CN110824482B - Submarine cabin entry guiding device and method based on sonar and LED array - Google Patents
Submarine cabin entry guiding device and method based on sonar and LED array Download PDFInfo
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- CN110824482B CN110824482B CN201911285117.8A CN201911285117A CN110824482B CN 110824482 B CN110824482 B CN 110824482B CN 201911285117 A CN201911285117 A CN 201911285117A CN 110824482 B CN110824482 B CN 110824482B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses a submarine cabin-entering guiding device and method based on sonar and an LED array, and relates to the technical field of underwater vision guiding. The device comprises an ultra-short baseline sound head, a transponder, a camera and a hatch indicator lamp; the underwater unmanned submersible vehicle realizes remote self-positioning and homing by using the sonar of the underwater unmanned submersible vehicle, and after the underwater unmanned submersible vehicle approaches, the hatch LED indicator lamp is identified by using the video signal of the camera to realize automatic cabin entering, and the hatch LED indicator lamp is three circular high-brightness white light LED lamps with different sizes, so that four main functions of space-full judgment, space sequence number judgment, relative rotation angle judgment of the space and close-range collision prevention can be realized; the sonar and LED arrays are combined with the submersible homing algorithm, and the underwater docking station can guide the unmanned submersible to home automatically. The invention has the advantages that: the underwater docking station can realize automatic guidance and homing of the unmanned submersible vehicle, and the whole device is low in energy consumption and high in stability, so that technical support is provided for long-time underwater operation of the unmanned submersible vehicle.
Description
Technical Field
The invention relates to the technical field of underwater vision guidance, in particular to a submarine cabin-entering guiding device and method based on sonar and an LED array.
Background
Unmanned submersible vehicles work in deep water for a long time, and when power is lost, external data transmission is required or overhaul is required, the unmanned submersible vehicles need to enter an underwater working dock. For a deepwater submersible for clustered operation, the corresponding recovery bunkers need to be accessed due to the difference in the functions of the various devices. The prior art is that the submersible vehicle reaches the vicinity of the working docking station through sonar positioning, then the submersible vehicle is grabbed into a corresponding position by using a mechanical arm of the docking station, the working efficiency of the underwater mechanical arm is low, the space of the docking station is occupied, and the whole docking station cannot work once the docking station stops due to faults.
The deep water unmanned submersible vehicle generally has autonomous navigation and data processing capability, so that the automatic docking of the submersible vehicle can be realized by fully utilizing equipment of the submersible vehicle, such as a camera and a sonar, and the stability of long-term underwater operation of the unmanned submersible vehicle is improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a submersible vehicle cabin entry guiding device and method based on a sonar and an LED array, which can utilize submersible vehicle equipment such as a camera and a sonar to realize automatic docking of a submersible vehicle and improve the stability of long-term underwater operation of an unmanned submersible vehicle.
In order to solve the technical problems, the technical scheme of the invention is as follows: the submarine cabin entry guiding device based on the sonar and the LED array comprises an ultra-short baseline sound head, a hatch indicator light, a transponder and a camera, wherein the ultra-short baseline sound head is arranged at the top of an underwater docking station and used for determining the position of an unmanned submarine relative to the underwater docking station, the hatch indicator light is arranged in front of an entrance of the submarine docking station and used for guiding the unmanned submarine to enter a cabin door with a corresponding serial number, and the transponder and the camera are arranged at the front end of the unmanned submarine;
the ultra-short baseline sound head on the underwater docking station is correspondingly arranged with the transponder on the unmanned submersible vehicle, and the hatch indicator light on the underwater docking station is correspondingly arranged with the camera on the unmanned submersible vehicle;
the hatch indicator lights on the underwater docking station comprise a bunk guide light which is positioned on the same outer circle and used for judging the approximate position of the hatch and a bunk signal indicator light which is positioned on the same inner circle and used for realizing the identification of the hatch number, a profile collision prevention light which is positioned on the same inner circle and used for preventing the collision with the inner wall of the hatch, the outer circle and the inner circle are concentric circles, the bunk guide light, the bunk signal indicator light and the profile collision prevention light are three kinds of round high-brightness white light LED lights with different sizes, the bunk guide light, the bunk signal indicator light and the profile collision prevention light are sequentially reduced in size, the bunk guide light is positioned right above the outer circle on the outer side of the hatch, the bunk signal indicator light is uniformly distributed on other positions of the outer circle, the profile collision prevention light is uniformly distributed on the inner circle which is close to the inner side of the hatch, and the underwater docking station is provided with a plurality of hatches, and each bunk guide light, the bunk signal indicator light and the profile collision prevention light are arranged on the underwater docking station.
The submarine cabin-entering guiding method based on the sonar and the LED array comprises the following steps of: s1, broadcasting an unmanned submersible vehicle number needing to be returned to a cabin by an underwater docking station through an ultra-short baseline sound head, and information of the current position of the underwater docking station;
s2, the transponder of the unmanned submersible vehicle receives the signal and then responds to the underwater docking station;
s3, the underwater docking station determines the relative position of the unmanned submersible vehicle to be recovered according to the response signal;
s4, the underwater docking station transmits positioning information of the underwater docking station back to the unmanned submersible vehicle with the corresponding number through the ultra-short baseline sound head, and the unmanned submersible vehicle needs to be classified into the cabin;
s5, after the corresponding number of the unmanned submersible vehicle transponder receives the relative position, the unmanned submersible vehicle transponder carries out long-distance quick homing through an autonomous navigation system arranged in the unmanned submersible vehicle transponder;
s6, the unmanned submersible vehicle with the corresponding number is returned to an automatic cabin entering program when the light of the cabin guide lamp can be observed, and the unmanned submersible vehicle is at a distance of 19-21m from the underwater docking station;
s7, the unmanned submersible vehicle with the corresponding number judges that the approximate position of the hatch gradually approaches the underwater docking station through the cabin guide lamp;
s8, realizing cabin number identification by a cabin signal indicator lamp when the unmanned submersible vehicle with the corresponding number is 4-6m away from the underwater docking station, and further approaching to the corresponding hatch;
s9, the unmanned submersible vehicle further approaches the hatch after finding out the number of the cabin to be accessed, and reaches within 1m, and self position information correction and cabin access are realized by identifying the profile-indicating collision-preventing lamp.
Further, the unmanned submersible vehicle realizes hatch number identification through the bilge signal indicator lamp, and the identification mode is as follows: the on-off of all the cabin signal indicator lamps indicate the empty and full of the cabin; by taking a cabin level guide lamp as an origin, traversing the cabin level signal indicator lamp clockwise through area threshold screening, lighting to represent 1, and turning off to represent 0, if the first lamp and the second lamp are lighted, the identification result is 11000, the decimal value is converted into 24, and the cabin number is 24; the unmanned submersible vehicle performs coarse positioning according to the guidance of the cabin guide lamp, and is far away from the hatch and 19-21m away from the underwater docking station; when the unmanned submersible vehicle is 4-6m away from the hatch, the cabin guide lamp and the cabin signal indicator lamp on the outer ring of the hatch can be collected by the unmanned submersible vehicle camera, the cabin guide lamp is taken as the starting point, the cabin signal indicator lamp is traversed clockwise to identify the hatch serial number, the hatch number which needs to be entered is found, and if the current side of the underwater docking station does not have the needed cabin number, the current side of the underwater docking station is automatically rotated clockwise to the next side until the cabin number is found; the unmanned submersible determines that the cabin needs to be accessed, the unmanned submersible is further close to the hatch and reaches within 1m, the outline collision avoidance lamp of the inner ring can be identified, and the unmanned submersible is automatically accessed into the cabin through a built-in cabin access algorithm.
The invention has the advantages that: the unmanned submersible vehicle automatic guidance homing device has the advantages that the ultra-short baseline sonar technology is utilized for long-distance positioning, the LED array image recognition algorithm is utilized for short-distance recognition and guiding, the unmanned submersible vehicle automatic homing algorithm is matched, the underwater docking station can realize the unmanned submersible vehicle automatic guidance homing, the whole device is low in energy consumption and high in stability, and technical guarantee is provided for long-time underwater operation of the unmanned submersible vehicle.
Drawings
FIG. 1 is a schematic diagram of a submersible vehicle guidance device based on sonar and LED arrays;
FIG. 2 is a schematic diagram of an arrangement of LED hatch lamps of a submersible vehicle cabin-entering guide device based on sonar and an LED array;
FIG. 3 is a flowchart of the operation of the submersible vehicle guidance system based on sonar and LED arrays of the present invention;
fig. 4 is a flowchart of an algorithm for identifying the LED hatch lamps of the submersible vehicle guidance device based on sonar and LED arrays.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and detailed description. The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention to the embodiments described.
As shown in fig. 1 and 2, the following technical solutions are adopted in this specific embodiment: the submarine cabin entry guiding device based on the sonar and the LED array comprises an ultra-short baseline sound head 3, a hatch indicator lamp 1, a transponder 2 and a camera, wherein the ultra-short baseline sound head 3 is arranged at the top of an underwater docking station and used for determining the position of an unmanned submarine relative to the underwater docking station, the hatch indicator lamp 1 is arranged in front of an entrance of the submarine docking station and used for guiding the unmanned submarine to enter a cabin door with a corresponding serial number, and the transponder 2 is arranged at the front end of the unmanned submarine;
the ultra-short baseline sound head 3 on the underwater docking station is correspondingly arranged with the transponder 2 on the unmanned submersible vehicle, the hatch indicator lamp 1 on the underwater docking station is correspondingly arranged with the camera on the unmanned submersible vehicle, and the ultra-short baseline sound head 3 is fixedly arranged on a telescopic rod at the top or bottom of the underwater docking station and can be adjusted according to the requirement of a propagation space;
the hatch indicator light 1 on the underwater docking station comprises a cabin guide light 11 on the same outer circle for judging the approximate position of the hatch and a cabin signal indicator light 12 for realizing the identification of the hatch number, a profile collision prevention light 13 on the same inner circle for preventing the collision with the inner wall of the hatch, wherein the outer circle and the inner circle are concentric circles, the cabin guide light 11, the cabin signal indicator light 12 and the profile collision prevention light 13 are three circular high-brightness white light LED lights with different sizes, the sizes of the cabin guide light 11, the cabin signal indicator light 12 and the profile collision prevention light 13 are sequentially reduced, the cabin guide light 11 is positioned right above the outer circle on the outer side of the hatch, the cabin signal indicator light 12 is uniformly distributed on other positions of the outer circle, the profile collision prevention light 13 is uniformly distributed on the inner circle near the inner side of the hatch, be equipped with a plurality of hatches on the docking station under water, every hatch all is provided with the position guide lamp 11, position signal indicator lamp 12 and shows the profile and keep away lamp 13, the hatch pilot lamp 1 before the unmanned submersible vehicle entry of docking station under water uses circular pressure-resistant shell protection, wherein position guide lamp 11 and position serial number indicator lamp 12 install on the hatch front panel, position guide lamp 11 is located the hatch directly over, position serial number indicator lamp 12 installs with circular evenly distributed, the center that needs to ensure position guide lamp 11 and position serial number indicator lamp 12 is on same circle during the installation, show that profile keeps away lamp 13 evenly installs in the hatch inboard and is close to the hatch department, transponder 2 and camera are installed at unmanned submersible vehicle head, towards the straight ahead.
The degradation of the image in water is serious, the light propagation distance is greatly shortened, the recognition effect of basic LED features on the bank such as color, shape, light intensity and the like is poor, and the shape feature change of the circular LED lamp can be kept small after the degradation, so that the LED lamp is selected as the circular high-brightness white LED lamp with different sizes.
As shown in fig. 3, a guiding method for the entrance of a submarine into a cabin based on sonar and an LED array comprises the following steps: s1, broadcasting an unmanned submersible vehicle number needing to be returned to a cabin by an underwater docking station through an ultra-short baseline sound head 3 and current position information of the underwater docking station;
s2, the transponder 2 of the unmanned submersible vehicle receives the signal and then responds to the underwater docking station;
s3, the underwater docking station determines the relative position of the unmanned submersible vehicle to be recovered according to the response signal;
s4, the underwater docking station transmits positioning information of the underwater docking station back to the unmanned submersible vehicle with the corresponding number through the ultra-short baseline sound head 3 and the cabin to be included;
s5, after the corresponding number of the unmanned submersible vehicle transponder receives the relative position, the unmanned submersible vehicle transponder carries out long-distance quick homing through an autonomous navigation system arranged in the unmanned submersible vehicle transponder;
s6, the unmanned submersible vehicle with the corresponding number is returned to an automatic cabin entering program when the light of the cabin guide lamp 11 can be observed, and is at a distance of 20m from the underwater docking station;
s7, the unmanned submersible vehicle with the corresponding number judges that the approximate position of the hatch gradually approaches the underwater docking station through the cabin guide lamp 11;
s8, identifying hatch numbers of the unmanned submersible vehicle with corresponding numbers through the cabin signal indicator lights 12 when the unmanned submersible vehicle is 5m away from the underwater docking station, and approaching the corresponding hatches;
s9, the unmanned submersible vehicle further approaches the hatch after finding out the number of the cabin to be accessed, and reaches within 1m, and self position information correction and cabin access are realized by identifying the profile collision avoidance lamp 13.
