A supervised dormancy method for an autonomous underwater robot with a buoyancy adjustment device
A technology of underwater robot and buoyancy adjustment, applied in measurement devices, control/adjustment systems, instruments, etc., to achieve the effect that is conducive to the realization and application of engineering
Active Publication Date: 2019-09-24
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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The operation mode design is based on the operation requirements of AUV and the characteristics of the equipment. Optimizing the operation process can reduce unnecessary power consumption, but there will be an upper limit to the ability to improve battery life.
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[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0034] The autonomous underwater robot supervision dormancy method with buoyancy adjustment device of the present invention comprises the following steps:
[0035] Step 1: The steps of the navigation process are described as follows:
[0036] According to the mission requirements set by humans before the AUV is launched, the automatic driving unit has the functions of navigation control, data collection and recording, behavior sequence generation and execution, fault detection and processing, and power supply and shutdown of hardware devices on the AUV. Navigation at the fixed speed, orientation and fixed depth settings of the section. If the observation operation needs to be carried out after reaching the end of the path section, the buoyancy adjustment device will float or dive to the set observation depth, and the attitude of the AUV will b...
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The invention relates to an autonomous underwater robot dormancy supervision method with a buoyancy adjusting device. The method comprises a sailing process, an observation process, a dormancy supervision process and a wake-up process. During the sailing process, an AUV is sailing to an observation pointaccording to a preset speed and a preset direction so as to move at an observation depth, and then the observation process is started. During the observation process, a detection sensor is turned on by an automatic driving unit, and then the sectionobservation of a sea element is started. Afteran observation task is completed, whether the next observation time is reached or not is judged. Whether a next observation task is executed continuously or the dormancy supervision process is started is determined. During the dormancy supervision process, the AUV dives to a dormant water depth. Meanwhile, a supervision and duty control unit enters a supervision state.Whether the wake-up processis started or not is judged according to the presence / absence of a wake-up reason. During the wake-up process, the supervision and duty control unit executes the wake-up operation according to different reasons. According to the invention, the energy consumption of the observation task of the AUV in a complex marine environment can be obviously reduced. The endurance of the AUV is greatly increased. Meanwhile, the fixed-point observation task of the AUV in a specific sea area for a long time is facilitated.
Description
technical field [0001] The invention relates to the technical field of underwater robot control, in particular to an autonomous underwater robot supervision sleep method with a buoyancy adjustment device. Background technique [0002] Underwater robots have a wide range of applications in scientific investigations and military applications. The current AUV underwater continuous working time is generally on the order of hours or several days, and rarely exists on the order of tens of days or several months. Usually AUV is in a continuous sailing or operating state, which consumes a lot of energy and is difficult to work for a long time. Through the buoyancy adjustment, the buoyancy state of the AUV is precisely adjusted to make it close to the zero buoyancy state, so that the AUV has the conditions for supervision and dormancy within a certain period of time. Systems, control and navigation systems and other equipment, only retain a small number of sensors such as bathymetr...
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IPC IPC(8): G05B19/042G05D1/10G01D21/02
Inventor 姜志斌刘铁军
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI