Localization and control system of underwater vehicle based on surface relay equipment

Abstract

The invention discloses an underwater robot positioning and manipulating system based on the aid of surface relay equipment, comprising a mother ship and an underwater robot, characterized in that theunderwater robot positioning and manipulating system further comprises a relay equipment. The relay device is provided with a first control system, a first data transmitter detecting device, and thefirst data transmitter, the detecting device is respectively connected with the first control system signal; The detecting device is used for detecting the relative position of the robot relative to the relay device. The robot is provided with a second data transmission device, and the second data transmission device is connected with the first data transmission device signal; The mother ship is provided with a second control system and a third data transmitter which are signal-connected, and the third data transmitter is signal-connected with the first data transmitter to monitor the positionof the underwater robot. By setting relay equipment, more accurate and efficient underwater vehicle positioning and data collection can be achieved, and fault occurrence can be reduced.

Description

technical field [0001] The invention relates to the technical field of underwater intelligent robots, in particular to an underwater robot positioning and control system aided by surface relay equipment. Background technique [0002] At present, intelligent underwater robots have become the most important equipment for underwater exploration and operation, improving the range of human underwater operations, and improving the level of human underwater operations. It plays an extremely important role in the development of the ocean. The accuracy of underwater positioning and map traversal of underwater robots determines the task quality of underwater robots to a certain extent. The current underwater positioning and map construction methods are mainly based on sensors and self-positioning algorithm, etc. Most of the existing cable-type underwater robots use cables to connect with the ground or large ships, so as to provide the power supply of the underwater robot and receive ...

AI Technical Summary

Problems solved by technology

[0003] Due to the complexity and changeability of the ocean environment, when the robot body is close to the bottom of the sea, there are certain limitations in building and understanding the underwater environment map through the camera and downward-looking sonar, and it is not possible to accurately understand the position of the robot body. understand, and cannot grasp the overall situation of the seabed

In addition, the existing method of directly connecting the underwater robot to the mother ship with cables has certain limitations. Due to the poor maneuverability of the mother ship, the position error caused by the hull size is large, and the operating range of the underwater robot is also greatly reduced.

The existing communication method is underwater robot tow cable communication, which is prone to cable entanglement due to mobility limitations

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