CN114200458A - Underwater buried target exploration method based on autonomous underwater robot - Google Patents
Underwater buried target exploration method based on autonomous underwater robot Download PDFInfo
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Abstract
The invention belongs to the field of underwater searching, in particular to an underwater buried target exploration method based on an autonomous underwater robot, which is characterized in that a high-frequency synthetic aperture sonar and a low-frequency synthetic aperture sonar are additionally arranged on the autonomous underwater robot, and whether an underwater target is buried or not can be judged through the imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar; the high-frequency synthetic aperture sonar has higher imaging resolution, the low-frequency synthetic aperture sonar can realize the detection imaging of buried targets within 3 meters, and the detection and identification of the buried targets can be realized through the combined operation of the two sonars.
Description
Technical Field
The invention relates to the technical field of underwater searching and exploring, in particular to an underwater buried target exploring method based on an autonomous underwater robot.
Background
In the development of marine oil and gas and offshore wind power resources, the most common and effective oil and gas transportation and power transportation method is to use submarine pipelines for transportation, so that with the continuous development of marine oil and gas resources and offshore wind power, the number of submarine pipelines laid in the sea area is more and more, the density is continuously increased, and the types are more and more complex. The submarine pipelines work in a complex marine environment for a long time, the situations of suspension, plane displacement, pipe body damage and the like are very different from the original design state, but the submarine pipelines are not accurately detected and checked, so that a lot of accident potential exists, and the submarine pipelines pose great threats to the environment and production. Therefore, accurately ascertaining the state and position of the submarine pipeline and evaluating the safety risk thereof are very important for preventing and eliminating the potential safety hazard. In recent years, offshore wind power, offshore oil and a plurality of maritime industry fields are developed, so that underwater pipelines are more and more, the pipelines need to be covered by silt after being laid, marine organism corrosion or ship anchor damage is avoided, and certain difficulties are caused in detection, operation and maintenance of the targets.
At present, many methods for detecting submarine pipelines at home and abroad are available, and an artificial diving model, an ROV technology, a depth measuring technology (including multi-beam depth measurement), a side scan sonar, an ocean magnetometer, a shallow profiler and the like are generally adopted. Most of the methods and technologies have good detection effect on pipelines exposed out of the sea bottom, the detection means of buried submarine pipelines is relatively single and not systematic, and the accurate detection of the buried depth and the state of the buried submarine pipelines is still a worldwide problem.
Patent document 201810708691.9 discloses an under-view three-dimensional and under-view multi-beam integrated underwater panoramic three-dimensional imaging sonar, which comprises an under-view multi-beam sonar, an under-view three-dimensional sonar, an underwater control module and a towed body frame; the towed body frame is an integral flat framework, the bottom of the towed body frame is provided with an downward-looking three-dimensional sonar receiving array, and an upward-looking multi-beam sonar transmitter and an downward-looking multi-beam sonar receiver are arranged in front of and behind the towed body frame; an under-view multi-beam sonar emission array and an under-view multi-beam sonar receiving array are arranged in the middle position in front of the towed body frame; the rear part of the towed body frame is provided with a downward-looking three-dimensional sonar emission array, an underwater control module, a downward-looking three-dimensional sonar emitter and a downward-looking three-dimensional sonar receiver; a transmitting and receiving electronic cabin is also arranged in the towed body frame; the invention integrates the downward-looking multi-beam sonar and the downward-looking three-dimensional sonar, so that buried objects are detected in a panoramic three-dimensional mode, and the seabed three-dimensional imaging and the seabed terrain imaging are carried out in real time, thereby improving the equipment exploration capacity and the detection efficiency; but its detection efficiency is low and its running cost is expensive.
The detection of the buried pipeline is urgent, but the existing means is a detection method using a ship as a basic supporting platform, so that the detection efficiency is low, the operation cost is high, and the economic burden of related companies is continuously increased.
Disclosure of Invention
The invention provides an underwater buried target exploration method based on an autonomous underwater robot, which solves the problem that the existing detection method for buried pipelines is urgent, but the existing means is a detection method taking a ship as a basic supporting platform, so that the detection efficiency is low, the operation cost is high, and the economic burden of related companies is continuously increased.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater buried target exploration method based on an autonomous underwater robot comprises the following steps:
s1: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: the sonar synchronizer is used for enabling the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously without interference;
s3: the buried target and the non-buried target can be distinguished by imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same region, so that the buried target of the autonomous underwater robot is detected.
