CN110794855A - Comprehensive control system and method for underwater robot - Google Patents
Comprehensive control system and method for underwater robot Download PDFInfo
- Publication number
- CN110794855A CN110794855A CN201911199581.5A CN201911199581A CN110794855A CN 110794855 A CN110794855 A CN 110794855A CN 201911199581 A CN201911199581 A CN 201911199581A CN 110794855 A CN110794855 A CN 110794855A
- Authority
- CN
- China
- Prior art keywords
- control
- underwater robot
- underwater
- fault
- module
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 238000003745 diagnosis Methods 0.000 claims abstract description 42
- 230000008859 change Effects 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000005457 optimization Methods 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 88
- 238000004891 communication Methods 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000003044 adaptive effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 238000009413 insulation Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000008439 repair process Effects 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000012938 design process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013139 quantization Methods 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 238000006880 cross-coupling reaction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001364 causal effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- 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
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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)
- Manipulator (AREA)
Abstract
The invention discloses an underwater robot comprehensive control system and a method thereof.A sensing module is used for receiving data input of an observation system and carrying out optimization processing; the control algorithm module receives data optimized by the sensing module; the control algorithm module forms a combined reference model by establishing an underwater robot motion model, a working environment geographic model and a depth distance matching model; the fault diagnosis and fault tolerance control module realizes fault diagnosis and fault tolerance control of the underwater robot based on a fault tree; the control algorithm module monitors the motion state change of the underwater robot through an observation system, compares the output of the combined reference model with the motion state change result of the underwater robot, sends an error value between the output of the combined reference model and the motion state change result of the underwater robot to the self-adaptive controller, and adjusts the control parameters of the basic control loop through the self-adaptive controller; the control algorithm module of the invention autonomously judges the working mode and carries out different control operations according to different modes, thereby realizing the accurate control of the underwater robot.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to an underwater robot comprehensive control system and a method thereof.
Background
The control system is used for controlling underwater motion of the underwater robot. The underwater environment is complex, the underwater motion of the underwater robot is required to be accurately controlled, and the existing control system is low in accuracy and complex in fault-tolerant fault diagnosis system.
Patent document CN104754275A relates to a small-sized remote control underwater robot co-cable transmission device, which comprises an above-water module and an underwater module, wherein the above-water module and the underwater module are connected through a transmission co-cable for transmitting radio frequency/alternating current power signals.
CN107310697A relates to a control system of underwater robot, and the control system comprises surface of water and under water two embedded systems, replaces surface of water, under water computer in the traditional technology, has reduced volume, weight, consumption by a wide margin, the cost is reduced. The water surface control unit takes a water surface CPU as a core, and controls a control handle, a control panel (comprising buttons, a potentiometer and the like), an image subsystem (comprising a DVR, a character superimposer and the like) and a user expansion interface. The underwater unmanned aerial vehicle takes an underwater CPU as a core and controls an underwater lamp, a propeller, a cradle head steering engine, a sensor and an expansion interface (comprising a mechanical arm, a working tool, a sensor and the like). Umbilical cables or optical fibers or wireless communication is adopted between the water surface and the water surface. Patent document CN107463097A relates to an adaptive quantization fault-tolerant control device of an underwater robot and a method thereof, which includes an inner loop control module, wherein the inner loop control module controls a compensation and feedback module, and generates a quantization control signal through a signal quantizer to control the underwater robot; the compensation and feedback module comprises an actuating mechanism fault self-adaptive compensation module, a nonlinear feedback module and an uncertainty self-adaptive compensation module; the inner ring control module generates a quantized control signal through a signal quantizer based on the underwater robot kinematic model, the underwater robot dynamic model and the expectation module. The adaptive fault compensator is designed, and can process the gain fault and perturbation fault of the actuating mechanism; by designing the inverse adaptation law, the control distribution matrix drift caused by control signal quantization is compensated.
CN109298632A belongs to the technical field of fault tolerance of a propeller of an autonomous underwater robot, and particularly relates to a fault tolerance control method of the propeller of the autonomous underwater robot based on a sliding mode algorithm and thrust secondary adjustment, wherein a bipolar function is adopted to replace a sign function, self-adaptive adjustment of switching gain and boundary layer thickness is realized, and the buffeting phenomenon of sliding mode fault tolerance control is weakened; a fault-tolerant control method combining sliding mode control and thrust secondary adjustment is adopted, so that the weight coefficient of a fault propeller in a propeller priority matrix changes along with the change of the fault degree, and the control voltage of the fault propeller is reduced; corresponding control compensation values are added into the control law to eliminate the influence of the deviation, so that the purpose of fault-tolerant control is achieved.
In the prior art, for example, CN107310697A relates to an underwater robot control system, the control system realizes parameter acquisition through multiple sensors, but the application of acquired data is not considered integrally, which results in low utilization efficiency of acquired parameters and low control accuracy; the underwater environment is complex, the existing control system is difficult to realize accurate control on underwater motion of the underwater robot, feedback is not timely enough, timely processing of emergency states is lacked, and the underwater robot self-return self-rescue capability is poor after communication with water surface control software is lost. The system is required to accurately measure and feed back equipment parameters, accurately fine-tune control signals and timely process various emergency states; the existing control system only relates to the collection of each parameter, and the collected data processing and the application utilization efficiency among data are low, so that the accurate control cannot be realized.
Disclosure of Invention
The invention aims to provide an underwater robot comprehensive control system and method for realizing accurate control of a control system and realizing an autonomous return control function.
