AUV intelligent touching-avoiding apparatus and method

A collision avoidance device and collision avoidance technology, applied in measurement devices, neural learning methods, three-dimensional position/channel control, etc., can solve problems such as AUV misjudgment

Inactive Publication Date: 2009-04-15
HARBIN ENG UNIV
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The existence of this "false information" will lead to misju

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  • AUV intelligent touching-avoiding apparatus and method
  • AUV intelligent touching-avoiding apparatus and method
  • AUV intelligent touching-avoiding apparatus and method

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[0053] The present invention will be described in more detail below in conjunction with the accompanying drawings:

[0054] 1. The overall structure of the AUV intelligent collision avoidance system

[0055] Such as figure 1 As shown, the invented AUV intelligent collision avoidance device uses multi-beam forward looking sonar as obstacle detection equipment, including sonar 6, fiber optic gyroscope 7, Doppler velocimeter 8, altitude sonar 9, and attitude sensor 10. The rudder 11, thruster 12 and other instruments are combined together, and the software system is embedded in the surface workstation 1, the mission management machine 2 and the dynamic control machine 3, so that the AUV has the real-time autonomous decision-making function of avoiding water surface or underwater obstacles. The surface workstation 1, the mission management machine 2 and the dynamic control machine 3 are connected through the network; the sensors 7, 8, 9, 10 are connected to the dynamic control machin...

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Abstract

The invention provides an AUV intelligent collision prevention device and a collision prevention method. The state information of the AUV collected by the sensor is passed to a dynamic control machine by a serial port. The dynamic control machine transmits the state information to a mission management machine by a network; a multi-beam front looking-sonar collects barrier information which is converted to a digital signal describing local environment; the mission management machine receives the digital signal of the local environment; an AUV barrier decision-making system determines the position of the barrier, establishes a local environment model which is passed on to a collision prevention planning system; the collision prevention system figures out course, speed, and depth of the AUV by collision prevention algorithm and passes on the three instructions to the dynamic controller by the network; the dynamic control machine controls resolving by movement, uses a control voltage to drive an executing agency, and adjusts course, speed and depth of the AUV according to the steering instructions, thus realizing AUV collision prevention. The invention has the advantages that collision prevention is realized in real time without needing prior knowledge and reliability and validity of the proposal of the invention are proved by a lake testing.

Description

(1) Technical field [0001] The invention relates to a collision avoidance device and method for detecting obstacles by using multi-beam forward-looking sonar, determining the position of the obstacle, giving an avoiding collision instruction, and realizing AUV intelligent collision avoidance. (2) Background technology [0002] A basic requirement for AUVs navigating in complex and unknown underwater environments to ensure their safety is that the AUV must have the ability to avoid collisions, which is also a manifestation of the AUV's autonomy and intelligence. In the collision avoidance process, the sensor plays a pivotal role as part of the underlying control. Currently widely used mainly include ultrasonic sensors, infrared sensors, laser rangefinders, cameras, sonar and so on. Most AUVs navigating in a wide range of seas use sonar as the main equipment for collision avoidance. The multi-beam forward-looking sonar we used is installed in the front of the AUV to obtain the posi...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05B13/02G06N3/08G01S15/93G01C21/00
Inventor 夏国清汤莉边信黔严浙平徐健秦政
Owner HARBIN ENG UNIV
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