The invention provides a remote control underwater robot suitable for polar observation and rescue. An upward camera, a foresight multi-beam image sonar, a foresight camera and other sensing devices are used for scanning and observing the ice bottom environment so as to obtain the acoustic optical scanning characteristics of the ice bottom morphology. Accurate underwater navigation positioning of the ROV is completed through position and attitude sensors such as a rotatable lifting type Doppler speedometer, a USBL sensor and a depth attitude sensor, so that position information corresponding to ice bottom morphology characteristics is determined. Through a carried underwater pan-tilt camera and an upward high-definition camera, optical imaging of characteristics under ice and underwater optical target detection can be realized. Acoustic imaging can be carried out on the under-ice environment through the carried underwater front-view image sonar, so that a wreck autonomous underwater robot AUV can be searched.
本发明提供一种适用于极地观测救援的遥控水下机器人。通过将向上摄像机、前视多波束图像声纳、前视摄像机等感知设备对冰底环境进行扫描观测,以获取冰底形貌的声学光学扫测特征。通过可旋转升降式的多普勒测速计、USBL传感器、深度姿态传感器等位姿传感器,完成ROV在水下的精确导航定位,从而确定冰底形貌特征所对应的位置信息。通过搭载的水下云台摄像机和向上高清摄像机,可以实现冰下特征的光学成像和水下光学目标检测。通过搭载的水下前视图像声纳,可以对冰下环境进行声学成像,以便搜寻失事自主水下机器人AUV。
Remote control underwater robot suitable for polar observation and rescue
一种适用于极地观测救援的遥控水下机器人
2023-08-11
Patent
Electronic Resource
Chinese
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