Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device

Abstract

The invention discloses an autonomous remotely-operated vehicle (ARV) underwater robot fault diagnosis principal component analysis method and a device used for the method. The device comprises a sensor system, an embedded type controller, an optical transmitter and receiver and a water surface monitoring system, wherein all sensors arranged in the sensor system are connected with a signal input end of the embedded type controller by signal transmission lines; the embedded type controller is connected with a signal input end of the optical transmitter and receiver by an optical fiber; an output end of the optical transmitter and receiver is connected with the water surface monitoring system; and principal component analysis fault diagnosis software is stored in the water surface monitoring system. The analysis device disclosed by the invention fills a gap in the research of reliability control technology which directly serves an underwater robot, and has the characteristics of an untethered autonomous underwater robot and a cable-controlled unmanned underwater robot at the same time, so that the novel unmanned ARV fault diagnosis principal component analysis method and the device used for the method are worked out, and innovation can be realized in the field.

Description

technical field [0001] The invention relates to the technical field of underwater robot state monitoring, in particular to an ARV fault diagnosis principal component analysis method and device. Background technique [0002] The ocean is the second largest space after the land in the four major strategic spaces (land, sea, air, and sky) for human development. It is a strategic development base for biological resources, energy, water resources, and metal resources. It is the most potential for development. The space plays a direct and huge supporting role in my country's economic and social development. As an assistant to human exploration and development of the ocean, underwater robots, especially UUV (Unmanned Underwater Vehicle) will play an important role in this field. [0003] The patent with the publication number CN1709766 introduces a remote autonomous underwater robot with double drive of buoyancy and thruster, which is used in the technical field of marine underwate...

AI Technical Summary

Problems solved by technology

However, the research on the reliability control technology directly serving the underwater robot is almost blank, especially the new type of AUV (Autonomous Underwater Vehicle) and the cable-controlled unmanned underwater robot ROV (Remotely-operated Vehicle). There is no patent disclosure for the research on the fault detection and isolation technology of the unmanned underwater robot ARV

Images