which may be performed by the above-mentioned 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 acquired by a laser range finder of the water rescue robot.
In the embodiment of the application, flood refers to the phenomenon that low-lying areas are submerged and waterlogged due to heavy rain, heavy rain or continuous rainfall, is one of the most important natural disasters in China, and when the low-lying areas of the city are submerged and waterlogged due to heavy rain, heavy rain or continuous rainfall, the water rescue robot shown in fig. 1 can be controlled to run in the waterlogged area to detect underwater holes of the waterlogged area, namely, the water drain crossing covered by the waterlogged area. As shown in fig. 2b, a schematic diagram of a water rescue robot detecting an underwater cavity according to an embodiment of the present application is provided, the water rescue robot is controlled to travel in a water accumulation area, and laser ranging data of different periods of a current position collected by a laser range finder of the water rescue robot is obtained, wherein the periods are sampling periods of the laser range finder, and the laser ranging data is a distance between a hull and a water accumulation pavement when the water rescue robot is at the current position (i 1 shown in fig. 2 b).
In the embodiment of the present application, the laser range finder may be a phase method range finder, which detects the distance by detecting the phase difference between the emitted light and the reflected light that occurs when the emitted light propagates in space, or may be a pulse method range finder, which emits one or a sequence of short pulse laser beams to the target during operation, receives the laser beams reflected by the target by the photoelectric element, and the timer measures the time from the emission to the reception of the laser beams, and calculates the distance from the range finder to the target.
Step 202: and determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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.
In the embodiment of the application, after laser ranging data of different periods of the current position collected by the laser range finder of the water rescue robot are obtained, whether the difference between the average value of the laser ranging data of the first period set and the average value of the laser ranging data of the second period set is larger than a first preset threshold value is determined according to the laser ranging data of the different periods.
For example, 25 periods of laser ranging data are collected, the first 5 continuous periods of laser ranging data are used as laser ranging data of a first period set, the last 20 continuous periods of laser ranging data are used as laser ranging data of a second period set, and whether the difference between the average value of the first 5 continuous periods of laser ranging data and the average value of the last 20 continuous periods of laser ranging data is larger than a first preset threshold is determined, wherein the specific expression is as follows:
Wherein l (t i) represents laser ranging data of different periods of the current position collected by the laser range finder of the water rescue robot, i represents an ith period, and delta 1 represents a first preset threshold.
Step 203: 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 determining the underwater cavity according to the laser ranging data of different periods of the current position collected by the laser ranging device of the water rescue robot, if the difference between the average value of the laser ranging data of the first period set and the average value of the laser ranging data of the second period set is greater than a first preset threshold value, determining that the underwater cavity exists below the current position of the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
In the embodiment of the application, as the laser ranging is more visual, the calculated amount is smaller, the laser range finder can only determine the underground holes with more obvious differences, and the underground holes with more concealed parts can be ignored. When determining an underwater cavity according to laser ranging data of different periods of the current position collected by a laser ranging device of the water rescue robot, if the difference between the average value of the laser ranging data of the first period set and the average value of the laser ranging data of the second period set is not greater than a first preset threshold value, acquiring left and right motor rotating speed data (v li、vri shown in fig. 2 b) collected by a left and right rotary encoder of the water rescue robot and electromagnetic wave signal intensity data (R 0、R1、R2 shown in fig. 2 b) collected by a ground penetrating radar of the water rescue robot, and further determining whether the underwater cavity ignored by the laser ranging device of the water rescue robot exists according to the left and right motor rotating speed data and the electromagnetic wave signal intensity data.
Specifically, according to the rotation speed data of the left motor, the right motor and the electromagnetic wave signal intensity data, a fitting signal intensity function and an actual signal intensity function are established, whether the difference between the fitting signal intensity function and the actual signal intensity function in the current period is larger than a second preset threshold value is determined, and the specific expression is as follows:
Wherein R (t) is a fitting signal intensity function, R 0 is the signal intensity at a position which is 1 meter away from a ground penetrating radar of the water rescue robot, n 1 is a propagation factor in water, v is the rotating speed of a left motor and a right motor of the water rescue robot, F (t) is an actual signal intensity function, and delta 2 is a second preset threshold.
As shown in fig. 2c, an exemplary schematic diagram of a fitting signal intensity function and an actual signal intensity function is provided in an embodiment of the present application, where n 2 is a propagation factor in a cavity, a signal intensity function (a fitting signal intensity function R (t)) may be fitted according to left and right motor rotation speed data and electromagnetic wave signal intensity data, and an actually measured signal intensity function (an actual signal intensity function f (t)) may fall on an attachment of the fitted signal intensity function, and when a larger deviation occurs in the actually measured signal intensity, and the deviation value is greater than Δr, an underwater cavity may exist below the current position of the rescue robot on water.
If the difference value between the fitted 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 fitted signal intensity function and the actual signal intensity function of a plurality of continuous periods is larger than the second preset threshold value, if so, determining that an underwater cavity ignored by a laser range finder of the water rescue robot exists below the current position of the water rescue robot, controlling the water rescue robot to stop running, and outputting alarm information.
If the difference value between the fitted signal intensity function and the actual signal intensity function in the current period is not greater than a second preset threshold value, determining that no underwater cavity ignored by the 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, the tail of the unmanned remote control ship is provided with at least two motors and at least two rotary encoders corresponding to the at least two motors, and the front of the unmanned remote control ship is provided with the ground penetrating radar and the laser range finder, so that when the unmanned remote control ship is controlled to run in water, laser range finding data, left and right motor rotating speed data and electromagnetic wave signal intensity data, acquired by the laser range finder, of different periods are acquired, the left and right motor rotating speed data and the ground penetrating radar acquired by the left and right rotary encoders are acquired, whether an underwater cavity exists below the unmanned remote control ship is determined according to the acquired data, if the underwater cavity exists below the unmanned remote control ship, the unmanned remote control ship is controlled to stop running, alarm information is output, the underwater deep cavity is positioned in time, the existing drainage pipeline is dredged, self-drainage is performed, the dredging efficiency is improved, and the work load is reduced.
Based on the same inventive concept, the embodiment of the application provides a device for detecting an underwater cavity, which can realize the functions corresponding to 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 plus a software module. The device for detecting the underwater cavity can be realized by a chip system, and the chip system can be composed of a chip or can contain the chip and other discrete devices. Referring to fig. 3, the device for detecting an underwater cavity includes an acquisition module 301, a determination module 302, and a first processing module 303, where:
The acquisition 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;
And the first processing module 303 is configured to determine that an underwater cavity exists below the water rescue robot if the first processing module is greater 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 rotation speed data of the left motor and the rotation speed data of the right motor are smaller than a first preset threshold value, acquiring the rotation speed data of the left motor and the rotation speed data of the right motor, which are acquired by left and right rotary encoders of the water rescue robot, and acquiring 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 rotating speed data of the left motor, the right motor 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;
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 rotating speed data of the left motor, the right motor and the electromagnetic wave signal intensity data;
the first formula specifically comprises the following steps:
R(t)＝R0-10n1 log10 vt
Wherein R (t) is the fitted signal intensity function, R 0 is the signal intensity at the position 1m away from the ground penetrating radar of the water rescue robot, n 1 is the propagation factor in water, and v is the rotation speed of the left and right motors 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 there are a plurality of consecutive periods of the difference between the fitted signal strength function and the actual signal strength function greater than a second preset threshold,
If so, determining that an underwater cavity exists below the water rescue robot.
Based on the same inventive concept, an embodiment of the present application provides a system for detecting an underwater cavity, referring to fig. 4, where the system for detecting an underwater cavity includes at least one processor 402 and a memory 401 connected to the at least one processor, the embodiment of the present application is not limited to a specific connection medium between the processor 402 and the memory 401, and fig. 4 is an example where the processor 402 and the memory 401 are connected by a bus 400, and the bus 400 is shown in fig. 4 by a bold line, and a connection manner between other components is only illustrative, but not limited thereto. The bus 400 may be divided into an address bus, a data bus, a control bus, etc., and is represented by only one thick line in fig. 4 for ease of illustration, but does not represent only one bus or one 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 perform the steps included in the method for detecting an underwater hole by calling the instructions stored in the memory 401.
The processor 402 is a control center of the system for detecting the underwater cavity, and various interfaces and lines can be used to connect various parts of the entire system for detecting the underwater cavity, and various functions of the system for detecting the underwater cavity can be realized by executing instructions stored in the memory 401. Alternatively, the processor 402 may include one or more processing units, and the processor 402 may integrate an application processor that primarily processes operating systems, user interfaces, application programs, and the like, with a modem processor that primarily processes 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, and in some embodiments they may be implemented separately on separate chips.
The memory 401, which is a type of nonvolatile computer-readable storage medium, may be used to store nonvolatile software programs, nonvolatile computer-executable programs, and modules. The Memory 401 may include at least one type of storage medium, and may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (Random Access Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM), magnetic Memory, magnetic disk, optical disk, and the like. Memory 401 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory 401 in embodiments of the present application may also be circuitry or any other device capable of implementing a memory function for storing program instructions and/or data.
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 device, discrete hardware components, and may implement or perform the methods, steps and logic blocks disclosed in embodiments of the application. The 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 embodied and executed by a hardware processor or can be executed by a combination of hardware and software modules in the processor.
The code corresponding to the method for detecting an underwater cavity described in the foregoing embodiment may be cured into the chip by programming the processor 402, so that the chip can execute the steps of the foregoing method for detecting an underwater cavity during operation, and how to program the processor 402 is a technology known to those skilled in the art will not be repeated here.
Based on the same inventive concept, an embodiment of the present application provides a storage medium storing computer instructions that, when run on a computer, cause the computer to perform the steps of a method of detecting an underwater cavity as described above.
In some possible embodiments, aspects of the method for detecting an underwater hole provided by the present application may also be implemented in the form of a program product comprising program code for causing a system for detecting an underwater hole to perform the steps in the method for detecting an underwater hole according to the various exemplary embodiments of the present application as described above in the present specification, when the program product is run on the system for detecting an underwater hole.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. The method for detecting the underwater cavity is characterized by being applied to an overwater rescue robot, wherein the overwater rescue robot takes an unmanned remote control ship as a carrier, and the unmanned remote control ship comprises the following components: at least two motors for providing power for the unmanned remote control boat to travel 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 of a specific frequency band to detect underwater topography of the current position of the unmanned remote control ship; the laser range finder is used for emitting laser to measure the water depth of the current position of the unmanned remote control ship, 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, and the method comprises the following steps:
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;
Determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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;
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;
If the rotation speed data of the left motor and the rotation speed data of the right motor are smaller than a first preset threshold value, acquiring the rotation speed data of the left motor and the rotation speed data of the right motor, which are acquired by left and right rotary encoders of the water rescue robot, and acquiring 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 rotating speed data of the left motor, the right motor 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; 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.
2. The method of claim 1, wherein establishing a fitted signal strength function from 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 rotating speed data of the left motor, the right motor and the electromagnetic wave signal intensity data;
the first formula specifically comprises the following steps:
R(t)＝R0-10n1 log10 vt
Wherein R (t) is the fitted signal intensity function, R 0 is the signal intensity at the position 1m away from the ground penetrating radar of the water rescue robot, n 1 is the propagation factor in water, and v is the rotation speed of the left and right motors of the water rescue robot.
3. The method according to claim 1 or 2, wherein determining that an underwater void exists below the water rescue robot if the second preset threshold is greater 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;
if so, determining that an underwater cavity exists below the water rescue robot.
4. The utility model provides a survey device in cavity under water, its characterized in that is applied to rescue robot on water, rescue robot on water uses unmanned remote control ship as the carrier, unmanned remote control ship includes: at least two motors for providing power for the unmanned remote control boat to travel 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 of a specific frequency band to detect underwater topography of the current position of the unmanned remote control ship; the laser range finder is used for emitting laser to measure the water depth of the current position of the unmanned remote control ship, at least two motors and at least two rotary encoders corresponding to the at least two motors are installed at the tail of the unmanned remote control ship, the ground penetrating radar and the laser range finder are installed at the front of the unmanned remote control ship, and the device comprises:
the acquisition module is used for controlling the water rescue robot to run in water and acquiring laser ranging data of different periods acquired by the laser range finder of the water rescue robot;
The determining module is used for determining whether the difference value between the average value of the laser ranging data of the first period set and the average 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;
the first processing module is used for determining that an underwater cavity exists below the water rescue robot if the first processing module is larger than a first preset threshold value, controlling the water rescue robot to stop running, and outputting alarm information;
The second processing module is used for acquiring left and right motor rotation 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 if the second processing module is smaller than a first preset threshold; establishing a fitting signal intensity function and an actual signal intensity function according to the rotating speed data of the left motor, the right motor 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; 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. A system for detecting an underwater cavity, comprising:
A memory for storing program instructions;
A processor for invoking program instructions stored in said memory and for performing the steps comprised in the method according to any of claims 1-3 in accordance with the obtained program instructions.
6. A storage medium storing computer-executable instructions for causing a computer to perform the steps comprised by the method of any one of claims 1-3.
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