The invention is realized by the following technical scheme:
an underwater robot comprehensive control system comprises a sensing module, a monitoring module and a control module, wherein the sensing module is used for receiving data input of an observation system and optimizing the received data;
the control algorithm module receives the data optimized by the sensing module; the control algorithm module automatically judges the working modes and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; the control algorithm module forms a combined reference model by establishing an underwater robot motion model, a working environment geographic model and a depth distance matching model;
the fault diagnosis and fault tolerance control module realizes fault diagnosis and fault tolerance control of the underwater robot based on a fault tree; and the number of the first and second groups,
and the control algorithm module monitors the motion state change of the underwater robot through the observation system, compares the output of the combined reference model with the motion state change result of the underwater robot, sends an error value between the output of the combined reference model and the motion state change result of the underwater robot to the adaptive controller, and adjusts the control parameters of the basic control loop through the adaptive controller.
Furthermore, the sensing module performs optimization processing on the received data, the processed state and parameter data are divided into two paths, one path is sent to the control algorithm module, and the other path is sent to the fault diagnosis and fault tolerance control module for analyzing the operation condition of the system.
Further, in the ROV working mode, the control algorithm module receives a water surface control instruction, controls the power distribution control module, the equipment control module and the propulsion control module, further realizes the function control of the underwater robot main body, and feeds back state and parameter data to the water surface control device; under the ARV working mode, the umbilical cable is released to cut off the water surface power supply and the underwater robot battery power supply is changed, the control algorithm module receives a water surface control instruction, and the control algorithm module receives the water surface control instruction; and under the AUV working mode, the control algorithm module autonomously decides to complete the function control of the underwater robot main body according to the data input of the sensing module and by combining state and parameter data.
Furthermore, the observation system comprises a depth sensor, a distance measuring sonar, a guiding sonar, a sonar synchronous controller, a course heading and attitude measuring unit and an insulation detector; the water surface control device completes transmission of control commands, states and data information with the underwater control device through the communication module, and carries out real-time monitoring, fault diagnosis and communication maintenance on underwater communication on the water surface.
Further, the power distribution control module receives the instruction of the control algorithm module to carry out on-off control on the power supplies of the underwater camera, the underwater illuminating lamp, the depth measuring unit and the sonar synchronous controller of the observation system; the propulsion control module receives the instruction of the control algorithm module to complete the control of enabling/stopping, forward/reverse rotation, speed regulation and the like of the plurality of propellers; and the equipment control module completes initialization, resetting, self-checking, function control and the like of each controlled equipment according to the instruction of the control algorithm module.
Further, the comprehensive control method for the underwater robot comprises the following steps: step S1, the sensing module receives the data input of the depth sensor, the distance measuring sonar, the guiding sonar, the sonar synchronous controller, the course heading and attitude measuring unit and the insulation detector; the sensing module carries out optimization processing on the received data, the processed state and parameter data are divided into two paths, one path is sent to the control algorithm module, and the other path is sent to the fault diagnosis and fault tolerance control module and used for analyzing the operation condition of the system;
step S2, the control algorithm module automatically judges the working mode and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; in an ROV working mode, the control algorithm module receives a water surface control instruction, controls the power distribution control module, the equipment control module and the propulsion control module, further realizes the function control of the underwater robot main body, and feeds back state and parameter data to the water surface control device; under the ARV working mode, the umbilical cable is released to cut off water surface power supply, the underwater robot battery power supply is changed into the underwater robot battery power supply, the control algorithm module receives a water surface control instruction, the control algorithm module receives the water surface control instruction, and under the AUV working mode, the control algorithm module autonomously decides to complete the function control of the underwater robot main body according to the data input of the sensing module and in combination with state and parameter data;
step S3, the automatic driving autonomous return control loop starts to work, and the automatic driving autonomous return control loop adopts a model reference adaptive control structure;
step S4, the control algorithm module establishes an underwater robot motion model, a working environment geographic model and a depth distance matching model to form a combined reference model; under the AUV working mode, the control algorithm module compares the output of the combined reference model with the motion state change result of the underwater robot, the error between the output of the combined reference model and the motion state change result of the underwater robot is sent to the self-adaptive controller, and the self-adaptive controller adjusts the control parameters of the basic control loop to realize the autonomous return control function;
step S5, the fault diagnosis and fault-tolerant control module realizes the fault diagnosis and fault-tolerant control of the underwater robot based on the fault tree;
and step S6, the control algorithm module controls the underwater robot to realize orientation, depth setting, distance setting and program control return voyage.
Further, in step S3, the automatic driving and autonomous returning control loop includes an automatic depth-setting and height-setting control loop and an automatic orientation control loop; and after the umbilical cable of the underwater robot is broken, the underwater robot autonomously navigates back to a water entry point through an autonomous navigating and autonomous navigating back control loop.
Further, in step S4, the AUV operation mode is enabled only when the underwater robot is disconnected, the AUV operation mode adopts a combination of underwater acoustic guidance and terrain matching guidance, a transmitting sound source is deployed at the upstream surge shaft during operation, a receiving array consisting of 3 transducers is arranged on a carrier system, a transmitting sound source transmits pulse signals at fixed time intervals under the control of a synchronous clock, the receiving array calculates the time difference of sound waves reaching each transducer after receiving sonar pulse signals, then calculates the direction of the sound source according to the time difference, the arrival time of the sonar pulses is determined according to the synchronous clock, therefore, the distance and the course to the sound source are calculated, and the self is controlled to approach the transmitting sound source continuously by combining the working environment geographic model and the depth distance matching model until the vehicle sails to the transmitting sound source, so that the purpose of autonomous return sailing is achieved.
