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Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system

An underwater robot and recovery system technology, which is applied to underwater operation equipment, instruments, image data processing and other directions, and can solve problems such as the inability to meet the needs of applications

Active Publication Date: 2016-07-27
HARBIN ENG UNIV
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Problems solved by technology

A comprehensive analysis of relevant literature shows that the existing underwater recovery methods have certain limitations and cannot meet the needs of practical applications in marine environments.

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  • Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system
  • Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system
  • Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system

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Embodiment Construction

[0065] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0066] The purpose of the present invention is to provide a recovery method for an autonomous underwater robot guided by a linear light source array, aiming at the limited guidance distance, low success rate, poor reliability and susceptibility to environmental factors in the existing underwater docking recovery system However, this method enables the autonomous underwater robot to achieve high reliability, high robustness, and high success rate of underwater autonomous recovery, and theoretically, the effective guidance distance that meets the application requirements can be obtained by increasing the length of the light source array.

[0067] The main components of the optically guided recovery system for autonomous underwater vehicles include:

[0068] (1) Underactuated autonomous underwater robot with typical rudder-wing joint control, with an optical cam...

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Abstract

The invention discloses an optical guiding recovery system of an autonomous underwater robot and a recovery method of the optical guiding recovery system. The method includes the following steps that: the autonomous underwater robot performs pectination search on a linear guide light source array; if guide light sources are found, the three-dimensional spatial coordinates of the guide light sources are calculated; a sightline method or a lateral trajectory deviation method are adaptively adopted to plane the heading angle of the target according to the number of the guide light sources; and a two-layer tracking control system is designed based on a fuzzy PID controller and an S surface controller. With the system and the method of the invention adopted, the autonomous underwater robot can realize high-reliability, high-robustness and high-success rate underwater autonomous docking, and effective guide distances which can satisfy practical application requirements can be obtained through increasing the length of the light source array.

Description

technical field [0001] The invention belongs to the field of recovery of underwater robots, and in particular relates to an optical guidance recovery system and recovery method of an autonomous underwater robot guided by a linear light source array. Background technique [0002] In recent years, the development of marine economy has been paid attention to all over the world. Autonomous Underwater Vehicle (AUV) has the obvious advantages of high operating efficiency, long continuous voyage, high level of intelligence, and low production cost. Science, hydrogeographic survey, seabed sunken object search, oil and gas pipeline detection and other fields have been more and more widely used. However, under the current level of science and technology, the large-scale application of autonomous underwater robots is still restricted by factors such as energy technology, communication methods, and sea conditions. Data transmission, task downloading and other operations, and deployment...

Claims

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Application Information

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IPC IPC(8): G06T7/00B63C11/52
CPCB63C11/52G06T2207/10024
Inventor 王博姜言清曹建李晔李一鸣
Owner HARBIN ENG UNIV
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