CN108132617A - A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device - Google Patents
A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device Download PDFInfo
- Publication number
- CN108132617A CN108132617A CN201611076957.XA CN201611076957A CN108132617A CN 108132617 A CN108132617 A CN 108132617A CN 201611076957 A CN201611076957 A CN 201611076957A CN 108132617 A CN108132617 A CN 108132617A
- Authority
- CN
- China
- Prior art keywords
- observation
- flow
- auv
- regulating device
- supervision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005059 dormancy Effects 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000005183 dynamical system Methods 0.000 claims description 6
- 230000007935 neutral effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 2
- 230000002618 waking effect Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 4
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2656—Instrumentation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of autonomous underwater robots with buoyancy regulating device to supervise dormancy method, including：It navigates by water flow, observation flow, supervision suspend mode flow, wake up flow.Navigation flow navigates by water to observation point according to the speed of setting, direction for AUV and moves to Observational depth by buoyancy regulating device, starts to observe flow.Observation flow opens detection sensor for automatic Pilot unit and starts ocean essential profiling observation；After completing observation mission, judge whether to reach observation time next time；Selection continues to execute observation mission next time or enters supervision suspend mode flow.Suspend mode flow is supervised as AUV dives to the suspend mode depth of water, control unit on duty is supervised and enters supervision state, wakes up flow according to whether wake-up reason occur and judging whether to enter；It wakes up flow and performs wake-up step according to different reasons to supervise control unit on duty.The present invention can significantly reduce the energy consumption of observation missions of the AUV under complicated marine environment, greatly increase the endurance of AUV, help to realize ocean weather station observation tasks of the AUV in the long voyage of specified sea areas long-time.
Description
Technical field
It is specifically a kind of autonomous with buoyancy regulating device the present invention relates to underwater robot control technology field
Underwater robot supervises dormancy method.
Background technology
Underwater robot has a wide range of applications in scientific investigation, Military Application etc..The underwater continuous works of current AUV
Time is generally hour or the magnitude of several days, less there are tens days or the magnitude of several months.Usual AUV is in continuous boat
Row or job state, energy expenditure are big, it is difficult to long-term work.By the buoyant state of the accurate leveling AUV of buoyancy adjustment, connect it
Neutral buoyancy state is bordering on, so that AUV has the condition of the supervision suspend mode in certain time, in the case where supervising dormant state, AUV
The equipment such as the larger dynamical system of power consumption, observation system, control and navigation system are closed, only reservation depth measurement survey is high ensures certainly
A small amount of sensor of body safety works so as to fulfill the long-term low-power consumption of AUV, substantially increases the endurance of AUV and connects under water
The continuous working time, therefore with significant application value and research significance.
The common Low-power-consumptiocontrol control method of underwater robot and technology, it is main to include sitting bottom suspend mode, low power dissipation electron equipment
With control method, propulsion mode, low-resistance configuration design, work pattern etc..Wherein sitting bottom dormant technology needs to judge underwater geological conditions
Situation prevents from sitting that mud bottom is absorbed in behind bottom or water-bed uneven leads to sharp hard object of AUV collisions etc., while require high-precision low
The vertical control of speed, it is higher to the configuration and control accuracy requirement of power-equipment.Propulsion mode and low-resistance configuration design be related to machinery,
Hydrodynamics etc. needs largely to calculate and optimize, and is the primary condition of the long endurance low-power consumption work of long voyage.Work pattern is set
The characteristics of counting the job requirements and equipment according to AUV, the less unnecessary power consumption of optimization work flow energy, but can exist to improve and continue
The ability upper limit for power of navigating.The weaker depth bounds of flow velocity under water accurately adjust AUV buoyancy by buoyancy regulating device to connecing
After being bordering on neutral buoyancy state, current consuming apparatus is closed, since existing surplus buoyancy acts on, AUV can be on extremely low vertical velocity
Floating dive campaign, in deep height zone of reasonableness, so as to fulfill the long-time Low-power-consumptiodormancy dormancies of AUV in water.
The underwater robot low energy consumption control method and technology of the practical engineering of research increase the underwater work of underwater robot
Industry time and endurance are an important hot issues in current underwater robot control technology.
Invention content
For above-mentioned shortcoming in the prior art, the technical problem to be solved in the present invention is to provide one kind to carry
The autonomous underwater robot supervision dormancy method of buoyancy regulating device is, it can be achieved that (autonomous underwater robot) AUV is observed in setting
Depth enters the high-energy equipments such as the low power consumpting state of supervision suspend mode, automatic Pilot unit and closes, and supervises control unit prison on duty
Control the state of AUV, hence it is evident that reduce the energy consumption of AUV, the underwater operation time of AUV is greatly increased, especially suitable for uncertain
The prolonged mission task of AUV executive chairmans voyage in complicated marine environment.
