Underwater robot polar region under-ice recovery method based on acoustic road sign and optical road sign combined auxiliary navigation
An underwater robot and auxiliary navigation technology, applied in the directions of underwater operation equipment, transportation and packaging, ships, etc., can solve the problems of long-term investigation limitations under ice, heavy support and support work burden, etc., to achieve safety and intelligence The effect of recycling
Active Publication Date: 2022-03-25
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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[0002]Currently, underwater robots under the Arctic ice are recovering ice caves mainly through the tethering of the robot to ensure the safety of returning to the voyage or using a large-scale maneuver to float from the open water outside the ice station. There are great restrictions on large-scale and long-term surveys under the ice, and the burden of supporting and guaranteeing work in polar regions is heavy and bears huge risks.
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[0034] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the specific implementation methods of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without violating the connotation of the invention, so the present invention is not limited by the specific implementation disclosed below.
[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the invention is for the purpose of...
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The invention relates to an underwater robot polar region under-ice recovery method based on acoustic road sign and optical road sign combined aided navigation, which comprises the following steps: when an underwater robot sails to a recovery hole by virtue of an autonomous navigation system in an under-ice cruising process, navigation calibration is carried out through an underwater optical two-dimensional code road sign preset on a sailing route; gradually approaching to the under-ice recovery hole from the distance; after the underwater robot sails within 2 km of the recovery hole, continuous navigation position calibration is carried out through the acoustic road sign hung at the hole, and the underwater robot is guided to autonomously approach the acoustic road sign; when the underwater robot sails to the position near the hole, the optical sensor can see the recycling net placed in the hole, the underwater robot is guided to drill into the recycling net by comprehensively using the acoustic road sign information and the optical road sign information, at the moment, a robot propelling system is automatically stopped, the underwater robot is placed on the partition plate after the underwater robot is lifted to be separated from the water surface, and the whole recycling process is completed.
Description
technical field [0001] The invention relates to the technical field of underwater robots for underwater scientific research under the Arctic ice, and more specifically relates to a recovery method for an underwater robot under polar ice based on the combined auxiliary navigation of acoustic landmarks and optical landmarks. Background technique [0002] At present, the recovery of underwater robots under the Arctic ice is mainly through the tethering of the robot to ensure the safety of the return voyage, or to float and recover from the open water outside the ice station after using a large-scale maneuver, which has great restrictions on large-scale long-term surveys under the ice. , supporting and safeguarding the polar regions has a heavy burden and bears huge risks. Therefore, it is necessary to develop a set of intelligent and scientific underwater robot recovery methods, and design a set of underwater robot polar ice recovery system based on the combination of acoustic ...
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IPC IPC(8): B63C11/52
CPCB63C11/52B63B2027/165
Inventor 阎述学曾俊宝徐高鹏刘崇德李一平李智刚李硕
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI