CN115599126A - Automatic collision-prevention wireless remote control unmanned submersible and automatic collision-prevention method - Google Patents
Automatic collision-prevention wireless remote control unmanned submersible and automatic collision-prevention method Download PDFInfo
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Abstract
The application relates to a wireless remote control unmanned submersible vehicle capable of automatically avoiding collision and an automatic collision avoiding method, wherein the method is applied to the wireless remote control unmanned submersible vehicle, the wireless remote control unmanned submersible vehicle comprises an image acquisition device arranged on the side surface and a light source corresponding to the image acquisition device, and the method comprises the following steps: in the water area environment with narrow two sides, acquiring an image which is acquired by an image acquisition device and is irradiated on an obstacle by a corresponding light source; processing the image to obtain the area of a light spot region in the image; and sending a collision avoidance motion instruction when the area of the light spot area is larger than a preset area threshold value, and indicating the wireless remote control unmanned submersible to move in the opposite direction of the side where the image acquisition device is located under the condition that the course is not changed. According to the scheme of the application, the wireless remote control unmanned submersible can judge whether the unmanned submersible is too close to the obstacle or not only through the size of the light spot of the light source on the obstacle, and high-precision images do not need to be identified, so that the purpose of avoiding the obstacle in narrow water areas on two sides is achieved.
Description
Technical Field
The application relates to the technical field of unmanned submersible, in particular to an automatic collision-prevention wireless remote control unmanned submersible and an automatic collision-prevention method.
Background
Currently, when a wireless remote-control unmanned submersible vehicle is used for operation in a port, a small space is often required to be passed through, such as between a ship body and a ship body or between the ship body and a bank, and collision between the wireless remote-control unmanned submersible vehicle and other obstacles needs to be prevented.
In the existing design, the safe passing of the wireless remote control unmanned submersible is ensured by a common GPS positioning mode. However, when there is an obstacle, the position accuracy provided by the GPS becomes poor, and in this case, in order to ensure the safe passing of the wireless remote control unmanned submersible, a manual control or automatic collision prevention method is generally required. The manner of artificial control is to send control signals to the unmanned vehicle through a communication network. However, in the middle of a ferrous ship, the coverage of the communication network signals may not be stable enough, so that manual control becomes difficult to realize or the effect is not ideal.
For automatic collision avoidance, in the prior art, the method generally adopts a high-precision image method, the method needs to perform image identification, has high requirements on the quality of the image, preprocesses the acquired image, and then uses a relatively complex algorithm or a deep learning method to perform target identification.
Disclosure of Invention
The inventor finds that the method for high-precision images is mainly used for scenes with high precision requirements and extensible computing performance. However, in the working scene of the unmanned submersible vehicle, particularly in a port, the water quality is dirty, the visibility is basically within 1 meter, the satisfactory image quality is difficult to obtain by adopting the high-precision image method, the computing capability of the unmanned submersible vehicle body is limited, and the requirement of the computing performance of the method is difficult to meet. In addition, a plurality of distance measuring equipment can be carried on the unmanned submersible to provide collision avoidance information, so that on one hand, the distance measuring device is high in price, needs more watertight connections, has higher requirements on cabin body interfaces of the unmanned submersible, is multiplied in volume and weight, and is higher in cost; on the other hand, the unmanned submersible vehicle has a limited carrying capacity, and if a plurality of distance measuring devices are carried, there is no space for carrying other devices, and the flexibility of the unmanned submersible vehicle is affected by too many devices to be carried.
In view of the above, the present application provides an automatic collision avoidance wireless remote-control unmanned underwater vehicle and an automatic collision avoidance method, the wireless remote-control unmanned underwater vehicle includes an image acquisition device and a light source installed correspondingly, the image acquisition device acquires the size of a light spot reflected by an obstacle from the light source, compares the size of the reflected light spot with a preset threshold value of the size of the light spot, determines whether the unmanned underwater vehicle is too close to the obstacle, and moves the unmanned underwater vehicle in a reverse direction under the condition of too close, thereby achieving automatic obstacle avoidance.
According to a first aspect of the present application, there is provided an automatic collision avoidance method applied to a wireless remote-controlled unmanned underwater vehicle including an image pickup device installed at a side surface and a light source corresponding to the image pickup device, the method including:
acquiring an image which is acquired by the image acquisition device and is irradiated on an obstacle by a corresponding light source in a water area environment with narrow two sides;
processing the image to obtain the area of a light spot region in the image; and
and sending a collision avoidance motion instruction when the area of the light spot area is larger than a preset area threshold value, and indicating the wireless remote control unmanned submersible to move towards the opposite direction of the side where the image acquisition device is located under the condition that the course is not changed.
According to a second aspect of the present application, there is provided an automatic collision avoidance wireless remote control unmanned submersible vehicle comprising an image acquisition device installed on a side surface, a light source corresponding to the image acquisition device, and a processing device, wherein:
the image acquisition device is used for acquiring an image of the obstacle irradiated by the corresponding light source;
the processing means is adapted to perform the method according to the first aspect.
According to a third aspect of the present application, there is provided an electronic device comprising:
a processor; and
a memory storing computer instructions which, when executed by the processor, cause the processor to perform the method of the first aspect.
According to a fourth aspect of the present application, there is provided a non-transitory computer storage medium storing a computer program which, when executed by a plurality of processors, causes the processors to perform the method according to the first aspect.
According to the automatic collision avoidance wireless remote control unmanned submersible and the automatic collision avoidance method, whether the unmanned submersible is too close to the obstacle or not is judged by comparing the size of the light spot reflected by the light source collected by the image collecting device on the obstacle with the preset threshold value of the size of the light spot, the unmanned submersible continues to run under the condition of safe distance, and the unmanned submersible is moved towards the direction far away from the obstacle under the condition of too close distance, so that automatic obstacle avoidance is realized, and the purpose of obstacle avoidance in narrow water areas on two sides is realized. Moreover, the wireless remote control unmanned submersible only needs to be provided with a light source corresponding to the image acquisition device, the realization cost is low, the size of a light spot only needs to be identified, a high-precision image does not need to be identified, the requirement on the calculation performance of the unmanned submersible is not high, and the requirement on the hardware configuration of the unmanned submersible is reduced.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
FIG. 1 is a schematic view of a wireless remote-controlled unmanned vehicle passing through a confined space according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a wireless remote-control unmanned submersible according to an embodiment of the present application.
Fig. 3 is a flowchart of an automatic collision avoidance method according to an embodiment of the present application.
Fig. 4 is a block diagram of an electronic device provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. 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.
According to the analysis of field industrial control, the movement course of the wireless remote control unmanned submersible is basically fixed when the wireless remote control unmanned submersible passes through a narrow space, and mainly the wireless remote control unmanned submersible is pushed by surge to move left and right, and collision can occur. The scheme of the application is based on an image acquisition device (such as a camera) and a corresponding light source (green light beam) which are arranged on the unmanned submersible vehicle, when no obstacle exists, bright spots cannot appear in an acquired image, and when the unmanned submersible vehicle approaches the obstacle, obvious bright spots appear. The method comprises the steps of acquiring acquired image data in real time, carrying out simple analysis on a characteristic value of an image, judging whether the current unmanned submersible is too close to an obstacle or not, and moving the unmanned submersible in the opposite direction of the obstacle to realize collision avoidance when the current unmanned submersible is too close.
FIG. 1 is a schematic view of a wireless remote-controlled unmanned vehicle passing through a confined space according to an embodiment of the present application. As shown in fig. 1, the wireless remote-controlled unmanned submersible is passing through a narrow space between a hull and a bank. The wireless remote control unmanned submersible is provided with an image acquisition device and a light source corresponding to the image acquisition device. The calibration is carried out before the unmanned submersible vehicle passes through a narrow space, specifically, the minimum safe distance between the unmanned submersible vehicle and an obstacle is set, the unmanned submersible vehicle is moved to a place away from the obstacle by the minimum safe distance, an image of the obstacle irradiated by a light source is obtained through an image acquisition device, and the unmanned submersible vehicle processes the image to obtain the area of the light source in a light spot area of the image as a preset area threshold value.