Present invention technical solution used for the above purpose is：A kind of autonomous underwater with buoyancy regulating device
Robot supervises dormancy method, including：
Step 1：Navigate by water flow：AUV is according to the preset speed of a ship or plane, course and depth-keeping navigation to observation point；If it needs to carry out
Operation is observed, then is floated by buoyancy regulating device or dive is to the Observational depth set, preparation starts to observe flow；
Step 2：Observe flow：Automatic Pilot unit opens detection sensor and starts ocean essential profiling observation；It completes to work as
After this observation mission of preceding observation point, judge whether to reach observation frequency；If then continuing to execute remaining task, otherwise enter
Supervise suspend mode flow；
Step 3：Supervise suspend mode flow：Pass through buoyancy regulating device dive to the suspend mode depth of water, the posture of depthkeeping leveling AUV；
It supervises control unit on duty and enters supervision state, close automatic Pilot unit；It supervises control unit on duty and monitors whether that triggering is called out
Awake reason wakes up flow if then entering, and otherwise supervises control unit on duty and continues to supervise AUV suspend mode；
Step 4：Wake up flow：It supervises control unit on duty and performs wake-up step according to different wake-up reasons.
The step of navigation flow, includes：
According to the observation mission being manually set in automatic Pilot unit before water under AUV, AUV according to route segment constant speed,
Orientation and the navigation of depthkeeping setting value；If needing to be observed operation after reaching Current observation point, floated by buoyancy regulating device
Or dive, to the Observational depth set, the posture of depthkeeping leveling AUV is close to neutral buoyancy state, prepares to start Current observation
The observation mission of point；The observation mission is primary observation or multiple ocean weather station observation.
The step of observation flow, includes：
Automatic Pilot unit opens the observation mission that detection sensor starts Current observation point；If this observation mission is completed
The water surface is floated up to by buoyancy regulating device afterwards, closes detection sensor, stroboscopic lamp is opened, then handles detection data；It checks
The observation frequency of Current observation point whether is reached, if so, buoyancy regulating device is restored to dead-center position, closes stroboscopic lamp, after
It is continuous to perform remaining mission；If it is not, buoyancy regulating device is restored to dead-center position, stroboscopic lamp is closed, initially enters supervision suspend mode stream
Journey, until completing all observation missions of Current observation point.The buoyancy regulating device is restored to dead-center position, i.e. depthkeeping leveling
The posture of AUV is close to neutral buoyancy state.
The detection sensor includes conductivity-temperature-depth system, multi-parameter water quality instrument, acoustic Doppler fluid velocity profile instrument.
The step of supervision suspend mode flow, includes：
AUV dives are made to observing the depth of water, the posture of depthkeeping leveling AUV by buoyancy regulating device；If observation time does not arrive
Observation cycle, then automatic Pilot unit close dynamical system, detection system, navigation and control system；Supervise control unit on duty
Into supervision state, automatic Pilot unit, opening depth gauge and altimeter are closed, control unit on duty is supervised and monitors whether occur
Reason is waken up, flow is waken up if then entering, control unit on duty is otherwise supervised and continues to supervise AUV suspend mode.
The wake-up reason, whether transfinite including depth value/height value, depth gauge/altimeter whether failure, each cabins of AUV
Section whether water leakage fault, whether reach observation cycle；
The supervision control unit on duty is used to that the supervision time to be powered or power off and calculated to automatic Pilot unit.
The dynamical system includes propeller, steering engine, buoyancy regulating device；The navigation includes electronics sieve with control system
Disk, Inertial Measurement Unit, depth gauge and altimeter.
The step of wake-up flow, includes：
When AUV it is deep/be highly more than setting secure threshold, then supervising that control unit on duty powers to automatic Pilot unit will
It wakes up, and automatic Pilot unit opens navigation system, buoyancy regulating device adjusts AUV to safety depth or height, leveling AUV appearances
State；Arrival observation cycle is checked whether, if then entering observation flow；
When water leakage fault occurs, supervise control unit on duty and water leakage fault is reported to give automatic Pilot unit, subsequently into
Observe flow；
When depth gauge or altimeter failure, supervise control unit on duty and check whether arrival fault threshold, if on then
Report failure gives automatic Pilot unit, subsequently into observation flow；Otherwise restart depth gauge or altimeter, check whether arrival observation
Period if entering observation flow, otherwise supervises control unit on duty and continues to supervise AUV suspend mode；
It when reaching observation cycle, needs to perform observation mission, then enters observation flow.