The unmanned submersible vehicle realizes hatch number identification through the bilge signal indicator lamp 12 in the following mode: the on/off of all the bunk signal lights 12 indicate the bunk is empty; the unmanned submersible vehicle performs coarse positioning according to the guidance of the cabin guide lamp 11, and is far away from the hatch and 19-21m away from the underwater docking station; when the unmanned submersible vehicle is 4-6m away from the hatch, the cabin position guide lamp 11 and the cabin position signal indicator lamp 12 on the outer ring of the hatch can be collected by the unmanned submersible vehicle camera, the cabin position guide lamp 11 is taken as the starting point, the cabin position signal indicator lamp 12 is traversed clockwise to identify the hatch number, the hatch number needing to be entered is found, and if the current side of the underwater docking station has no needed cabin number, the current side is automatically rotated clockwise to the next side until the cabin number is found; the unmanned submersible determines that the cabin needs to enter, the unmanned submersible is further close to the hatch and reaches within 1m, the outline collision avoidance lamp 13 of the inner ring can be identified, the unmanned submersible automatically enters the cabin through a built-in cabin entering algorithm, and the specific scheme is shown in fig. 4, and the unmanned submersible can identify the corresponding hatch number and smoothly enter the cabin.
The principle of the hatch indicator light 1 representing the hatch number is as follows: when the unmanned submersible vehicle is guided to about 5m by the cabin guide lamp 11 and the serial number indicator lamp can be identified, the unmanned submersible vehicle acquires and processes images through the front camera, the cabin guide lamp 11 is taken as an origin, the cabin signal indicator lamp 12 is traversed clockwise through area threshold screening, the lighting represents 1, the extinguishing represents 0, if the first lamp and the second lamp are on, the identification result is 11000, the decimal is 24, and the cabin number is 24; because the coding mode needs to know the circle center and the circle center in the image processing process, and the circle center can be fitted by knowing three points on the circle, more than two cabin signal indicator lamps 12 are required to be in a bright state, so that three numbers of 2, 4, 8, 16 and 32 are required to be removed, other serial numbers correspondingly move forward (such as 1-1,2-3,, 8-10,, 27-32), and 2^5-5=27 cabin positions can be represented. For more bilge docking stations, the representation of more bilge numbers can be achieved by reasonably increasing the number of bilge indicator lights.
According to the embodiment, the ultra-short baseline sonar technology is utilized for remote positioning, the LED array image recognition algorithm is utilized for short-distance recognition and guidance, the unmanned submersible autonomous homing algorithm is matched, the underwater docking station can achieve the unmanned submersible autonomous homing, the whole device is low in energy consumption and high in stability, and technical support is provided for long-time underwater operation of the unmanned submersible.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. Submarine cabin entering guide device based on sonar and LED array, its characterized in that: the system comprises an ultra-short baseline sound head arranged at the top of an underwater docking station and used for determining the position of an unmanned submersible vehicle relative to the underwater docking station, a hatch indicator light used for guiding the unmanned submersible vehicle to enter a cabin door with a corresponding serial number in front of an entrance of the underwater docking station, and a transponder and a camera arranged at the front end of the unmanned submersible vehicle;
the ultra-short baseline sound head on the underwater docking station is correspondingly arranged with the transponder on the unmanned submersible vehicle, and the hatch indicator light on the underwater docking station is correspondingly arranged with the camera on the unmanned submersible vehicle;
the hatch indicator lights on the underwater docking station comprise a bunk guide light which is positioned on the same outer circle and used for judging the approximate position of the hatch and a bunk signal indicator light which is positioned on the same inner circle and used for realizing the identification of the hatch number, a profile collision prevention light which is positioned on the same inner circle and used for preventing the collision with the inner wall of the hatch, the outer circle and the inner circle are concentric circles, the bunk guide light, the bunk signal indicator light and the profile collision prevention light are three kinds of round high-brightness white light LED lights with different sizes, the bunk guide light, the bunk signal indicator light and the profile collision prevention light are sequentially reduced in size, the bunk guide light is positioned right above the outer circle on the outer side of the hatch, the bunk signal indicator light is uniformly distributed on other positions of the outer circle, the profile collision prevention light is uniformly distributed on the inner circle which is close to the inner side of the hatch, and the underwater docking station is provided with a plurality of hatches, and each bunk guide light, the bunk signal indicator light and the profile collision prevention light are arranged on the underwater docking station.
2. A guiding method of the submersible vehicle cabin-entering guiding device based on the sonar and LED array according to claim 1, which is characterized in that: the method comprises the following steps: s1, broadcasting an unmanned submersible vehicle number needing to be returned to a cabin by an underwater docking station through an ultra-short baseline sound head, and information of the current position of the underwater docking station;
s2, the transponder of the unmanned submersible vehicle receives the signal and then responds to the underwater docking station;
s3, the underwater docking station determines the relative position of the unmanned submersible vehicle to be recovered according to the response signal;
s4, the underwater docking station transmits positioning information of the underwater docking station back to the unmanned submersible vehicle with the corresponding number through the ultra-short baseline sound head, and the unmanned submersible vehicle needs to be classified into the cabin;
s5, after the corresponding number of the unmanned submersible vehicle transponder receives the relative position, the unmanned submersible vehicle transponder carries out long-distance quick homing through an autonomous navigation system arranged in the unmanned submersible vehicle transponder;
s6, the unmanned submersible vehicle with the corresponding number is returned to an automatic cabin entering program when the light of the cabin guide lamp can be observed, and the unmanned submersible vehicle is at a distance of 19-21m from the underwater docking station;
s7, the unmanned submersible vehicle with the corresponding number judges that the approximate position of the hatch gradually approaches the underwater docking station through the cabin guide lamp;
s8, realizing cabin number identification by a cabin signal indicator lamp when the unmanned submersible vehicle with the corresponding number is 4-6m away from the underwater docking station, and further approaching to the corresponding hatch;
s9, the unmanned submersible vehicle further approaches the hatch after finding out the number of the cabin to be accessed, and reaches within 1m, and self position information correction and cabin access are realized by identifying the profile-indicating collision-preventing lamp.
3. The guiding method of the submersible vehicle cabin-entering guiding device based on the sonar and the LED array according to claim 2, wherein the guiding method comprises the following steps: the unmanned submersible vehicle realizes hatch number identification through the cabin signal indicator lamp, and the identification mode is as follows: the on-off of all the cabin signal indicator lamps indicate the empty and full of the cabin; the unmanned submersible vehicle performs coarse positioning according to the guidance of the cabin guide lamp, and is far away from the hatch and 19-21m away from the underwater docking station; when the unmanned submersible vehicle is 4-6m away from the hatch, the cabin guide lamp and the cabin signal indicator lamp on the outer ring of the hatch can be collected by the unmanned submersible vehicle camera, the cabin guide lamp is taken as the starting point, the cabin signal indicator lamp is traversed clockwise to identify the hatch serial number, the hatch number which needs to be entered is found, and if the current side of the underwater docking station does not have the needed cabin number, the current side of the underwater docking station is automatically rotated clockwise to the next side until the cabin number is found; the unmanned submersible determines that the cabin needs to be accessed, the unmanned submersible is further close to the hatch and reaches within 1m, the outline collision avoidance lamp of the inner ring can be identified, and the unmanned submersible is automatically accessed into the cabin through a built-in cabin access algorithm.
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| CN105775079A (en) * | 2016-04-25 | 2016-07-20 | 浙江大学 | Underwater non-contact mobile docking device for underwater unmanned vehicle and water surface mobile platform |
| CN107589755A (en) * | 2017-08-24 | 2018-01-16 | 浙江大学 | It is a kind of to be used for the removable platform plugged into and its control method under water |
| CN109032178A (en) * | 2018-08-06 | 2018-12-18 | 江苏科技大学 | Full driving AUV recovery control system and voluntary recall method |
| CN109178260A (en) * | 2018-08-23 | 2019-01-11 | 杭州电子科技大学 | A kind of docking system and interconnection method of unmanned boat and AUV |
| CN109319074A (en) * | 2018-08-30 | 2019-02-12 | 中国人民解放军海军工程大学 | A kind of more orthogonal signalling emit nobody latent device sound guidance recovery system |
| CN109367707A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
| CN109541547A (en) * | 2018-11-21 | 2019-03-29 | 上海交通大学 | Unmanned boat based on hydrolocation enters a port guidance system and bootstrap technique |
| CN211263768U (en) * | 2019-12-13 | 2020-08-14 | 江苏科技大学 | Submarine ware guiding device that goes into cabin based on sonar and LED array |
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