And when receiving an instruction of driving to the target position sent by the control center, the wireless remote control unmanned submersible starts to move according to a preset path. In the process of passing through a narrow space, the image acquisition device of the wireless remote control unmanned submersible acquires the image of the light source irradiation area in real time. When the light source irradiates an obstacle (such as a ship body or a bank), a light spot appears in a reflected image, the image is processed to obtain the area of a light spot area, and the area of the light spot area is compared with a preset area threshold value obtained previously. If the area of the light spot area is not larger than the preset area threshold value obtained before, the situation that collision danger does not exist temporarily is shown, and the unmanned submersible continues to sail according to the preset path; and if the area of the light spot region is larger than the previously obtained preset area threshold value, indicating that there is a risk of collision with an obstacle, the unmanned underwater vehicle moves in the opposite direction to the side where the image acquisition device is located.
According to one aspect of the present application, a wireless remote-controlled unmanned submersible is provided. Fig. 2 is a schematic structural diagram of a wireless remote-control unmanned submersible according to an embodiment of the present application. As shown in fig. 2, the wireless remote-controlled unmanned submersible comprises an image acquisition device, a light source, a processing device, a motion control device and a communication device. The image capture device may be a camera mounted on one or more sides of the unmanned vehicle. For example, when the unmanned underwater vehicle is in a rectangular parallelepiped shape, an image pickup device is mounted on one side surface or a plurality of side surfaces of the unmanned underwater vehicle. The light source is correspondingly installed on the unmanned submersible vehicle and emits light outwards, wherein the light source can be a linear light source and/or a point light source, and the color of the light source can be green or white, which is not limited in any way by the application. The processing device is used for processing information and giving instructions, and the motion control device is used for controlling the motion of the wireless remote control unmanned submersible, including the motion speed and direction.
The calibration is carried out before the unmanned underwater vehicle passes through the narrow space, specifically, the minimum safety distance between the unmanned underwater vehicle and the obstacle is set, the unmanned underwater vehicle is moved to a position which is away from the obstacle by the minimum safety distance, the image irradiated on the obstacle by the light source is obtained through the image acquisition device, the processing device processes the image to obtain the area of the light source in the light spot area of the image, the area is used as a preset area threshold value, and the preset area threshold value is stored.
In the process that the wireless remote control unmanned submersible vehicle travels to the destination, an image acquisition device of the wireless remote control unmanned submersible vehicle acquires an image of a light source irradiation area in real time. When an obstacle exists, the light source irradiates the obstacle (such as a ship body or a bank), the reflected image generates a light spot, the area of a light spot area is obtained by processing the image, and the area of the light spot area is compared with a preset area threshold value obtained previously. If the area of the light spot area is not larger than the preset area threshold value obtained before, the fact that collision danger does not exist temporarily is indicated, the processing device sends a command of continuing navigation to the motion control device, and the unmanned underwater vehicle is instructed to continue navigation of the preset path; and if the area of the facula area is larger than the preset area threshold value obtained before, the danger of collision with the obstacle is indicated, the processing device sends a collision avoidance motion instruction to the motion control device, and the unmanned submersible is instructed to move towards the direction opposite to the side of the image acquisition device under the condition of not changing the course.
In a particular embodiment, the processing of the image by the processing means comprises a thresholding operation or the like. The thresholding operation of the image means that if the value of a pixel is equal to or greater than a certain threshold (e.g., 255), the pixel is assigned a certain value, and otherwise, another value (e.g., 0) is assigned. The thresholded image contains only two values and is called a binary image. The thresholding operation comprises an automatic threshold, which means that the threshold of an image is automatically set according to a certain algorithm, and the common method is an OTSU automatic threshold. Then, pixels having the same pixel value and being adjacent are grouped into one region, connected domains are formed, and a number is assigned to each connected domain for distinguishing each other. Because a light source (such as a direct light beam) can form a sharp light spot in a collected image after approaching an obstacle, small interference spots caused by the reflection of light rays by a floater can be avoided in the process by calculating the pixel size of a connected domain corresponding to the light spot in the image. When the pixel size of the connected domain corresponding to the light spot in the image is larger than the pixel size of the preset area (obtained in the calibration process), the unmanned underwater vehicle can be considered to approach the obstacle.
In a specific embodiment, after the processing device sends the instruction of the collision avoidance motion, the processing device also obtains the image acquired by the image acquisition device in real time and calculates the area of the image light spot region, and sends an instruction of continuing the navigation when the area of the image light spot region is not larger than a preset area threshold value, so as to instruct the wireless remote control unmanned underwater vehicle to continue the navigation according to a preset path.
In one embodiment, the image acquisition devices and the corresponding light sources are mounted on multiple sides of the wireless remote-control unmanned submersible vehicle, for example, the image acquisition devices and the corresponding light sources are mounted on four sides of the rectangular wireless remote-control unmanned submersible vehicle. When the area of a light spot area of an image acquired by the image acquisition device on any side is larger than a preset area threshold value in the process of passing through a narrow space, the unmanned submersible moves towards the opposite direction of the side where the image acquisition device is located. And when the areas of the image spot areas, which are acquired by the image acquisition devices on the opposite sides and respectively correspond to the light sources and irradiate on the barrier, are larger than the preset area threshold value, the situation that the space where the unmanned submersible is located is too narrow at present and the two sides of the unmanned submersible are in collision danger is shown. In this case, the processing means may issue an alarm message, and the communication means transmits the alarm message to a control center on the coast, requests the operator to assist in the processing, such as requesting the operator to operate the unmanned vehicle through the area, or requests the operator to remove an obstacle, or the like.
According to the wireless remote control unmanned submersible capable of automatically avoiding collision, the size of a light spot reflected by a light source collected by an image collecting device on an obstacle is compared with a preset threshold value of the size of the light spot, whether the unmanned submersible is too close to the obstacle or not is judged, the unmanned submersible continues to run under the condition of safe distance, and the unmanned submersible is moved towards the direction far away from the obstacle under the condition of too close distance, so that the automatic obstacle avoidance is realized, and the purpose of avoiding obstacles in narrow water areas on two sides is realized. Moreover, the wireless remote control unmanned submersible only needs to be provided with a light source corresponding to the image acquisition device, the realization cost is low, the size of a light spot only needs to be identified, a high-precision image does not need to be identified, the requirement on the calculation performance of the unmanned submersible is not high, and the requirement on the hardware configuration of the unmanned submersible is reduced.
On the basis of fig. 2, according to another aspect of the present application, an automatic collision avoidance method is provided. Fig. 3 is a flowchart of an automatic collision avoidance method according to an embodiment of the present application. As shown in fig. 3, the method includes the following steps.
Step S301, acquiring a preset area threshold.
The wireless remote control unmanned submersible needs to be calibrated before passing through a narrow space. Specifically, a minimum safe distance between the unmanned underwater vehicle and the obstacle is set, the unmanned underwater vehicle is moved to a place away from the obstacle by the minimum safe distance, an image of the obstacle illuminated by the light source is obtained through the image acquisition device, the processing device processes the image to obtain the area of the light source in a light spot area of the image, the area is used as a preset area threshold value, and the preset area threshold value is stored.
Step S302, in the environment of the water area with narrow two sides, the image which is acquired by the image acquisition device and is irradiated on the obstacle by the corresponding light source is acquired.
Step S303, the image is processed to obtain the area of the light spot region in the image.
In one embodiment, the image acquisition device of the wireless remote control unmanned submersible vehicle acquires the image of the light source irradiation area in real time during the process that the wireless remote control unmanned submersible vehicle travels to the destination in the environment of the water areas with narrow sides. When an obstacle exists, the light source irradiates the obstacle, the reflected image can generate light spots, and the processing device processes the image to obtain the area of the light spot area.
And step S304, under the condition that the area of the light spot area is larger than a preset area threshold value, sending a collision avoidance movement instruction to instruct the wireless remote control unmanned submersible to move towards the opposite direction of the side where the image acquisition device is located under the condition that the course is not changed.
And S305, sending a command of continuing navigation to instruct the wireless remote control unmanned underwater vehicle to continue navigation according to a preset path under the condition that the area of the light spot area is not larger than a preset area threshold value.
In a specific embodiment, the processing means compares the area of the spot region with a previously obtained preset area threshold. If the area of the light spot area is not larger than the preset area threshold value obtained before, the fact that collision danger does not exist temporarily is indicated, the processing device sends a command of continuing navigation to the motion control device, and the unmanned underwater vehicle is instructed to continue navigation of the preset path; and if the area of the facula area is larger than the preset area threshold value obtained before, the danger of collision with the obstacle is indicated, the processing device sends a collision avoidance motion instruction to the motion control device, and the unmanned submersible is instructed to move towards the direction opposite to the side of the image acquisition device under the condition of not changing the course.
In a specific embodiment, after the processing device sends the instruction of the collision avoidance motion, the processing device also obtains the image acquired by the image acquisition device in real time and calculates the area of the image light spot region, and sends an instruction of continuing the navigation when the area of the image light spot region is not larger than a preset area threshold value, so as to instruct the wireless remote control unmanned underwater vehicle to continue the navigation according to a preset path.
And step S306, sending out alarm information under the condition that the areas of the image spot areas, which are acquired by the image acquisition devices on the opposite sides and respectively correspond to the light sources and irradiate on the barrier, are all larger than the preset area threshold value.
In one embodiment, the image acquisition devices and the corresponding light sources are mounted on multiple sides of the wireless remote-control unmanned submersible vehicle, for example, the image acquisition devices and the corresponding light sources are mounted on four sides of the rectangular wireless remote-control unmanned submersible vehicle. When the area of a light spot area of an image acquired by the image acquisition device on any side is larger than a preset area threshold value in the process of passing through a narrow space, the unmanned submersible moves towards the opposite direction of the side where the image acquisition device is located. And when the areas of the image spot areas which are acquired by the image acquisition devices on the opposite sides and respectively correspond to the light sources and irradiate on the barrier are larger than the preset area threshold, the situation that the space where the unmanned submersible is located is too narrow at present and the danger of collision exists on the two sides is shown. In this case, the processing means may issue an alarm message, and the communication means transmits the alarm message to a control center on the coast, requests the operator to assist in the processing, such as requesting the operator to operate the unmanned vehicle through the area, or requests the operator to remove an obstacle, or the like.
According to the automatic collision avoidance method, whether the unmanned submersible is too close to the obstacle or not is judged by comparing the size of the light spot reflected by the light source collected by the image collecting device on the obstacle with a preset threshold value of the size of the light spot, the unmanned submersible continues to run under the condition of safe distance, and the unmanned submersible is moved in the direction away from the obstacle under the condition of too close distance, so that automatic obstacle avoidance is realized, and the purpose of obstacle avoidance in narrow water areas on two sides is realized. Moreover, the wireless remote control unmanned submersible only needs to be provided with a light source corresponding to the image acquisition device, the realization cost is low, the size of a light spot only needs to be identified, a high-precision image does not need to be identified, the requirement on the calculation performance of the unmanned submersible is not high, and the requirement on the hardware configuration of the unmanned submersible is reduced.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Referring to fig. 4, fig. 4 provides an electronic device including a processor and a memory. The memory stores computer instructions which, when executed by the processor, cause the processor to execute the computer instructions to implement the method and refinement scheme as shown in figure 3.
It should be understood that the above-described device embodiments are merely exemplary, and that the devices disclosed herein may be implemented in other ways. For example, the division of the units/modules in the above embodiments is only one logical function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.
In addition, unless otherwise specified, each functional unit/module in each embodiment of the present invention may be integrated into one unit/module, each unit/module may exist alone physically, or two or more units/modules may be integrated together. The integrated units/modules may be implemented in the form of hardware or software program modules.
If the integrated unit/module is implemented in hardware, the hardware may be digital circuits, analog circuits, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The processor or chip may be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, ASIC, etc., unless otherwise specified. Unless otherwise specified, the on-chip cache, the off-chip Memory, and the Memory may be any suitable magnetic storage medium or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), dynamic Random Access Memory (DRAM), static Random Access Memory (SRAM), enhanced Dynamic Random Access Memory (EDRAM), high-Bandwidth Memory (High-Bandwidth Memory), hybrid Memory cubic HMC (Hybrid Memory Cube), and so on.
The integrated units/modules, if implemented in the form of software program modules and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Embodiments of the present application also provide a non-transitory computer storage medium storing a computer program, which when executed by a plurality of processors causes the processors to perform the method and refinement scheme as shown in fig. 3.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (11)
1. An automatic collision avoidance method applied to a wireless remote-control unmanned submersible vehicle, wherein the wireless remote-control unmanned submersible vehicle comprises an image acquisition device arranged on a side surface and a light source corresponding to the image acquisition device, and the method comprises the following steps:
acquiring an image which is acquired by the image acquisition device and is irradiated on an obstacle by a corresponding light source in a water area environment with narrow two sides;
processing the image to obtain the area of a light spot region in the image; and
and sending a collision avoidance motion instruction to instruct the wireless remote control unmanned submersible to move towards the opposite direction of the side where the image acquisition device is located under the condition that the course of the wireless remote control unmanned submersible is not changed under the condition that the area of the light spot area is larger than a preset area threshold value.
2. The method of claim 1, further comprising:
acquiring the preset area threshold, including:
and determining the area of a light spot area of an image acquired by the wireless remote control unmanned submersible at a set distance from an obstacle as a preset area threshold.
3. The method of claim 1, further comprising:
and sending a command of continuing navigation to instruct the wireless remote control unmanned underwater vehicle to continue navigation according to a preset path under the condition that the area of the light spot area is not larger than the preset area threshold value.
4. The method of claim 3, wherein said instructing to continue sailing if the area is not greater than the preset area threshold comprises:
and after the instruction of the collision avoidance movement is sent, acquiring the image acquired by the image acquisition device in real time, calculating the area of an image light spot region, and sending an instruction of continuing navigation under the condition that the area of the image light spot region is not larger than the preset area threshold value to instruct the wireless remote control unmanned underwater vehicle to continue navigation according to a preset path.
5. The method of claim 1, further comprising:
and sending alarm information under the condition that the areas of image spot areas, which are acquired by the image acquisition devices on the opposite sides and respectively correspond to the light sources and irradiate on the barrier, are all larger than the preset area threshold value.
6. The method of any one of claims 1 to 5, wherein the image acquisition device comprises a camera and the light source comprises a line light source and/or a point light source.
7. An automatic collision-prevention wireless remote control unmanned submersible comprises an image acquisition device arranged on the side surface, a light source corresponding to the image acquisition device and a processing device, wherein:
the image acquisition device is used for acquiring an image irradiated on the barrier by the corresponding light source;
the processing device is configured to perform the method of any one of claims 1 to 6.
8. The wireless remotely controlled unmanned submersible of claim 7, further comprising:
and the motion control device is used for responding to the instruction of collision avoidance motion sent by the processing device and controlling the wireless remote control unmanned underwater vehicle to move towards the direction opposite to the side where the image acquisition device is located, and is used for responding to the instruction of continuous navigation sent by the processing device and controlling the wireless remote control unmanned underwater vehicle to continue navigating according to a preset path.
9. The wireless remote-controlled unmanned submersible of claim 7 or 8, further comprising:
and the communication device is used for sending the alarm information sent by the processing device.
10. An electronic device, comprising:
a processor; and
a memory storing computer instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1-6.
11. A non-transitory computer storage medium storing a computer program that, when executed by a plurality of processors, causes the processors to perform the method of any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211609530.7A CN115599126A (en) | 2022-12-15 | 2022-12-15 | Automatic collision-prevention wireless remote control unmanned submersible and automatic collision-prevention method |
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| CN202211609530.7A CN115599126A (en) | 2022-12-15 | 2022-12-15 | Automatic collision-prevention wireless remote control unmanned submersible and automatic collision-prevention method |
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| CN115599126A true CN115599126A (en) | 2023-01-13 |
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