Furthermore, before the implementation of the comprehensive control method, the water surface control device and the underwater control device are started and then self-checked, and different working steps are carried out according to different self-checking results; if the failure happens, entering a fault diagnosis and self-recovery cycle, and if the failure succeeds, entering a normal working cycle; after entering a fault diagnosis and self-recovery cycle, the software built in the water surface control device and the underwater control device diagnoses the operation fault, and if the fault is a repairable fault, the software automatically repairs the fault and restarts the software; if the fault is not repairable, stopping the software and prompting a fault alarm in the water surface control unit; after entering a normal working cycle, the software detects the input of the operation box, the mouse and the keyboard; carrying out instruction analysis processing according to the detection result, and transmitting the processed control instruction to the underwater control device through the communication module; then, the working state and parameters of the underwater robot main body are obtained from the underwater control device through the communication module, the state and parameter data are processed, the processed data are displayed on an indicator lamp and a display screen of the water surface control unit, and meanwhile, the processed data are sent to a fault diagnosis sub-process to analyze the running condition of software; detecting whether a software exit instruction exists or not, if so, exiting the software, and if not, skipping to an external control input detection flow, thereby realizing the working cycle; when a fault occurs and autonomous return is needed, the underwater control device is used for controlling the underwater motion direction, the posture, the speed and the like of the underwater robot to realize the autonomous return control function, and the autonomous return self-rescue of the underwater robot is completed after the underwater robot loses communication with the water surface control device.
Furthermore, the water surface control device receives control input from the operation box and the keyboard/mouse, transmits a control command to the underwater control device after signal processing, receives and executes the corresponding control command by the underwater control device, realizes the specific operation of various functions of the underwater robot, and returns information such as feedback state, data and the like to the water surface control device, thereby realizing the closed loop of water surface control; the water surface control device has an information display function and can display information such as characters and images in real time.
The invention has the beneficial effects that:
the method comprises the steps of establishing an underwater robot motion model, a working environment geographic model and a depth distance matching model by adopting an underwater robot comprehensive control method, forming a combined reference model, monitoring the motion state change of the underwater robot through a course attitude and heading measurement unit, a depth sensor, a distance measuring sonar and a guiding sonar, comparing the output of the combined reference model with the motion state change result of the underwater robot, sending the error between the output of the combined reference model and the motion state change result of the underwater robot to a self-adaptive controller, adjusting the control parameters of a basic control loop through the self-adaptive controller, improving the control accuracy, realizing the functions of autonomous return control and the like. The sensor module receives and processes data input from the course attitude and heading measurement unit and the insulation detector and outputs the processed data to the control algorithm module and the fault detection and fault tolerance control module. The control algorithm module autonomously judges the working mode and carries out different control operations according to different modes, each operation is based on information of a plurality of control parameters, accurate control of the underwater robot is achieved, and fault tolerance is improved by combining the fault detection and fault tolerance control module.
Drawings
FIG. 1 is a general control flow chart of a comprehensive control method of an underwater robot according to an embodiment of the invention;
FIG. 2 is a structural framework diagram of an integrated control system of an underwater robot in an embodiment of the invention;
FIG. 3 is a flow chart of the structure of an autonomous return control loop for automatic driving according to an embodiment of the present invention;
FIG. 4 is a flow chart of a self-checking method of the integrated control method according to the embodiment of the present invention;
FIG. 5 is a block diagram of a fault diagnosis and fault tolerant control module according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a fault tree structure according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, which are illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back, top, end, bottom … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless expressly stated or limited otherwise, the term "coupled" is to be interpreted broadly, e.g., "coupled" may be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 6, an underwater robot integrated control system includes a sensing module, which is used for receiving data input of an observation system and performing optimization processing on the received data;
the control algorithm module receives the data optimized by the sensing module; the control algorithm module automatically judges the working modes and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; the control algorithm module forms a combined reference model by establishing an underwater robot motion model, a working environment geographic model and a depth distance matching model;
the fault diagnosis and fault tolerance control module realizes fault diagnosis and fault tolerance control of the underwater robot based on a fault tree; and the number of the first and second groups,
and the control algorithm module monitors the motion state change of the underwater robot through the observation system, compares the output of the combined reference model with the motion state change result of the underwater robot, sends an error value between the output of the combined reference model and the motion state change result of the underwater robot to the adaptive controller, and adjusts the control parameters of the basic control loop through the adaptive controller.
Specifically, in this embodiment, the sensing module performs optimization processing on the received data, and the processed state and parameter data are divided into two paths, one path of the state and parameter data is sent to the control algorithm module, and the other path of the state and parameter data is sent to the fault diagnosis and fault tolerance control module, so as to analyze the operating condition of the system.
Specifically, in the scheme of this embodiment, in the ROV operating mode, the control algorithm module receives a water surface control instruction, and controls the power distribution control module, the equipment control module and the propulsion control module, so as to implement functional control on the underwater robot main body, and feed back state and parameter data to the water surface control device; under the ARV working mode, the umbilical cable is released to cut off water surface power supply, the underwater robot battery power supply is changed into the underwater robot battery power supply, the control algorithm module receives a water surface control instruction, the control algorithm module receives the water surface control instruction, and under the AUV working mode, the control algorithm module autonomously decides to complete the function control of the underwater robot main body according to the data input of the sensing module and in combination with state and parameter data.
Specifically, in the present embodiment, the observation system includes a depth sensor, a distance measuring sonar, a guidance sonar, a sonar synchronous controller, a course heading and heading attitude measurement unit, and an insulation detector; the water surface control device completes transmission of control commands, states and data information with the underwater control device through the communication module, and carries out real-time monitoring, fault diagnosis and communication maintenance on underwater communication on the water surface.
