Underwater building defect detection method based on autonomous navigation technology
A technology for autonomous navigation and defect detection, which is applied in the direction of optical testing of defects/defects, instruments, and analysis of solids using sound waves/ultrasonic waves/infrasonic waves. The effect of flexibility
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[0013] see figure 1 , the present embodiment provides a method for detecting defects of underwater structures based on autonomous navigation technology, including the following steps,
[0014] Step S1, based on the two-dimensional map information of the given water area, perform full-coverage path planning for the water area to be measured through the combing traversal algorithm;
[0015] Step S2, realizing the autonomous navigation of the ROV in the three-dimensional underwater space through the depth control system, the attitude control system, the motion control system and the short baseline underwater acoustic positioning system;
[0016] Step S3 , detecting and identifying defects of underwater structures through ultrasonic imaging and underwater camera systems.
[0017] In step S1, obtain the two-dimensional map information of the water area to be measured, set the boundary of the water area to be measured, determine the path planning traversal mode and path starting po...
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