Long-term fixed point profile measuring method for autonomous underwater vehicle

Abstract

The invention relates to the field of underwater vehicles, in particular to a long-term fixed point profile measuring method for an autonomous underwater vehicle. The method comprises the following steps: I, walking to an object observing region; II, executing a diving task by the underground vehicle; III, leveling the gesture and opening a detecting load for primary marine environmental profile observation after reaching a set depth; upfloating to the water level, and carrying out secondary marine environmental profile observation by the detecting load; IV, diving to the observation depth andleveling the underwater vehicle precisely; V, closing an automatic driving unit and other equipment except a depthometer and an altimeter, opening a supervising on-duty unit, wherein if a set wakening condition is met, the supervising on-duty unit wakens the automatic driving unit; and VI, wakening the automatic driving unit and judging whether the number of times of observation meets the set value or not after reaching a preset dormant time, and if not, repeating the step III to start a new profile observation period. The marine environmental profile parameters are measured for a long time by means of suspended dormancy and supervision in an energy-saving manner.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a long-term fixed-point profile measurement method for an autonomous underwater robot. Background technique [0002] Autonomous underwater robots are widely used in marine environmental surveys, marine mineral exploration, marine rescue and search, and other fields. Usually, autonomous underwater robots that use propellers have a battery life of several hours to several days. However, some marine environmental surveys require long-term observations of the same location, requiring several weeks or even months of survey data, which is a great challenge for autonomous underwater vehicles. Contents of the invention [0003] The purpose of the present invention is to provide a long-term fixed-point profile measurement method for an autonomous underwater robot, which can reduce the average power consumption of the autonomous underwater robot and greatly extend the endurance, thereby ...

AI Technical Summary

Problems solved by technology

However, some marine environmental surveys require long-term observations of the same location, requiring acquisition of survey data for weeks or even months, which is a great challenge for autonomous underwater vehicles

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