At present, there are two methods for the detection of long diversion tunnel, one is manual detection, the other is underwater robot detection. Manual detection is dangerous and costly. Underwater robots can be divided into two types: ROV with cable and AUV without cable. At present, the development of ROV is relatively mature, but the cable also greatly limits its scope of activity. ROV cable is easy to knot and break, and it is also easy to wind on obstacles such as underwater aquatic plants, stones and dead branches, affecting the work of ROV and even making it unable to return. The research of AUV started late and there is no cable constraint, which greatly improves its activity range. However, AUV is limited by energy and information transmission when working underwater. Therefore, it is of great significance to study an underwater equipment which has the advantages of ROV and AUV and can make up for their defects. Based on the detection of medium and long tunnels in water diversion project, an underwater group intelligent equipment is proposed in this paper. The main body of the equipment is composed of ROV and AUV, which cooperate with each other. ROV provides energy for AUV and carries out information interaction with AUV, while AUV is responsible for the main detection work. The technologies used mainly include electromagnetic induction charging technology, SLAM algorithm navigation technology, image analysis technology, laser scanning technology, sonar technology, etc.
According to the statistics released by China Maritime Search and rescue center, at present, the success rate of maritime search and rescue in China can only be maintained at about 95%, and some ships and personnel in distress will still not be able to get effective rescue 1. In the process of maritime rescue, how to quickly and accurately find the target in distress in the water surface and underwater environment is a crucial step. It is the key to solve the "invisible" problem in the process of rescue and salvage, which is also the primary factor restricting China's improvement of maritime search and rescue efficiency. In this project, the ground effect wing ship is applied to high-sea rescue. The ground effect wing ship is equipped with unmanned equipment to assist search and form a cooperative search and rescue intelligent formation to integrate the search information of UAV and underwater vehicle into the ground effect wing ship in real time for comprehensive information summary, and then the ground effect wing ship assigns tasks according to the actual situation. In order to establish the search and rescue model of air sea level underwater three-dimensional regional information sharing, combined with the 3D visual sea air integrated intelligent multi-level search platform system, the system provides high-precision, high reliability and intelligent comprehensive information support for wading operations, and improves the rescue efficiency and success rate.
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