Support System For The Activities Of Operators Of Interventional Underwater Vehicles Equipped With A Hydroacoustic Communication Channel

The report presents an approach to the creation of systems to support the activities of operators of interventional autonomous uninhabited underwater vehicles (AUV), ensuring the effective performance of manipulation operations with previously known objects in a supervisory mode using a hydroacoustic communication channel. This system adapts algorithms for identifying pre-known underwater objects using point clouds obtained from the technical vision system (TVS) to effectively perform manipulative operations under operator control in conditions of varying throughput of the hydroacoustic communication system. Object identification is performed in two stages. The first stage allows the operator to assess the spatial position of the object of work and form a target designation for moving the AUV to the object. The second stage is used to verify the accuracy of identification and refinement of the actual shape of the object, taking into account its silting, fouling and deformation. For the convenience of working with the operator's activity support system, a special graphical interface has been developed that allows visualizing and recreating the real underwater situation, taking into account the data received via the hydroacoustic communication channel.