In some embodiments, in S1, the high-frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110KHz, having an advantage that a lateral resolution is independent of an operating frequency and a distance; the resolution is 1-2 orders of magnitude higher than that of the conventional side-scan sonar.
In some embodiments, in S1, the low-frequency synthetic aperture sonar is a synthetic aperture image sonar with a center frequency of 12KHz, and has the same advantage that the lateral resolution is independent of the operating frequency and the distance, but due to the low frequency, the low-frequency synthetic aperture sonar has a certain penetrability to soft mud within 3 meters, and can realize the detection of the target buried in the soft mud within 3 meters.
In some embodiments, in S2, the sonar synchronizer is used for acoustic synchronization of the acoustic devices carried by the high-frequency synthetic aperture detection system, the low-frequency synthetic aperture detection system and the cableless remote-control submersible, so as to avoid mutual interference during operation of the sonars, and meanwhile, the sonar synchronizer has a synchronization signal adjusting function, so that the autonomous underwater robot can realize detection at different speeds.
In some embodiments, in S3, the buried target and the non-buried target are distinguished: the autonomous underwater robot carries the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously, and can detect the same seabed area to form a diagram; if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high-frequency synthetic aperture sonar cannot detect and display the buried target, and the low-frequency synthetic aperture sonar can image the target; by the above-described comparison method, it can be determined whether the object is buried.
In some embodiments, at S1, the autonomous underwater vehicle is provided with a low frequency synthetic aperture controller, a high frequency synthetic aperture controller, a diving instrument control pod, and a high and low frequency synthetic aperture sonar installation.
In some embodiments, the low frequency synthetic aperture controller and the high frequency synthetic aperture controller are connected to a low frequency synthetic aperture sonar and a high frequency synthetic aperture sonar, respectively, both mounted at the high and low frequency synthetic aperture sonar mounting locations.
In some embodiments, the submersible control pod is connected to the low frequency synthetic aperture controller, the high frequency synthetic aperture controller, and the sonar synchronizer, respectively.
In some embodiments, the submersible control pod sends a synchronization control signal to the sonar synchronizer, which sends a synchronization signal to the low frequency synthetic aperture controller and the high frequency synthetic aperture controller, which control the operation of the low frequency synthetic aperture sonar and the high frequency synthetic aperture sonar, respectively.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a buried target exploration method based on an autonomous underwater robot in the field of underwater search, in particular to a method for additionally arranging a high-frequency synthetic aperture sonar and a low-frequency synthetic aperture sonar on the autonomous underwater robot, using a sonar synchronizer to enable the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously without interference, and judging whether an underwater target is buried or not through the imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar on the same target. The cable-free underwater robot has the advantages of no limitation of a moving range by cables, good concealment and the like, so that the autonomous underwater robot is widely applied; the invention utilizes the autonomous underwater robot to carry high-frequency and low-frequency synthetic aperture sonar, so that the autonomous underwater robot has buried target detection capability, has important significance for the application expansion of the underwater robot, and can be used in the fields of detection and identification of underwater targets, seabed measurement, underwater archaeology, underwater lost object searching, seabed surveying and mapping and the like.
Drawings
FIG. 1 is a three-dimensional diagram of a system for carrying high and low frequency synthetic aperture sonar of the cableless remote-controlled underwater robot of the present invention;
FIG. 2 is a schematic block diagram of the system of the invention for carrying high and low frequency synthetic aperture sonar;
FIG. 3 is a comparative diagram of the analysis of pipeline targets according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Example one
Referring to fig. 1-3, an underwater buried object exploration method based on an autonomous underwater robot includes the following steps:
s1: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: the sonar synchronizer is used for enabling the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously without interference;
s3: the buried target and the non-buried target can be distinguished by imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same region, so that the buried target of the autonomous underwater robot is detected.
In this embodiment, in S1, the high-frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110KHz, and has an advantage that a lateral resolution is independent of a working frequency and a distance; the resolution is 1-2 orders of magnitude higher than that of the conventional side-scan sonar.
In this embodiment, in S1, the low-frequency synthetic aperture sonar is a synthetic aperture image sonar whose center frequency is 12KHz, and has the same advantage that the lateral resolution is irrelevant to the operating frequency and the distance, but because the frequency is lower, has a certain penetrability to soft mud within 3 meters, and can realize the target detection of the soft mud buried within 3 meters.