Specifically, in the scheme of this embodiment, the power distribution control module receives the instruction of the control algorithm module to perform on-off control on the power supplies of the underwater camera, the underwater illuminating lamp, the depth measurement unit and the sonar synchronous controller of the observation system; the propulsion control module receives the instruction of the control algorithm module to complete the control of enabling/stopping, forward/reverse rotation, speed regulation and the like of the plurality of propellers; and the equipment control module completes initialization, resetting, self-checking, function control and the like of each controlled equipment according to the instruction of the control algorithm module.
Referring to fig. 1 and fig. 2, in particular, in the embodiment, a method for comprehensively controlling an underwater robot includes the following steps: step S1, the sensing module receives the data input of the depth sensor, the distance measuring sonar, the guiding sonar, the sonar synchronous controller, the course heading and attitude measuring unit and the insulation detector; the sensing module carries out optimization processing on the received data, the processed state and parameter data are divided into two paths, one path is sent to the control algorithm module, and the other path is sent to the fault diagnosis and fault tolerance control module and used for analyzing the operation condition of the system; step S2, the control algorithm module automatically judges the working mode and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; in an ROV working mode, the control algorithm module receives a water surface control instruction, controls the power distribution control module, the equipment control module and the propulsion control module, further realizes the function control of the underwater robot main body, and feeds back state and parameter data to the water surface control device; under an ARV working mode, the umbilical cable is released to cut off water surface power supply and the underwater robot battery power supply is changed, the control algorithm module receives a water surface control instruction, and the control algorithm module receives the water surface control instruction; under the AUV working mode, the control algorithm module automatically decides to complete the function control of the underwater robot main body according to the data input of the sensing module and by combining state and parameter data;
step S3, the automatic driving autonomous return control loop starts to work, and the automatic driving autonomous return control loop adopts a model reference adaptive control structure;
step S4, the control algorithm module establishes an underwater robot motion model, a working environment geographic model and a depth distance matching model to form a combined reference model; under the AUV working mode, the control algorithm module compares the output of the combined reference model with the motion state change result of the underwater robot, the error between the output of the combined reference model and the motion state change result of the underwater robot is sent to the self-adaptive controller, and the self-adaptive controller adjusts the control parameters of the basic control loop to realize the autonomous return control function;
step S5, the fault diagnosis and fault-tolerant control module realizes the fault diagnosis and fault-tolerant control of the underwater robot based on the fault tree;
and step S6, the control algorithm module controls the underwater robot to realize orientation, depth setting, distance setting and program control return voyage.
Specifically, in the present embodiment, in step S3, the automatic driving and autonomous returning control loop includes an automatic depth-setting and height-setting control loop and an automatic directional control loop; and after the umbilical cable of the underwater robot is broken, the underwater robot autonomously navigates back to a water entry point through an autonomous navigating and autonomous navigating back control loop.
It should be noted that, the underwater robot has 6 degrees of freedom, the motion in any direction is the coupling of the motion in the directions of multiple degrees of freedom, and the 6 degrees of freedom have cross coupling, so that the motion control under the condition of the cross coupling of multiple degrees of freedom is a very complicated problem, which is one of the difficulties in the control of the underwater robot. The underwater robot designed by the system is used in a still water environment, the running speed is low, the reduction of the motion coupling between 6 degrees of freedom has been considered as much as possible in the structural design process of the underwater robot and the arrangement design process of a propeller, the coupling of a carrier system between a vertical plane and a horizontal plane is very small, the control process is simplified for the sake of simple control, the coupling between the vertical plane and the horizontal plane is omitted in the design process of a system control loop, and the motions of the vertical plane and the horizontal plane are independently considered respectively. The basic motion modes of the underwater robot are keeping the heading and changing the heading, keeping the depth and changing the depth. The change of course is the motion in the horizontal plane, and the change of depth is the motion in the vertical plane, can be regarded as mutually independent, therefore design two basic control loops, be automatic depth-fixing height-fixing control loop and automatic directional control loop respectively. After the umbilical cable of the underwater robot is broken, the underwater robot needs to return to a water entry point automatically, and therefore an automatic driving and automatic returning control loop is designed. After partial equipment of the underwater robot breaks down, the underwater robot can be ensured to continue to complete underwater operation by utilizing local functions as far as possible, and therefore fault diagnosis and fault-tolerant control design is carried out. The motion control of the underwater robot needs to take parameters acquired by a sensor as a basis, and the system mainly refers to parameters such as depth, height, distance, course angle, position and the like.
Under the coordination of a course heading and attitude measuring unit of the observation system, a distance measuring sonar, a guiding sonar, a depth sensor and other sensors, the control system can realize the functions of orientation, depth setting, distance setting, program control return voyage and the like of the underwater robot. The automatic process of returning to the journey of program control can be accomplished according to the procedure of setting in advance after the umbilical cable breaks.
It should be noted that, when the underwater robot works in the water pipe, the distance between the underwater robot and the pipe wall needs to be known, so as to control the underwater robot to keep a proper observation distance under the condition that the underwater robot does not collide with the pipe wall; when the device works at the bottom of the reservoir, the device can also sail at a fixed height to complete a special operation task. Therefore, six distance measuring sonars are designed on the carrier system and are respectively arranged on the upper surface, the lower surface, the front surface, the rear surface, the left surface and the right surface of the carrier system, and the distances from the inclined holes and the flat holes to the pipeline wall can be measured. The working frequencies of the six ranging sonars are the same, the synchronous working mode is adopted to solve the problem of acoustic compatibility, and the six ranging sonars work in a parallel mode. The water surface control unit displays the distance between each direction of the underwater robot and the hole wall in real time, and an operator can perform motion adjustment according to the six-direction data. The underwater robot can stably advance along the wall of the hole according to the set numerical value to finish fixed-distance navigation.
