Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Method of Tracking an Underwater Robot Using a Surface Robot

A technology for surface robots and underwater robots, which is applied in the use of re-radiation, instruments, and re-radiation of sound waves, can solve the problems of inability to meet stable tracking, high requirements, poor tracking performance, etc., to save tracking costs, inherit Good performance and low cost

Inactive Publication Date: 2015-11-18
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the limitations of water depth, voyage, facilities, personnel costs and other conditions, conventional tracking methods often have high requirements on ships and manning and are complicated to use, and the cost is very high; due to the influence of mother ship noise, the tracking performance is also poor, so conventional methods Can not meet the needs of stable tracking

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Method of Tracking an Underwater Robot Using a Surface Robot
  • A Method of Tracking an Underwater Robot Using a Surface Robot
  • A Method of Tracking an Underwater Robot Using a Surface Robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0055]A device for tracking an underwater robot with a surface robot, such as figure 1 As shown, it consists of a surface robot and two underwater acoustic communicators. The underwater acoustic communicator MA on the underwater robot sends navigation status information to the underwater acoustic communicator MB on the surface robot in a fixed period. After MB receives, message is sent to surface robot computer, by autonomous tracking algorithm of the present invention (see figure 2 )deal with. The surface robot computer uses the navigation status information sent by the underwater robot (including the current speed, heading, position and other information of the underwater robot) and its own position information to calculate the heading angle control command. If the distance between the surface robot and the underwater robot is greater th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to the field of underwater robotics, particularly to a method of tracking an underwater robot by use of an on-water robot to achieve autonomous tracking of the underwater robot by the on-water robot. The underwater robot starts an underwater acoustic communication set MA installed on the back of the underwater robot, and sends navigational state information of the underwater robot periodically to an underwater acoustic communication set MB installed at the bottom of the on-water robot; the underwater acoustic communication set MB sends the navigational state information to an on-water robot computer; the on-water robot computer calculates and outputs a heading angle control command and a speed control command so that the on-water robot moves in accordance with the control commands. The device provided by the invention requires only one on-water robot and two underwater acoustic communication sets with no other auxiliary devices; the underwater acoustic communication sets are easy to install and can be installed anywhere on the back of the underwater robot or at the bottom of the on-water robot; and the autonomous tracking algorithm program is convenient to transform and suitable for various robots.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a method for using a surface robot to track an underwater robot, so as to realize the autonomous execution and tracking of the underwater robot by the surface robot. Background technique [0002] When the underwater robot is navigating underwater, operators on land need a device and method for tracking the underwater robot, so as to know the navigation status of the underwater robot in real time and confirm whether it is working normally. A conventional tracking device and method is to use a mother ship to perform a tracking task with human participation. This method uses the position information obtained by the ship-borne ultra-short baseline positioning system or the ship-borne underwater acoustic communication device, and then the operator on the mother ship adjusts the speed and course of the mother ship to make it track the underwater robot. Due to the limitations...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01S15/06
Inventor 冀大雄郑荣胡志强刘肖宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com