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Autonomous type underwater robot by simultaneous positioning and map constructing method

An underwater robot and map construction technology, which is applied to underwater ships, underwater operation equipment, instruments, etc., can solve problems such as small positioning range, and achieve the effects of low manufacturing cost, reducing error accumulation and low cost.

Inactive Publication Date: 2009-05-20
OCEAN UNIV OF CHINA
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, the above-mentioned AUV navigation and positioning range based on the SLAM method is very small, generally only within a few hundred meters or even tens of meters

Method used

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  • Autonomous type underwater robot by simultaneous positioning and map constructing method
  • Autonomous type underwater robot by simultaneous positioning and map constructing method
  • Autonomous type underwater robot by simultaneous positioning and map constructing method

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Embodiment Construction

[0027] As shown in 1, the present invention adopts an open-frame mechanical structure, the upper and lower double-layer pressure chambers 2 are fixed on the outer frame 1, and five underwater propellers are arranged, including three vertical propellers 5 and two horizontal propellers 6 , where vertical propellers 5 are respectively arranged on the left and right symmetrical sides of the front part of the outer frame 1, and a narrow-beam scanning imaging sonar 3 is arranged on the upper part of the front part of the outer frame 1 at the same time, and a common Collision avoidance sonar 4; the left and right symmetrical sides of outer frame 1 middle part are respectively fixed horizontal direction thruster 6; The upper rear portion of outer frame 1 is provided with GPS antenna 8, and its rear middle position is provided with a vertical direction thruster 5, A pressure sensor 7 is installed above the propeller.

[0028] like figure 2 As shown, the autonomous underwater robot sy...

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Abstract

The invention belongs to an underwater navigation and delivery vehicle, and in particular relates to an autonomous underwater robot which adopts a simultaneous positioning and map establishing method. The autonomous underwater robot takes a scanning and imaging sonar as a main sensor and simultaneous positioning and map establishing as a main method, and can complete autonomous navigation in a complex submarine environment. The autonomous underwater robot comprises a main computer subsystem, a data acquisition subsystem, a power supply subsystem, an inertial navigation subsystem, an under-deck parameter detection subsystem, a propeller control subsystem, an external sensor subsystem, a redundant self-rescue subsystem and a distress alarm subsystem, wherein the power supply subsystem comprises a main power supply subsystem and a spare power supply subsystem; and the data acquisition subsystem is communicated with the main computer subsystem through the Ethernet in the aspect of upward communication, and communicated with other subsystems through a CAN bus in the aspect of downward communication. The autonomous underwater robot is particularly suitable for the unknown complex submarine environment, and has low manufacturing cost and low operating cost at sea, and good reliability.

Description

Technical field [0001] The invention belongs to an underwater navigation and transportation vehicle, specifically an autonomous underwater robot that adopts simultaneous positioning and map construction methods. Background technique [0002] Inertial navigation is the main positioning method used by Autonomous Underwater Vehicles (AUV) when navigating autonomously underwater. However, its main problem is that it is often too expensive when the accuracy can meet the requirements. With the advancement of sonar technology, most advanced AUVs currently do not use accelerometers but Doppler velocimeters, which can directly measure the 3D speed of the AUV relative to the seabed without integration. The navigation method that combines Doppler speedometer and fiber optic gyroscope still inevitably produces cumulative errors. In order to eliminate this deviation, the main methods currently used are: (1) Use GPS correction, that is, let the AUV be on its way. A series of positions fl...

Claims

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Application Information

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IPC IPC(8): G05D1/12B63G8/00G01C21/18G01S15/93G01S7/52
Inventor 何波王国宇刘贵杰崔国霖程军娜
Owner OCEAN UNIV OF CHINA
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