Specifically, in this embodiment, in step S4, the AUV operating mode is enabled only when the underwater robot is disconnected, the AUV operating mode adopts an operating mode combining underwater acoustic guidance and terrain matching guidance, during operation, a transmitting sound source is deployed at an upstream surge shaft, a receiving matrix consisting of 3 transducers is installed on a carrier system, the transmitting sound source transmits pulse signals at fixed time intervals under the control of a synchronous clock, the receiving matrix calculates the time difference of arrival of sound waves at each transducer after receiving sonar pulse signals, then calculates the orientation of the sound source according to the time difference, the arrival time of sonar pulses is determined according to the synchronous clock pulses, thereby calculating the distance and heading to the sound source, and controls the self to approach the transmitting sound source continuously by combining a working environment geographic model and a depth distance matching model until the underwater robot sails to the transmitting sound source, the purpose of autonomous return voyage is achieved.
Referring to fig. 4, specifically, in the embodiment, before the implementation of the integrated control method, after the water surface control device and the underwater control device are started, self-checking is performed first, and different working steps are performed according to different self-checking results; if the failure happens, entering a fault diagnosis and self-recovery cycle, and if the failure succeeds, entering a normal working cycle; after entering a fault diagnosis and self-recovery cycle, the software built in the water surface control device and the underwater control device diagnoses the operation fault, and if the fault is a repairable fault, the software automatically repairs the fault and restarts the software; if the fault is not repairable, stopping the software and prompting a fault alarm in the water surface control unit; after entering a normal working cycle, the software detects the input of the operation box, the mouse and the keyboard; carrying out instruction analysis processing according to the detection result, and transmitting the processed control instruction to the underwater control device through the communication module; then, the working state and parameters of the underwater robot main body are obtained from the underwater control device through the communication module, the state and parameter data are processed, the processed data are displayed on an indicator lamp and a display screen of the water surface control unit, and meanwhile, the processed data are sent to a fault diagnosis sub-process to analyze the running condition of software; detecting whether a software exit instruction exists or not, if so, exiting the software, and if not, skipping to an external control input detection flow, thereby realizing the working cycle; when a fault occurs and autonomous return is needed, the underwater motion direction, the posture, the speed and the like of the underwater robot are controlled by controlling the underwater control device to realize the autonomous return control function, and the autonomous return self-rescue of the underwater robot is completed after the underwater robot loses communication with the water surface control device.
Specifically, in the embodiment, the water surface control software of the water surface control device runs on the main control computer of the water surface control unit, and the underwater control software of the underwater control device runs on the control computer of the carrier system electronic cabin; the water surface control device receives control input from the operation box and the keyboard/mouse, transmits a control command to the underwater control device after signal processing, and the underwater control device receives and executes the corresponding control command to realize the specific operation of various functions of the underwater robot and return information such as feedback state, data and the like to the water surface control device to realize a water surface control closed loop; the water surface control device has an information display function and can display information such as characters and images in real time.
Referring to fig. 5 and 6, it should be noted that, in order to improve the reliability and safety of the operation of the underwater robot, a fault diagnosis and fault-tolerant control design is also performed. The system adopts fault diagnosis and fault-tolerant control technology based on a fault tree. The fault tree fault diagnosis method is a fault diagnosis method based on experience knowledge and is also called as a fault diagnosis method based on artificial intelligence.
The fault tree is a behavior model based on the structure and functional characteristics of the object to be diagnosed, is a qualitative causal model, takes various possible fault events of the system as items, takes the inducement thereof as intermediate items or bottom items, and uses logic gates in similar digital circuits to express the relationship between the fault events and the bottom items to form an inverted tree structure.
The key of fault diagnosis based on the fault tree is qualitative and quantitative analysis and item establishment of the fault tree of the underwater robot. The fault tree is established based on the practical experience of the related operation engineering of the underwater robot on hydropower stations, reservoirs, sea and lakes for nearly one hundred times in the last 30 years, and can comprehensively cover the possible faults in the operation process of the underwater robot.
The fault-tolerant control technology based on the fault tree is actually an online reconstruction fault-tolerant control technology. After the system is in fault, the fault tree is inquired, the fault reason is found, the fault reason is sent to the fault-tolerant controller, the fault-tolerant controller reschedules the system control law, the required control law in the fault mode is calculated, and then a corrected control instruction is sent to the self-adaptive controller and the basic control loop, so that the fault-tolerant control in the fault state is completed, and the system work task is completed as far as possible.
The sensing module receives data input of sensors of the observation system, such as a depth sensor, a distance measuring sonar, a guiding sonar, a sonar synchronous controller, a course heading and attitude measuring unit and an insulation detector, optimizes the data and then sends the data to the control algorithm module, and a reference basis is provided for overall control of the system.
And the power distribution control module performs on-off control on the power supplies of the underwater camera, the underwater illuminating lamp, the depth measuring unit and the sonar synchronous controller of the observation system according to the instruction of the control algorithm module.
And the propulsion control module completes the control of enabling/stopping, forward/reverse rotation, speed regulation and the like of the 7 propellers according to the instruction of the control algorithm module.
