Terminal vision guiding method for underwater mating of AUV and docking station

Abstract

The invention discloses a terminal vision guiding method for underwater mating of an AUV and a docking station. The method adopts a single guiding lamp and monocular vision to assist the mating between an underactuated autonomous underwater vehicle and an underwater docking station. According to the invention, based on the principles for controlling of the horizontal direction of underwater vehicles, the guiding manner of a combination of visual information and the attitude information of the underwater vehicle is designed; a controller for a horizontal underwater vehicle is also designed; andthe controller allows the underwater vehicle to realize docking along a direction facing the orientation of the docking station as much as possible, so the success rate of the mating of the underwater vehicle is increased. The method provided by the invention can simplify a vision guiding algorithm, lower requirements on the performance of signal processing chips and reduce equipment cost. Moreover, the depth dimension control principles of the underwater vehicle are cooperatively adopted to convert visual information in a vertical direction into depth information, and the visual informationis compensated by the attitude angle of the underwater vehicle, so the reliability of control in a depth direction during mating of the underwater vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of underwater vehicle guidance and control, and in particular relates to a terminal visual guidance method for underwater docking of an AUV and a docking station. Background technique [0002] When AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) docks with the underwater docking station autonomously, the requirements for the system's navigation accuracy and navigation data update rate are very high; there will be some problems when using traditional acoustic sensors for guidance , including slow update rate of acoustic data, large measurement error, etc. Therefore, during the docking process, the terminal (that is, the horizontal distance between the aircraft and the docking station is about 20-30m) is often guided by vision. Vision can provide high data rate and high-precision measurement values ​​to meet conventional docking requirements. During the docking process, multiple guide light...

AI Technical Summary

Problems solved by technology

[0004] For underwater vehicles, how to use visual information during the docking process is very critical, including horizontal guidance and vertical guidance; general monocular and single-light guidance systems only guide the vehicle horizontally, and pass through vertically. Other sensors are used for guidance, such as depth gauges, etc. However, when the depth of the docking station changes, the depth gauge cannot meet the docking requirements, so using visual guidance is a very practical method

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