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

A technology for underwater robot and profile measurement, which is applied in the direction of measuring devices, underwater ships, underwater operating equipment, etc., to achieve the effects of reducing average power consumption, high adjustment accuracy, and consistent two-way adjustment speed

Inactive Publication Date: 2018-06-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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

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Embodiment Construction

[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0034] like Figure 1~2 As shown, the present invention includes the following equipment: GPS antenna 1, buoyancy adjustment device 2, navigation equipment 3, main controller 4, detection load 5, depth gauge 6 and altimeter 7 arranged on the underwater robot. Wherein the navigation device 3 is used for navigation of the autonomous underwater robot to the target area, and navigation when departing from the target area and returning to the voyage, the navigation device 3 is provided with an attitude sensor; the GPS antenna 1 is used for the autonomous underwater robot on the water surface Receive GPS signal, carry out position calibration; Described depth meter 6 is used for measuring the water depth where autonomous underwater robot is; Described altimeter 7 is used for measuring autonomous underwater robot apart from seabed height; Parameter water quality me...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C13/00B63G8/24
CPCG01C13/00B63G8/24
Inventor 刘铁军尹远徐会希石凯姜志斌李阳李吉旭
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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