The equipment control module completes initialization, reset, self-check, function control and the like of each controlled equipment according to the instruction of the control algorithm module.
The control algorithm module is the core of the control software, and the control algorithm module autonomously decides to complete the function control of the underwater robot body according to the data input of the sensing module and by combining the working state and parameters of the underwater robot body. The control algorithm module has the functions of fault diagnosis and fault restoration.
The main functions of autonomous navigation of the observation system comprise:
the method is characterized in that the method carries out omnibearing continuous shooting and photography on underwater buildings such as dams (underwater parts) and water pipelines, and has shooting directions of up-front, down-front, left, right, up-down and down-six directions;
the underwater detection device has the function of measuring the simple size of a shot object according to an underwater image and a reference object, can measure the length, the width and the relative position of a crack on the wall surface of an underwater pipeline and an underwater target, can detect the cross section of a riverbed, and is convenient for rechecking the reservoir;
the underwater auxiliary lighting device has an underwater auxiliary lighting function, and each underwater camera is provided with a lighting lamp and has a continuous dimming function;
an underwater color image sonar is configured, so that a convex target in the range of 100 meters underwater in front of the ROV can be scanned and detected, and the direction, distance and approximate size of the target and the trend of the target can be measured;
a six-direction distance measuring sonar is configured to detect the distance of the ROV relative to obstacles (such as the wall of a water channel) in water in each direction, and a basis is provided for system collision prevention control and automatic height setting control;
and a guiding sonar is configured, and the approximate direction of the ROV can be judged through a guiding sound source, so that a basis is provided for the return direction.
And the depth measuring equipment is configured to provide basis for automatic depth setting control of the system and provide depth data for the position judgment of the ROV system.
The system has the functions of accurate course and attitude output and provides data support for system navigation control;
the power insulation monitoring and control function is provided.
The observation system mainly comprises the following applications:
an underwater camera shoots structural conditions of dam faces, water pipelines, water inlet and outlet gates and the like of the hydropower station dam, and stores and records image data;
measuring the simple size, distance and relative orientation of the shot object according to the underwater image and the reference object;
the color image sonar scans and detects a convex target in front of the ROV, and stores data and can measure the direction, distance and approximate size of the target and the trend of the target;
the guidance sonar provides guidance course for the AUV working mode;
each sensor provides control basis for the ROV working mode.
The invention adopts an integrated control method of the underwater robot to establish an underwater robot motion model, a working environment geographic model and a depth distance matching model to form a combined reference model, monitors the motion state change of the underwater robot through a course attitude and heading measurement unit, a depth sensor, a distance measuring sonar and a guidance sonar, compares the output of the combined reference model with the motion state change result of the underwater robot, sends the error between the two to an adaptive controller, adjusts the control parameters of a basic control loop through the adaptive controller, improves the control accuracy, and can realize the functions of autonomous return control and the like. The sensor module receives and processes data input from the course attitude and heading measurement unit and the insulation detector and outputs the processed data to the control algorithm module and the fault detection and fault tolerance control module. The control algorithm module autonomously judges the working mode and carries out different control operations according to different modes, each operation is based on information of a plurality of control parameters, accurate control of the underwater robot is achieved, and fault tolerance is improved by combining the fault detection and fault tolerance control module.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the present description should not be construed as a limitation to the present invention.
Claims (10)
1. An integrated control system for an underwater robot, comprising:
the sensing module is used for receiving data input of the observation system and optimizing the received data;
the control algorithm module receives the data optimized by the sensing module; the control algorithm module automatically judges the working modes and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; the control algorithm module forms a combined reference model by establishing an underwater robot motion model, a working environment geographic model and a depth distance matching model;
the fault diagnosis and fault tolerance control module realizes fault diagnosis and fault tolerance control of the underwater robot based on a fault tree; and the number of the first and second groups,
and the control algorithm module monitors the motion state change of the underwater robot through the observation system, compares the output of the combined reference model with the motion state change result of the underwater robot, sends an error value between the output of the combined reference model and the motion state change result of the underwater robot to the adaptive controller, and adjusts the control parameters of the basic control loop through the adaptive controller.
2. The integrated underwater robot control system of claim 1, wherein: the sensing module carries out optimization processing on the received data, the processed state and parameter data are divided into two paths, one path is sent to the control algorithm module, and the other path is sent to the fault diagnosis and fault tolerance control module for analyzing the operation condition of the system.
3. The integrated underwater robot control system according to claim 2, wherein: under the ROV working mode, the control algorithm module receives a water surface control instruction, controls the power distribution control module, the equipment control module and the propulsion control module, further realizes the function control of the underwater robot main body, and feeds back state and parameter data to the water surface control device; under the ARV working mode, the umbilical cable is released to cut off water surface power supply, the underwater robot battery power supply is changed into the underwater robot battery power supply, the control algorithm module receives a water surface control instruction, the control algorithm module receives the water surface control instruction, and under the AUV working mode, the control algorithm module autonomously decides to complete the function control of the underwater robot main body according to the data input of the sensing module and in combination with state and parameter data.
4. The underwater robot integrated control system according to any one of claims 1 to 3, characterized in that: the observation system comprises a depth sensor, a distance measuring sonar, a guiding sonar, a sonar synchronous controller, a course heading and attitude measuring unit and an insulation detector; the water surface control device completes transmission of control commands, states and data information with the underwater control device through the communication module, and carries out real-time monitoring, fault diagnosis and communication maintenance on underwater communication on the water surface.
