CN-116224342-B - Underwater unmanned intelligent exploration system and method based on USV and ROV cooperation

CN116224342BCN 116224342 BCN116224342 BCN 116224342BCN-116224342-B

Abstract

The invention provides an underwater unmanned intelligent exploration method and system based on the cooperation of a USV and an ROV, which comprises the steps of S1, S2, a comprehensive control center receiving target indication information of a shore-based anti-frog sonar system, S3, sending an exploration task instruction to the unmanned intelligent exploration system by the comprehensive control center, S4, releasing an ROV task load when the unmanned intelligent exploration system goes to a designated water area, adjusting the gesture in advance according to the target attack direction, ensuring that sonar and optical load always irradiate to the target attack direction, acquiring real-time exploration images through sonar and optical load, and transmitting the detected images to the comprehensive control center.

Inventors

Pan Xiefan
XU YANFENG
LIU BENQI
GAO JIANNONG

Assignees

上海船舶电子设备研究所(中国船舶集团有限公司第七二六研究所)

Dates

Publication Date: 20260508
Application Date: 20221212

Claims (8)

1. An underwater unmanned intelligent exploration method based on the cooperation of USV and ROV is characterized by comprising the following steps: S1, a comprehensive control center receives target indication information of a shore-based anti-frog sonar system; s2, the comprehensive control center calculates target motion elements based on target indication information; step S3, the comprehensive control center sends a probing task instruction to the unmanned intelligent probing system; s4, the unmanned intelligent exploration system goes to a designated water area, releases ROV task load, adjusts the gesture in advance according to the target attack direction, and ensures that sonar and optical load always irradiate the target attack direction; When the unmanned intelligent exploration system approaches the appointed water area, the shore-based anti-frog sonar system can always and continuously give out target information, the step S4 judges that the target information is stable, and the dual-frequency imaging sonar of the ROV platform works in a close-range imaging mode under the condition that the target information is stable; When the unmanned intelligent exploration system approaches a specified water area, the shore-based anti-frog sonar system cannot continuously give out target information all the time, judging that the target information is unstable, under the condition that the target information is unstable, the ROV platform actively transmits sound wave signals to an observation water area through a low-frequency long-distance exploration sonar, carries out pretreatment on echoes to realize exploration and search of suspicious targets, and when the suspicious targets are searched, guides the ROV to approach, and then switches to a short-distance imaging mode; the close-range imaging mode dynamically adjusts the gesture and the advancing direction of the ROV platform according to the real-time calculated target position and heading information, and ensures that the high-frequency imaging sonar and the optical high-definition camera always irradiate the target direction until the approaching evidence of the target is completed.
2. The underwater unmanned intelligent exploration method based on the cooperation of USV and ROV, which is disclosed in claim 1, is characterized in that the step S1 adopts a shore-based anti-frog sonar system to acquire formed target indication information by automatically detecting acoustic echo signals emitted by active sonar and automatically tracking and classifying and identifying based on adjacent continuous multicycle data of a moving target; the target indication information comprises a batch number, a time stamp, a distance, an azimuth, a speed, a threat degree and a target type of the target.
3. The underwater unmanned intelligent exploration method based on the collaboration of the USV and the ROV, which is disclosed in claim 1, is characterized in that the step S2 is characterized in that a comprehensive control center converts position information of a target relative to a shore-based anti-frog sonar system into position information of the target relative to an unmanned intelligent exploration system according to the relative coordinate position between the shore-based anti-frog sonar system and the unmanned intelligent exploration system, and calculates meeting time and meeting position of the underwater target and the unmanned intelligent exploration system which move oppositely according to the relative movement speed of the underwater target and an unmanned ship in the unmanned intelligent exploration system.
4. The method for intelligent unmanned underwater exploration based on the cooperation of USV and ROV according to claim 1, wherein the unmanned intelligent exploration system comprises an intelligent unmanned ship, an underwater exploration load, an on-water task load, a deployment and recovery mechanism; the intelligent unmanned ship is used as a carrying platform for probing task loads, and rapidly approaches a designated water area according to a target threat situation and task characteristics to execute tasks; the underwater exploration load realizes the exploration and verification of an underwater target through optical and acoustic means; The on-water task load acquires the position information of the USV ship through a GPS, and acquires the position information of the ROV under water in real time by combining an ultra-short baseline on-water terminal; the arrangement and recovery mechanism realizes automatic arrangement and recovery of underwater exploration loads through the electric winch.
5. Unmanned intelligent exploration system under water based on USV and ROV cooperation, characterized by comprising: The comprehensive control center receives target indication information of a shore-based anti-frog sonar system; the comprehensive control center calculates target motion elements based on the target indication information; the comprehensive control center sends a probing task instruction to the unmanned intelligent probing system; The module M4 is used for leading the unmanned intelligent exploration system to a designated water area, releasing ROV task load, adjusting the gesture in advance according to the target attack direction, ensuring that sonar and optical load always irradiate the target attack direction; When the unmanned intelligent exploration system approaches a specified water area, the shore-based anti-frog sonar system can always and continuously give out target information, the module M4 judges that the target information is stable, and under the condition that the target information is stable, the dual-frequency imaging sonar of the ROV platform works in a close-range imaging mode; When the unmanned intelligent exploration system approaches a specified water area, the shore-based anti-frog sonar system cannot continuously give out target information all the time, judging that the target information is unstable, under the condition that the target information is unstable, the ROV platform actively transmits sound wave signals to an observation water area through a low-frequency long-distance exploration sonar, carries out pretreatment on echoes to realize exploration and search of suspicious targets, and when the suspicious targets are searched, guides the ROV to approach, and then switches to a short-distance imaging mode; the close-range imaging mode dynamically adjusts the gesture and the advancing direction of the ROV platform according to the real-time calculated target position and heading information, and ensures that the high-frequency imaging sonar and the optical high-definition camera always irradiate the target direction until the approaching evidence of the target is completed.
6. The underwater unmanned intelligent exploration system based on the cooperation of USV and ROV according to claim 5, wherein the module M1 adopts a shore-based anti-frog sonar system to acquire formed target indication information by automatically detecting acoustic echo signals emitted by active sonar and automatically tracking and classifying and identifying based on adjacent continuous multicycle data of a moving target; the target indication information comprises a batch number, a time stamp, a distance, an azimuth, a speed, a threat degree and a target type of the target.
7. The underwater unmanned intelligent exploration system based on the cooperation of USV and ROV according to claim 5, wherein the module M2 adopts a comprehensive control center to convert the position information of the object relative to the coordinates of the shore-based anti-frog sonar system into the position information of the object relative to the coordinates of the unmanned intelligent exploration system according to the relative coordinate positions of the shore-based anti-frog sonar system and the unmanned intelligent exploration system, and calculates the meeting time and meeting position of the underwater object and the opposite movement of the unmanned intelligent exploration system according to the relative movement speed of the underwater object and the unmanned ship in the unmanned intelligent exploration system.
8. The unmanned underwater intelligent exploration system based on the cooperation of USV and ROV of claim 5, wherein said unmanned intelligent exploration system comprises an intelligent unmanned ship, an underwater exploration load, an on-water mission load, a deployment and retrieval mechanism; the intelligent unmanned ship is used as a carrying platform for probing task loads, and rapidly approaches a designated water area according to a target threat situation and task characteristics to execute tasks; the underwater exploration load realizes the exploration and verification of an underwater target through optical and acoustic means; The on-water task load acquires the position information of the USV ship through a GPS, and acquires the position information of the ROV under water in real time by combining an ultra-short baseline on-water terminal; the arrangement and recovery mechanism realizes automatic arrangement and recovery of underwater exploration loads through the electric winch.

Description

Underwater unmanned intelligent exploration system and method based on USV and ROV cooperation Technical Field The invention relates to the field of underground safety defense, in particular to an underwater unmanned intelligent exploration system and method based on the cooperation of USV and ROV, comprising sound-light combined intelligent identification software and a system exploration strategy. Background In order to comprehensively defend underwater in the land, the underwater warning detection defending capability aiming at small target invasion of frogman, UUV and the like is rapidly formed, and a land-based underwater security system is the first choice. However, the system does not include verification equipment, and the suspected threat target identity of the underwater security system alarm cannot be confirmed. Therefore, it is practical to develop a exploration system that can quickly approach a designated water area for underwater target confirmation. The prior art utilizes a surface unmanned ship to carry an image sonar for identity confirmation and quick response to a threat target. The system was tested in germany and italy in 2008 and 2010, respectively, and was deployed in La Spezia ports in italy. In this case, the image sonar is fixedly installed at the bottom of the ship, and the waterline and the platform itself roll longitudinally, which affects the acoustic performance. The invention can overcome the influence of unmanned ships waterline and platform longitudinal and transverse rolling on acoustic performance by adopting a flexible connection mode and an ROV. Patent document CN213658976U (application number: 202022745609.5) discloses an underwater sonar identification system based on an unmanned ship, which comprises a water system and a land system, wherein the water system comprises an underwater data acquisition module and a water data transmission module which are arranged on the unmanned ship, the land system comprises a data receiving module and a data detection module, the underwater data acquisition module is used for realizing data acquisition based on a double-frequency identification sonar, relevant data signals are sent to the data receiving module through the water data transmission module after the data acquisition is completed, the data receiving module is used for transmitting the data signals to the data detection module after receiving the data signals, and the data detection module can be used for acquiring underwater data acquired by the double-frequency identification sonar in real time. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide an underwater unmanned intelligent exploration method and system based on the cooperation of USV and ROV. The invention provides an underwater unmanned intelligent exploration method based on the cooperation of USV and ROV, which comprises the following steps: S1, a comprehensive control center receives target indication information of a shore-based anti-frog sonar system; s2, the comprehensive control center calculates target motion elements based on target indication information; step S3, the comprehensive control center sends a probing task instruction to the unmanned intelligent probing system; And S4, the unmanned intelligent exploration system goes to a designated water area, releases ROV task load, adjusts the gesture in advance according to the target attack direction, ensures that sonar and optical load always irradiate the target attack direction, acquires real-time detection images through the sonar and the optical load, and transmits the detected images to a comprehensive control center. Preferably, the step S1 adopts a shore-based anti-frog human sonar system to automatically detect an acoustic echo signal emitted by an active sonar, automatically track and classify and identify based on adjacent continuous multicycle data of a moving target, and acquire formed target indication information; the target indication information comprises a batch number, a time stamp, a distance, an azimuth, a speed, a threat degree and a target type of the target. Preferably, the step S2 adopts the steps that the comprehensive control center converts the position information of the object under the coordinates of the shore-based anti-frog sonar system relative to the unmanned intelligent detection system into the position information of the object under the coordinates of the unmanned intelligent detection system according to the relative coordinate positions of the shore-based anti-frog sonar system and the unmanned intelligent detection system, and calculates the meeting time and meeting position of the underwater object and the unmanned intelligent detection system which move in opposite directions according to the relative movement speed of the underwater object and the unmanned ship in the unmanned intelligent detection system. Preferably, the unmanned intelligent exploration system compr