Autonomous recovery device and control method for full-depth unmanned submersible vehicle

Abstract

The invention relates to an autonomous recovery device and control method of an all-depth unmanned submersible, Aiming at the difficulty of recovering the unmanned submersible vehicle after sea trialoperation, by the heading angle and the acceleration information of each shaft collected by the attitude sensor, combined with PID route control algorithm, the unmanned submersible vehicle can have autonomous route and navigation error correction ability, and can adjust the heading and the motion state of each propeller automatically, so as to ensure that the unmanned submersible vehicle always runs on the target route and the route deviation is always within the controllable range. The unmanned submersible vehicle can control the propeller to sail to the mother ship autonomously by using Beidou positioning and communication function, which realizes the intelligence of the unmanned submersible vehicle recovery, and improves the speed, stability and accuracy of the unmanned submersible vehicle recovery in the sea experiment. The invention has good universality and can be widely used in the control system of deep-sea operation ROV, AUV, ARV and other marine equipment.

Description

technical field [0001] The invention relates to a control technology of an unmanned submersible, in particular to an autonomous recovery device and a control method of a full-sea deep unmanned submersible. Background technique [0002] The full-sea deep unmanned submersible is an underwater intelligent device that uses micro-optical cables instead of traditional cables and is controlled by a remote control device on the mother ship. It can not only perform close-range imaging and sampling, but also conduct seabed exploration and mapping. In the future, unmanned submersibles will play a huge role in the various developments of the ocean by humans. Although the use of micro-fiber optic cables reduces the shortcomings of traditional umbilical cable winding, small control range and high requirements on the mother ship, it is prone to communication interruption or even cable breakage in complex sea conditions. higher requirements. At the same time, the activity time of the unde...

AI Technical Summary

Problems solved by technology

When the unmanned submersible works on the deep seabed, due to factors such as currents, it will deviate from the pre-deployment point, and the unmanned submersible after surfacing may be far away from the starting point. It will increase certain risks and even lose

However, unmanned submersibles often integrate many expensive measurement and detection instruments and store a large amount of valuable data. It can be seen that their safe and efficient recovery has always been valued

[0003] At present, the mainstream recovery method at home and abroad is to build a special recovery mother ship or use the crew to take risks to recover. However, due to the influence of wind speed and waves, it is difficult to dock the unmanned submersible with the recovery device of the mother ship, and the personal safety of the crew cannot be guaranteed. Therefore, It is particularly important to develop an intelligent remote autonomous submersible recovery device and control system

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