In this embodiment, in S2, the sonar synchronizer is used for acoustic synchronization of the high-frequency synthetic aperture detection system, the low-frequency synthetic aperture detection system, and the acoustic device carried by the cableless remote-control submersible, so as to avoid mutual interference of the sonars during operation, and meanwhile, the sonar synchronizer has a function of adjusting a synchronization signal, so that the autonomous underwater robot can perform detection at different speeds.
In this embodiment, in S3, the buried object and the non-buried object are distinguished: the autonomous underwater robot carries the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously, and can detect the same seabed area to form a diagram; if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high-frequency synthetic aperture sonar cannot detect and display the buried target, and the low-frequency synthetic aperture sonar can image the target; by the above-described comparison method, it can be determined whether the object is buried.
In this embodiment, in S1, the autonomous underwater vehicle is provided with a low-frequency synthetic aperture controller, a high-frequency synthetic aperture controller, a submersible control cabin, and a high-frequency and low-frequency synthetic aperture sonar installation site.
In this embodiment, the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller are connected to the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar, respectively, and the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are both installed at the high-frequency and low-frequency synthetic aperture sonar installation locations.
In this embodiment, the submersible control room is connected to the low-frequency synthetic aperture controller, the high-frequency synthetic aperture controller, and the sonar synchronizer, respectively.
In this embodiment, the submersible control module sends a synchronization control signal to the sonar synchronizer, the sonar synchronizer sends a synchronization signal to the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller, and the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively control the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar to operate.
Referring to fig. 1-3, the detailed steps are:
prefabricating a detection mission by the cableless remote control underwater robot, and hoisting the robot into water;
the cableless remote control underwater robot drives into a specified detection area according to a preset mission, and the acoustic signal synchronizer and the high-frequency and low-frequency synthetic aperture sonar start to work;
the acoustic signal synchronizer automatically judges the frequency of a synchronous signal according to the navigational speed of the cable-free remote control underwater machine and transmits the synchronous signal to the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar;
the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar work, due to the action of the acoustic signal synchronizer, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar simultaneously transmit detection acoustic signals, and the fact that sonar transmission signals are not interfered when the signals are received can be guaranteed, so that the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar can simultaneously work, and detection of the same area is completed;
the cableless remote control underwater robot completes the detection task according to the predetermined mission and recovers the task;
downloading detection data, analyzing and comparing the detection data, and analyzing and comparing high-frequency and low-frequency synthetic aperture sonar image data in the same area during analysis;
if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high frequency synthetic aperture sonar is unable to detect and display the buried target, while the low frequency synthetic aperture sonar can image the target. By the above-described comparison method, it can be determined whether the object is buried.
Example two
Referring to fig. 1-3, an underwater buried object exploration method based on an autonomous underwater robot includes the following steps:
s1: carrying high-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: operating the high-frequency synthetic aperture sonar;
s3: the target detection of the autonomous underwater robot is realized by utilizing the characteristic that the high-frequency synthetic aperture sonar has higher imaging resolution.
In this embodiment, in S1, the high-frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110KHz, and has an advantage that a lateral resolution is independent of a working frequency and a distance; the resolution is 1-2 orders of magnitude higher than that of the conventional side-scan sonar.
In this embodiment, in S1, the autonomous underwater vehicle is provided with a high-frequency synthetic aperture controller, a submersible control cabin, and a high-frequency synthetic aperture sonar installation site.
In this embodiment, the high-frequency synthetic aperture controller is connected to the high-frequency synthetic aperture sonar, and the high-frequency synthetic aperture sonar is installed at the high-frequency synthetic aperture sonar installation location.
In this embodiment, the submersible control room is connected to the high-frequency synthetic aperture controller.
In this embodiment, the high-frequency synthetic aperture controller controls the operation of the high-frequency synthetic aperture sonar.
Referring to fig. 1-3, the detailed steps are:
prefabricating a detection mission by the cableless remote control underwater robot, and hoisting the robot into water;
the cableless remote control underwater robot drives into a specified detection area according to a prefabricated mission, and the high-frequency synthetic aperture sonar starts to work;
the high-frequency synthetic aperture sonar works, and the high-frequency synthetic aperture sonar transmits a detection sound signal, so that no sonar transmission signal interference exists during signal receiving;
the cableless remote control underwater robot completes the detection task according to the predetermined mission and recovers the task; and downloading the detection data and analyzing the detection data.
EXAMPLE III
Referring to fig. 1-3, an underwater buried object exploration method based on an autonomous underwater robot includes the following steps:
s1: carrying a low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: low-frequency synthetic aperture sonar operation;
s3: the characteristic that the detection of buried targets within 3 meters can be realized by using the frequency synthetic aperture sonar is utilized, and the target detection of the autonomous underwater robot is realized.
In this embodiment, in S1, the low-frequency synthetic aperture sonar is a synthetic aperture image sonar whose center frequency is 12KHz, and has the same advantage that the lateral resolution is irrelevant to the operating frequency and the distance, but because the frequency is lower, has a certain penetrability to soft mud within 3 meters, and can realize the target detection of the soft mud buried within 3 meters.
In this embodiment, in S1, the autonomous underwater vehicle is provided with a low-frequency synthetic aperture controller, a submersible control cabin, and a low-frequency synthetic aperture sonar installation site.
In this embodiment, the low-frequency synthetic aperture controller is connected to the low-frequency synthetic aperture sonar, and the low-frequency synthetic aperture sonar is installed at the low-frequency synthetic aperture sonar installation location.
In this embodiment, the submersible control pod is connected to a low frequency synthetic aperture controller.
In this embodiment, the low-frequency synthetic aperture controller controls the operation of the low-frequency synthetic aperture sonar.
Referring to fig. 1-3, the detailed steps are:
prefabricating a detection mission by the cableless remote control underwater robot, and hoisting the robot into water;
the cableless remote control underwater robot drives into a specified detection area according to a prefabricated mission, and the low-frequency synthetic aperture sonar starts to work;
the low-frequency synthetic aperture sonar works, and the low-frequency synthetic aperture sonar transmits a detection sound signal, so that no sonar transmission signal interference exists during signal receiving;
the cableless remote control underwater robot completes the detection task according to the predetermined mission and recovers the task; and downloading the detection data and analyzing the detection data.
Example four
Referring to fig. 1-3, an underwater buried object exploration method based on an autonomous underwater robot includes the following steps:
s1: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: enabling the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously;
s3: the buried target and the non-buried target can be distinguished by imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same region, so that the buried target of the autonomous underwater robot is detected.
In this embodiment, in S1, the high-frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110KHz, and has an advantage that a lateral resolution is independent of a working frequency and a distance; the resolution is 1-2 orders of magnitude higher than that of the conventional side-scan sonar.
In this embodiment, in S1, the low-frequency synthetic aperture sonar is a synthetic aperture image sonar whose center frequency is 12KHz, and has the same advantage that the lateral resolution is irrelevant to the operating frequency and the distance, but because the frequency is lower, has a certain penetrability to soft mud within 3 meters, and can realize the target detection of the soft mud buried within 3 meters.
In this embodiment, in S3, the buried object and the non-buried object are distinguished: the autonomous underwater robot carries the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously, and can detect the same seabed area to form a diagram; if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high-frequency synthetic aperture sonar cannot detect and display the buried target, and the low-frequency synthetic aperture sonar can image the target; by the above-described comparison method, it can be determined whether the object is buried.
In this embodiment, in S1, the autonomous underwater vehicle is provided with a low-frequency synthetic aperture controller, a high-frequency synthetic aperture controller, a submersible control cabin, and a high-frequency and low-frequency synthetic aperture sonar installation site.
In this embodiment, the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller are connected to the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar, respectively, and the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are both installed at the high-frequency and low-frequency synthetic aperture sonar installation locations.
In this embodiment, the submersible control room is connected to the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller, respectively.
In this embodiment, the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively control the operation of the low-frequency synthetic aperture sonar and the operation of the high-frequency synthetic aperture sonar.
Referring to fig. 1-3, the detailed steps are:
prefabricating a detection mission by the cableless remote control underwater robot, and hoisting the robot into water;
the cableless remote control underwater robot drives into a specified detection area according to a prefabricated mission, and the high-frequency and low-frequency synthetic aperture sonar starts to work;
the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar work, simultaneously transmit detection sound signals and complete detection of the same area;
the cableless remote control underwater robot completes the detection task according to the predetermined mission and recovers the task;
downloading detection data, analyzing and comparing the detection data, and analyzing and comparing high-frequency and low-frequency synthetic aperture sonar image data in the same area during analysis;
if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high frequency synthetic aperture sonar is unable to detect and display the buried target, while the low frequency synthetic aperture sonar can image the target. By the above-described comparison method, it can be determined whether the object is buried.
EXAMPLE five
Referring to fig. 1-3, an underwater buried object exploration method based on an autonomous underwater robot includes the following steps:
s1: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: the sonar synchronizer is used for enabling the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously without interference;
s3: the buried target and the non-buried target can be distinguished by imaging contrast analysis of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same region, so that the buried target of the autonomous underwater robot is detected.
In this embodiment, in S1, the high-frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110KHz, and has an advantage that a lateral resolution is independent of a working frequency and a distance; the resolution is 1-2 orders of magnitude higher than that of the conventional side-scan sonar.
In this embodiment, in S1, the low-frequency synthetic aperture sonar is a synthetic aperture image sonar whose center frequency is 12KHz, and has the same advantage that the lateral resolution is irrelevant to the operating frequency and the distance, but because the frequency is lower, has a certain penetrability to soft mud within 3 meters, and can realize the target detection of the soft mud buried within 3 meters.
In this embodiment, in S2, the sonar synchronizer is used for acoustic synchronization of the high-frequency synthetic aperture detection system, the low-frequency synthetic aperture detection system, and the acoustic device carried by the cableless remote-control submersible, so as to avoid mutual interference of the sonars during operation, and meanwhile, the sonar synchronizer has a function of adjusting a synchronization signal, so that the autonomous underwater robot can perform detection at different speeds.
In this embodiment, in S3, the buried object and the non-buried object are distinguished: the autonomous underwater robot carries the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously, and can detect the same seabed area to form a diagram; if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high-frequency synthetic aperture sonar cannot detect and display the buried target, and the low-frequency synthetic aperture sonar can image the target; by the above-described comparison method, it can be determined whether the object is buried.
In this embodiment, in S1, the autonomous underwater vehicle is provided with a low-frequency synthetic aperture controller, a high-frequency synthetic aperture controller, a submersible control cabin, and a high-frequency and low-frequency synthetic aperture sonar installation site.
In this embodiment, the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller are connected to the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar, respectively, and the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are both installed at the high-frequency and low-frequency synthetic aperture sonar installation locations.
In this embodiment, the submersible control room is connected to the low-frequency synthetic aperture controller, the high-frequency synthetic aperture controller, and the sonar synchronizer, respectively.
In this embodiment, the submersible control module sends a synchronization control signal to the sonar synchronizer, the sonar synchronizer sends a synchronization signal to the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller, and the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively control the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar to operate.
The detailed steps are as follows:
prefabricating a detection mission by the cableless remote control underwater robot, and hoisting the robot into water;
the cableless remote control underwater robot drives into a specified detection area according to a preset mission, and the acoustic signal synchronizer and the high-frequency and low-frequency synthetic aperture sonar start to work;
the acoustic signal synchronizer automatically judges the frequency of a synchronous signal according to the navigational speed of the cable-free remote control underwater machine and transmits the synchronous signal to the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar;
the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar work, due to the action of the acoustic signal synchronizer, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar simultaneously transmit detection acoustic signals, and the fact that sonar transmission signals are not interfered when the signals are received can be guaranteed, so that the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar can simultaneously work, and detection of the same area is completed;
the cableless remote control underwater robot completes the detection task according to the predetermined mission and recovers the task;
downloading detection data, analyzing and comparing the detection data, and analyzing and comparing high-frequency and low-frequency synthetic aperture sonar image data in the same area during analysis;
if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high frequency synthetic aperture sonar is unable to detect and display the buried target, while the low frequency synthetic aperture sonar can image the target. By the above-described comparison method, it can be determined whether the object is buried.
In this embodiment, the cableless remote-controlled underwater robot communicates with the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively, and the cableless remote-controlled underwater robot supplies power to the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively, and at the same time, the cableless remote-controlled underwater robot sends a synchronous control signal to the acoustic signal synchronizer, the acoustic signal synchronizer sends a synchronous signal to the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller, the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller respectively control the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar to operate and complete the detection of the same area at the same time, download the detection data, analyze and compare the detection data, and analyze and compare the image data of the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same area; the separation of non-buried targets from buried targets is realized: if the target is a non-buried target, the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are basically consistent in imaging and only have different resolutions; if the target is a buried target, the high frequency synthetic aperture sonar is unable to detect and display the buried target, while the low frequency synthetic aperture sonar can image the target. Through the comparison method, whether the target is buried or not can be determined;
setting a fault detection module, wherein the fault detection module is used for respectively carrying out fault detection on the operation of the cableless remote control underwater robot, the low-frequency synthetic aperture controller, the high-frequency synthetic aperture controller, the acoustic signal synchronizer, the low-frequency synthetic aperture sonar and the high-frequency synthetic aperture sonar;
a secondary analysis comparison module is arranged, secondary analysis comparison can be carried out on the high-frequency synthetic aperture sonar image data and the low-frequency synthetic aperture sonar image data in the same area according to the analysis comparison result of the high-frequency synthetic aperture sonar image data and the low-frequency synthetic aperture sonar image data in the same area, and the accuracy of analysis comparison is guaranteed;
and an alarm module is arranged to give an alarm when a fault occurs or the error is larger in secondary analysis and comparison.
Compared with the prior art, the method for exploring the underwater buried target based on the autonomous underwater robot is obviously improved, and the fifth embodiment is the best embodiment.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. An underwater buried target exploration method based on an autonomous underwater robot is characterized by comprising the following steps:
s1: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar on the autonomous underwater robot;
s2: the sonar synchronizer is used for enabling the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar to work simultaneously without interference;
s3: and performing imaging contrast analysis on the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar in the same area, distinguishing a buried target from a non-buried target, and realizing the detection of the buried target by the autonomous underwater robot.
2. The method for underwater buried object exploration based on autonomous underwater robot of claim 1, wherein said S1, the high frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 110 KHz.
3. The method for underwater buried object exploration based on autonomous underwater robot of claim 1, wherein in said S1, said low frequency synthetic aperture sonar is a synthetic aperture image sonar having a center frequency of 12 KHz.
4. The method for underwater buried object exploration based on autonomous underwater robot of claim 1, wherein in said S2, sonar synchronizer is used for acoustic synchronization of high frequency synthetic aperture detection system, low frequency synthetic aperture detection system and cableless remotely operated vehicle carried acoustic device.
5. The underwater buried target exploration method based on the autonomous underwater robot as claimed in claim 1, wherein in said S3, buried targets and non-buried targets are distinguished: carrying high-frequency synthetic aperture sonar and low-frequency synthetic aperture sonar by the autonomous underwater robot to work simultaneously, and detecting the same seabed area to form a diagram; if the target is a non-buried target, the high frequency synthetic aperture sonar and the low frequency synthetic aperture sonar are imaged substantially the same, except for different resolutions.
6. The method for exploring an underwater buried target based on an autonomous underwater robot as claimed in claim 5, wherein if the target is a buried target, the high frequency synthetic aperture sonar cannot detect and display the buried target, and the low frequency synthetic aperture sonar images the target.
7. The method for exploring an underwater buried object by using an autonomous underwater robot as claimed in claim 1, wherein the autonomous underwater robot is provided with a low frequency synthetic aperture controller, a high frequency synthetic aperture controller, a diving instrument control cabin and a high and low frequency synthetic aperture sonar installation site at S1.
8. The method for exploring an underwater buried target based on an autonomous underwater robot as claimed in claim 7, wherein the low-frequency synthetic aperture controller and the high-frequency synthetic aperture controller are connected to a low-frequency synthetic aperture sonar and a high-frequency synthetic aperture sonar, respectively, and the high-frequency synthetic aperture sonar and the low-frequency synthetic aperture sonar are installed at a high-frequency synthetic aperture sonar installation site and a low-frequency synthetic aperture sonar installation site.
9. An autonomous underwater robot based underwater buried object exploration method according to claim 7, characterized in that said submersible control pod is connected with a low frequency synthetic aperture controller, a high frequency synthetic aperture controller and a sonar synchronizer, respectively.
10. The method of claim 9, wherein the submersible control pod sends synchronization control signals to the sonar synchronizer, the sonar synchronizer sends synchronization signals to the low frequency synthetic aperture controller and the high frequency synthetic aperture controller, and the low frequency synthetic aperture controller and the high frequency synthetic aperture controller control the operation of the low frequency synthetic aperture sonar and the high frequency synthetic aperture sonar, respectively.
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