The invention has the advantages that and advantage：
1. the present invention includes the navigation flow of the autonomous underwater robot with buoyancy regulating device, observation flow, supervision
Suspend mode flow and wake-up flow systematically propose underwater robot supervision suspend mode low power consumption control technical solution.
2. the present invention will wake up the wake-up reason being likely to occur in flow and corresponding process flow gives detailed solution
Certainly scheme makes Rational Decision with making AUV autonomous intelligences.
3. present invention design supervision suspend mode low power consumption control strategy has simple and practical, practical, pseudocode rank
Feature, conducive to Project Realization and application.
Description of the drawings
The autonomous underwater robot that Fig. 1 is the present invention navigates by water flow chart；
Fig. 2 is the autonomous underwater robot observation of the present invention and supervision suspend mode flow chart；
The autonomous underwater robot that Fig. 3 is the present invention wakes up flow chart.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
The supervision dormancy method of the autonomous underwater robot with buoyancy regulating device of the present invention, includes the following steps：
The first step：The step of navigating by water flow is described as follows：
According to the mission mission requirements being manually set before water under AUV, wherein automatic Pilot unit has navigation control, data
Acquisition and record, behavior sequence generation and execution, fault detect and processing supply the functions such as power-off, AUV to hardware device on AUV
It navigates by water according to the constant speed of route segment, orientation and depthkeeping setting value, if needing to be observed operation after the terminal of arrival route segment, leads to
The Observational depth that buoyancy regulating device floats or dive is extremely set is crossed, the posture of depthkeeping leveling AUV is close to neutral buoyancy shape
State, preparation start to observe flow.Idiographic flow is as shown in Figure 1.
Second step：The step of observing flow is described as follows：
Automatic Pilot unit opens detection load (conductivity-temperature-depth system, multi-parameter water quality instrument etc.) and prepares the sight of ocean essential section
It surveys, the water surface is floated up to by buoyancy regulating device, closes detection sensor, stroboscopic lamp is opened, then handles detection data；It checks
The observation frequency of Current observation point whether is reached, if so, buoyancy regulating device is restored to dead-center position, closes stroboscopic lamp, after
It is continuous to perform remaining mission；If it is not, buoyancy regulating device is restored to dead-center position, stroboscopic lamp is closed, initially enters supervision suspend mode stream
Journey, until completing all observation missions of Current observation point.Idiographic flow is as shown in part on Fig. 2.
Third walks：The step of supervising suspend mode flow is described as follows：
By buoyancy regulating device dive to the depth of water is observed, leveling is then carried out.If observation time does not arrive observation cycle,
Close dynamical system (such as propeller, steering engine, buoyancy regulating device), detection system (conductivity-temperature-depth system, multi-parameter water quality instrument, sound
Learn Doppler's flow velocity section plotter etc.), navigation and control system (electronic compass, Inertial Measurement Unit and automatic Pilot unit etc.).
It supervises control unit on duty and enters supervision state, close automatic Pilot unit, open depth gauge and altimeter, supervise control on duty
Whether depth value transfinites, whether height value transfinites, whether depth gauge failure, altimeter failure and each bay sections of AUV leak for unit monitoring
The failures such as water to automatic Pilot unit confession/power-off and calculate the supervision time；If observation time reaches observation cycle, again
Start to observe flow.Idiographic flow is as shown in Fig. 2 lower parts.
4th step：The step of waking up flow is described as follows：
When AUV it is deep/be highly more than setting secure threshold, then supervising that control unit on duty powers to automatic Pilot unit will
It wakes up, and automatic Pilot unit opens navigation system, buoyancy regulating device adjusts AUV to safety depth or height, leveling AUV appearances
State；Arrival observation cycle is checked whether, if then entering observation flow；
When water leakage fault occurs, supervise control unit on duty and water leakage fault is reported to give automatic Pilot unit, subsequently into
Observe flow.
When depth gauge or altimeter failure, supervise control unit on duty and check whether arrival fault threshold, if on then
Report failure gives automatic Pilot unit, subsequently into observation flow；Otherwise restart depth gauge or altimeter, check whether arrival observation
Period if entering observation flow, otherwise supervises control unit on duty and continues to supervise AUV suspend mode；
It when reaching observation cycle, needs to perform observation mission, then enters observation flow.
Idiographic flow is as shown in Figure 3.
Claims (9)
1. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device, which is characterized in that including：
Step 1：Navigate by water flow：AUV is according to the preset speed of a ship or plane, course and depth-keeping navigation to observation point；If it need to be observed
Operation is then floated by buoyancy regulating device or dive is to the Observational depth set, and preparation starts to observe flow；
Step 2：Observe flow：Automatic Pilot unit opens detection sensor and starts ocean essential profiling observation；Complete current see
After this observation mission of measuring point, judge whether to reach observation frequency；If then continuing to execute remaining task, otherwise enter supervision
Suspend mode flow；
Step 3：Supervise suspend mode flow：Pass through buoyancy regulating device dive to the suspend mode depth of water, the posture of depthkeeping leveling AUV；Supervision
Control unit on duty enters supervision state, closes automatic Pilot unit；It supervises control unit on duty and monitors whether that triggering wakes up original
Cause wakes up flow if then entering, and otherwise supervises control unit on duty and continues to supervise AUV suspend mode；
Step 4：Wake up flow：It supervises control unit on duty and performs wake-up step according to different wake-up reasons.
2. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 1,
It is characterized in that, described the step of navigating by water flow includes：
According to the observation mission being manually set in automatic Pilot unit before water under AUV, constant speed, orientations of the AUV according to route segment
And depthkeeping setting value navigation；If reach Current observation point after need to be observed operation, by buoyancy regulating device float or under
It dives to the Observational depth of setting, the posture of depthkeeping leveling AUV, is close to neutral buoyancy state, prepare to start Current observation point
Observation mission；The observation mission is primary observation or multiple ocean weather station observation.
3. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 1,
It is characterized in that, described the step of observing flow includes：
Automatic Pilot unit opens the observation mission that detection sensor starts Current observation point；It is if logical after the completion of this observation mission
It crosses buoyancy regulating device and floats up to the water surface, close detection sensor, open stroboscopic lamp, then handle detection data；It checks whether
The observation frequency of Current observation point is reached, if so, buoyancy regulating device is restored to dead-center position, stroboscopic lamp is closed, continues to hold
Row residue mission；If it is not, buoyancy regulating device is restored to dead-center position, stroboscopic lamp is closed, initially enters supervision suspend mode flow, directly
To all observation missions for completing Current observation point.
4. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 3,
It is characterized in that, the detection sensor includes conductivity-temperature-depth system, multi-parameter water quality instrument, acoustic Doppler fluid velocity profile instrument.
5. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 1,
It is characterized in that, described the step of supervising suspend mode flow includes：
AUV dives are made to observing the depth of water, the posture of depthkeeping leveling AUV by buoyancy regulating device；If observation time does not arrive observation
Period, then automatic Pilot unit close dynamical system, detection system, navigation and control system；Control unit on duty is supervised to enter
Supervision state closes automatic Pilot unit, opens depth gauge and altimeter, supervises control unit on duty and monitors whether to wake up
Reason wakes up flow if then entering, and otherwise supervises control unit on duty and continues to supervise AUV suspend mode.
6. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 5,
Be characterized in that, the wake-up reason, whether transfinite including depth value/height value, depth gauge/altimeter whether failure, each cabins of AUV
Section whether water leakage fault, whether reach observation cycle.
7. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 5,
It is characterized in that, the supervision control unit on duty is used to that the supervision time to be powered or power off and calculated to automatic Pilot unit.
8. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 5,
It is characterized in that, the dynamical system includes propeller, steering engine, buoyancy regulating device；The navigation includes electronics with control system
Compass, Inertial Measurement Unit, depth gauge and altimeter.
9. a kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device according to claim 1,
It is characterized in that, described the step of waking up flow includes：
When AUV it is deep/be highly more than setting secure threshold, then supervise control unit on duty and called out to the power supply of automatic Pilot unit
It wakes up, automatic Pilot unit opens navigation system, buoyancy regulating device adjusts AUV to safety depth or height, leveling AUV postures；
Arrival observation cycle is checked whether, if then entering observation flow；
When water leakage fault occurs, supervise control unit on duty and water leakage fault is reported to give automatic Pilot unit, subsequently into observation
Flow；
It when depth gauge or altimeter failure, supervises control unit on duty and checks whether arrival fault threshold, if then reporting event
Hinder and give automatic Pilot unit, subsequently into observation flow；Otherwise restart depth gauge or altimeter, check whether arrival observation week
Phase if entering observation flow, otherwise supervises control unit on duty and continues to supervise AUV suspend mode；
It when reaching observation cycle, needs to perform observation mission, then enters observation flow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076957.XA CN108132617B (en) | 2016-11-30 | 2016-11-30 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076957.XA CN108132617B (en) | 2016-11-30 | 2016-11-30 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108132617A true CN108132617A (en) | 2018-06-08 |
| CN108132617B CN108132617B (en) | 2019-09-24 |
Family
ID=62387319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611076957.XA Active CN108132617B (en) | 2016-11-30 | 2016-11-30 | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108132617B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113268068A (en) * | 2021-05-31 | 2021-08-17 | 自然资源部第二海洋研究所 | Hybrid intelligent autonomous detection method for deep sea area based on bionic submersible vehicle |
| CN114924052A (en) * | 2022-05-27 | 2022-08-19 | 浙江科新藻业科技有限公司 | Water quality monitoring frequency control method and system based on depth sensor |
| CN117022649A (en) * | 2023-10-08 | 2023-11-10 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201532580U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Low power consumption control system for underwater glider |
| CN104670439A (en) * | 2013-11-27 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Buoyancy adjusting method for AUV |
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN105700412A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible |
| CN108120429A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot pinpoints profile measurement method for a long time |
-
2016
- 2016-11-30 CN CN201611076957.XA patent/CN108132617B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201532580U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Low power consumption control system for underwater glider |
| CN104670439A (en) * | 2013-11-27 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Buoyancy adjusting method for AUV |
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN105700412A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible |
| CN108120429A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot pinpoints profile measurement method for a long time |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126633A (en) * | 2019-12-30 | 2021-07-16 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113126633B (en) * | 2019-12-30 | 2022-05-06 | 中国科学院沈阳自动化研究所 | Zero-attack-angle depth-keeping navigation control method for light long-range AUV (autonomous Underwater vehicle) |
| CN113268068A (en) * | 2021-05-31 | 2021-08-17 | 自然资源部第二海洋研究所 | Hybrid intelligent autonomous detection method for deep sea area based on bionic submersible vehicle |
| CN113268068B (en) * | 2021-05-31 | 2022-06-28 | 自然资源部第二海洋研究所 | Bionic submersible vehicle-based mixed intelligent autonomous detection method for deep sea area |
| CN114924052A (en) * | 2022-05-27 | 2022-08-19 | 浙江科新藻业科技有限公司 | Water quality monitoring frequency control method and system based on depth sensor |
| CN117022649A (en) * | 2023-10-08 | 2023-11-10 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
| CN117022649B (en) * | 2023-10-08 | 2024-01-19 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108132617B (en) | 2019-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108132617B (en) | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device | |
| CN110794855A (en) | Comprehensive control system and method for underwater robot | |
| de Barros et al. | Investigation of normal force and moment coefficients for an AUV at nonlinear angle of attack and sideslip range | |
| US20160252907A1 (en) | Apparatus and method | |
| Kraus et al. | Estimation of wave glider dynamics for precise positioning | |
| CN108120429A (en) | A kind of autonomous underwater robot pinpoints profile measurement method for a long time | |
| CN109131801A (en) | The voluntary recall device and control method of the complete deep unmanned submersible in sea | |
| CN105270583A (en) | Measuring type unmanned ship and measuring method thereof | |
| CN103970021A (en) | Relaxation power positioning control system based on model prediction control | |
| CN109263840B (en) | Underwater robot large-submergence depth submergence thruster and active fault diagnosis method | |
| CN111452939A (en) | Autonomous line-inspection underwater helicopter for diversion tunnel detection | |
| CN105549602A (en) | UUV active bottom sitting method assisted by buoyancy balancing device | |
| Zhou et al. | Designated area persistent monitoring strategies for hybrid underwater profilers | |
| Jiao et al. | Predictions of wave induced ship motions and loads by large-scale model measurement at sea and numerical analysis | |
| Steenson et al. | The performance of vertical tunnel thrusters on an autonomous underwater vehicle operating near the free surface in waves | |
| CN104679008B (en) | A kind of AUV independently seeks bottom control method | |
| CN115019412A (en) | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors | |
| CN106527454A (en) | Remote underwater vehicle depth setting control method without steady state error | |
| Doss et al. | Simulation and experimental studies of a mobile robot for underwater applications | |
| CN113501114B (en) | Deep sea current calculation method based on unpowered submergence real-time information of deep submergence device | |
| CN206475196U (en) | A kind of binary detects underwater robot device | |
| CN111024217B (en) | Ship underwater self-noise monitoring method | |
| CN110837254B (en) | Longitudinal motion control method for hydrofoil craft | |
| Li et al. | Design of an underwater autonomous Inspection robot | |
| ZHANG et al. | Control system of ROV for underwater safety inspection and operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |