AUV capture guiding method based on acoustic and optical guiding

Abstract

The invention discloses an AUV capture guiding method based on acoustic and optical guiding. The method comprises the following steps that after a mother ship receives a to-be-recovered signal transmitted by an AUV, four underwater acoustic transducers are adopted to transmit an acoustic signal to the AUV; the AUV receives the acoustic signals and calculates the time difference of different signals arriving at the AUV, the relative position of the AUV and the mother ship is calculated according to the time difference, the AUV sends the position information and the acoustic guiding state of theAUV to the mother ship, and the mother ship sends the acoustic guiding state to an AUV recovery device ROV; the AUV detects a guiding lamp signal arranged on the AUV recovery device ROV; when the AUVrecovery device ROV rear wall guiding lamp signal is detected, the position of the AUV recovery device ROV is estimated by identifying the relative position of a guiding lamp on the rear wall in theAUV recovery device ROV relative to a coordinate system formed by guiding lamps on the front side of the AUV recovery device ROV.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to an AUV capture and guidance method based on acoustic and optical guidance. Background technique [0002] AUV capture and guidance is the key issue in AUV recovery. At present, AUV recovery guidance mainly adopts acoustic guidance or optical guidance, but due to factors such as noise interference, the accuracy of underwater acoustic positioning is greatly affected, and the recovery cabin signal light Guided into the cabin, in the process of entering the cabin, it can only enter the cabin through inertia, which is prone to collisions and brings unnecessary damage to the AUV. There are two main types of existing underwater AUV recovery technologies. The first is the fishing method, which uses a net-like structure to catch the AUV directly ashore. This method can easily cause damage to the AUV; the second method uses the box body Or the recovery device is fixed on the seabed....

AI Technical Summary

Problems solved by technology

[0002] AUV capture and guidance is the key issue in AUV recovery. At present, AUV recovery guidance mainly adopts acoustic guidance or optical guidance, but due to factors such as noise interference, the accuracy of underwater acoustic positioning is greatly affected, and the recovery cabin signal light Guided into the cabin, the cabin can only be entered through inertia during the process of entering the cabin, which is prone to collisions and brings unnecessary damage to the AUV

There are two main types of existing underwater AUV recovery technologies. The first is the fishing method, which uses a net-like structure to catch the AUV directly ashore. This method can easily cause damage to the AUV; the second method uses the box body Or the recovery device is fixed on the seabed. This method requires the AUV to enter the fixed recovery device and recover the AUV through the recovery device. However, due to the uncertainty of the water flow and the limitations of the AUV's own design, the AUV can only do linear motion in the water. It is impossible to do horizontal and vertical movements directly in the water, especially when it is affected by the horizontal current in the water, it is easy to deviate from the channel and cannot reach the predetermined position quickly

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