5. The integrated underwater robot control system of claim 3, wherein: the power distribution control module receives the instruction of the control algorithm module to carry out on-off control on the power supplies of the underwater camera, the underwater illuminating lamp, the depth measuring unit and the sonar synchronous controller of the observation system; the propulsion control module receives the instruction of the control algorithm module to complete the control of enabling/stopping, forward/reverse rotation, speed regulation and the like of the plurality of propellers; and the equipment control module completes initialization, resetting, self-checking and function control of each controlled equipment according to the instruction of the control algorithm module.
6. An integrated control method for an underwater robot is characterized by comprising the following steps:
step S1, the sensing module receives the data input of the depth sensor, the distance measuring sonar, the guiding sonar, the sonar synchronous controller, the course heading and attitude measuring unit and the insulation detector; the sensing module carries out optimization processing on the received data, the processed state and parameter data are divided into two paths, one path is sent to the control algorithm module, and the other path is sent to the fault diagnosis and fault tolerance control module and used for analyzing the operation condition of the system;
step S2, the control algorithm module automatically judges the working mode and carries out different control operations according to different working modes, wherein the working modes comprise an ROV working mode, an ARV working mode and an AUV working mode; in an ROV working mode, the control algorithm module receives a water surface control instruction, controls the power distribution control module, the equipment control module and the propulsion control module, further realizes the function control of the underwater robot main body, and feeds back state and parameter data to the water surface control device; under the ARV working mode, the umbilical cable is released to cut off the water surface power supply and the underwater robot battery power supply is changed, the control algorithm module receives a water surface control instruction, and the control algorithm module receives the water surface control instruction; under the AUV working mode, the control algorithm module automatically decides to complete the function control of the underwater robot main body according to the data input of the sensing module and by combining state and parameter data;
step S3, the automatic driving autonomous return control loop starts to work, and the automatic driving autonomous return control loop adopts a model reference adaptive control structure;
step S4, the control algorithm module establishes an underwater robot motion model, a working environment geographic model and a depth distance matching model to form a combined reference model; under the AUV working mode, the control algorithm module compares the output of the combined reference model with the motion state change result of the underwater robot, the error between the output of the combined reference model and the motion state change result of the underwater robot is sent to the self-adaptive controller, and the self-adaptive controller adjusts the control parameters of the basic control loop to realize the autonomous return control function;
step S5, the fault diagnosis and fault-tolerant control module realizes the fault diagnosis and fault-tolerant control of the underwater robot based on the fault tree;
and step S6, the control algorithm module controls the underwater robot to realize orientation, depth setting, distance setting and program control return voyage.
7. The integrated control method of the underwater robot as claimed in claim 6, wherein: in the step S3, the automatic driving autonomous return control loop includes an automatic depth and height setting control loop and an automatic orientation control loop; and after the umbilical cable of the underwater robot is broken, the underwater robot autonomously navigates back to a water entry point through an autonomous navigating and autonomous navigating back control loop.
8. The integrated control method of the underwater robot as claimed in claim 6, wherein: in the step S4, the AUV working mode is started only under the condition that the underwater robot is disconnected, the AUV working mode adopts the working mode of combining underwater acoustic guidance and terrain matching guidance, a transmitting sound source is arranged at the upstream surge shaft during operation, a receiving array consisting of 3 transducers is arranged on a carrier system, a transmitting sound source transmits pulse signals at fixed time intervals under the control of a synchronous clock, the receiving array calculates the time difference of sound waves reaching each transducer after receiving sonar pulse signals, then calculates the direction of the sound source according to the time difference, the arrival time of the sonar pulses is determined according to the synchronous clock, therefore, the distance and the course to the sound source are calculated, and the self is controlled to approach the transmitting sound source continuously by combining the working environment geographic model and the depth distance matching model until the vehicle sails to the transmitting sound source, so that the purpose of autonomous return sailing is achieved.
9. The integrated control method of the underwater robot as claimed in claim 6, wherein: before the implementation of the comprehensive control method, the water surface control device and the underwater control device are started and then are subjected to self-checking, and different working steps are carried out according to different self-checking results; if the failure happens, entering a fault diagnosis and self-recovery cycle, and if the failure succeeds, entering a normal working cycle; after entering a fault diagnosis and self-recovery cycle, the software built in the water surface control device and the underwater control device diagnoses the operation fault, and if the fault is a repairable fault, the software automatically repairs the fault and restarts the software; if the fault is not repairable, stopping the software and prompting a fault alarm in the water surface control unit; after entering a normal working cycle, the software detects the input of the operation box, the mouse and the keyboard; carrying out instruction analysis processing according to the detection result, and transmitting the processed control instruction to the underwater control device through the communication module; then, the working state and parameters of the underwater robot main body are obtained from the underwater control device through the communication module, the state and parameter data are processed, the processed data are displayed on an indicator lamp and a display screen of the water surface control unit, and meanwhile, the processed data are sent to a fault diagnosis sub-process to analyze the running condition of software; detecting whether a software exit instruction exists or not, if so, exiting the software, and if not, skipping to an external control input detection flow, thereby realizing the working cycle; when a fault occurs and autonomous return is needed, the underwater control device is used for controlling the underwater motion direction, the posture, the speed and the like of the underwater robot to realize the autonomous return control function, and the autonomous return self-rescue of the underwater robot is completed after the underwater robot loses communication with the water surface control device.
10. The integrated control method of the underwater robot as claimed in claim 1, wherein: the water surface control device receives control input from the operation box and the keyboard/mouse, transmits a control command to the underwater control device after signal processing, and the underwater control device receives and executes the corresponding control command to realize the specific operation of various functions of the underwater robot and return information such as feedback state, data and the like to the water surface control device to realize a water surface control closed loop; the water surface control device has an information display function and can display information such as characters and images in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911199581.5A CN110794855A (en) | 2019-11-26 | 2019-11-26 | Comprehensive control system and method for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911199581.5A CN110794855A (en) | 2019-11-26 | 2019-11-26 | Comprehensive control system and method for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110794855A true CN110794855A (en) | 2020-02-14 |
Family
ID=69446863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911199581.5A Pending CN110794855A (en) | 2019-11-26 | 2019-11-26 | Comprehensive control system and method for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110794855A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112027034A (en) * | 2020-08-31 | 2020-12-04 | 中广核检测技术有限公司 | Low-loss underwater detection robot system and power supply method thereof |
| CN112149354A (en) * | 2020-09-24 | 2020-12-29 | 哈尔滨工程大学 | Reinforced learning algorithm research platform for UUV cluster |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN112234496A (en) * | 2020-10-27 | 2021-01-15 | 国网山西省电力公司大同供电公司 | Cable pipe gallery underwater intelligent robot based on energy internet |
| CN113467488A (en) * | 2021-08-10 | 2021-10-01 | 华中农业大学 | Multi-level fault-tolerant control system of X-rudder underwater vehicle |
| CN113535672A (en) * | 2020-04-16 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Turbidity data processing method based on autonomous underwater robot platform |
| CN113777111A (en) * | 2021-08-23 | 2021-12-10 | 南方电网调峰调频发电有限公司 | Multi-dimensional detection device for structural defects of large-diameter diversion tunnel |
| CN114326652A (en) * | 2021-11-23 | 2022-04-12 | 中国船舶工业集团公司第七0八研究所 | Marine water jet propeller fault diagnosis system |
| CN114644098A (en) * | 2022-02-24 | 2022-06-21 | 深圳市吉影科技有限公司 | Novel high-power underwater booster control system |
| CN114706408A (en) * | 2022-06-06 | 2022-07-05 | 山东科技大学 | Low-power consumption intelligent underwater robot control system |
| CN114954862A (en) * | 2022-07-01 | 2022-08-30 | 扬州工业职业技术学院 | Motion control method for underwater robot with cable |
| CN116047920A (en) * | 2023-04-03 | 2023-05-02 | 杭州蓝芯科技有限公司 | Parameter optimization method and system for high-precision butt joint of multiple robots and multiple wharfs |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102539182A (en) * | 2011-12-14 | 2012-07-04 | 上海海事大学 | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device |
| CN102809375A (en) * | 2012-08-07 | 2012-12-05 | 河海大学 | System and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104635718A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
| CN105527967A (en) * | 2015-12-16 | 2016-04-27 | 西北工业大学 | AUV inversion docking control method |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
| CN205661637U (en) * | 2016-06-08 | 2016-10-26 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot that possesses duplexing mode switch function |
-
2019
- 2019-11-26 CN CN201911199581.5A patent/CN110794855A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102539182A (en) * | 2011-12-14 | 2012-07-04 | 上海海事大学 | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device |
| CN102809375A (en) * | 2012-08-07 | 2012-12-05 | 河海大学 | System and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104635718A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
| CN105527967A (en) * | 2015-12-16 | 2016-04-27 | 西北工业大学 | AUV inversion docking control method |
| CN205661637U (en) * | 2016-06-08 | 2016-10-26 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot that possesses duplexing mode switch function |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113535672B (en) * | 2020-04-16 | 2024-03-12 | 中国科学院沈阳自动化研究所 | Turbidity data processing method based on autonomous underwater robot platform |
| CN113535672A (en) * | 2020-04-16 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Turbidity data processing method based on autonomous underwater robot platform |
| CN112027034A (en) * | 2020-08-31 | 2020-12-04 | 中广核检测技术有限公司 | Low-loss underwater detection robot system and power supply method thereof |
| CN112149354A (en) * | 2020-09-24 | 2020-12-29 | 哈尔滨工程大学 | Reinforced learning algorithm research platform for UUV cluster |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN112234496A (en) * | 2020-10-27 | 2021-01-15 | 国网山西省电力公司大同供电公司 | Cable pipe gallery underwater intelligent robot based on energy internet |
| CN113467488A (en) * | 2021-08-10 | 2021-10-01 | 华中农业大学 | Multi-level fault-tolerant control system of X-rudder underwater vehicle |
| CN113467488B (en) * | 2021-08-10 | 2022-03-22 | 华中农业大学 | Multi-level fault-tolerant control system of X-rudder underwater vehicle |
| CN113777111A (en) * | 2021-08-23 | 2021-12-10 | 南方电网调峰调频发电有限公司 | Multi-dimensional detection device for structural defects of large-diameter diversion tunnel |
| CN114326652A (en) * | 2021-11-23 | 2022-04-12 | 中国船舶工业集团公司第七0八研究所 | Marine water jet propeller fault diagnosis system |
| CN114644098A (en) * | 2022-02-24 | 2022-06-21 | 深圳市吉影科技有限公司 | Novel high-power underwater booster control system |
| CN114706408A (en) * | 2022-06-06 | 2022-07-05 | 山东科技大学 | Low-power consumption intelligent underwater robot control system |
| CN114954862A (en) * | 2022-07-01 | 2022-08-30 | 扬州工业职业技术学院 | Motion control method for underwater robot with cable |
| CN116047920A (en) * | 2023-04-03 | 2023-05-02 | 杭州蓝芯科技有限公司 | Parameter optimization method and system for high-precision butt joint of multiple robots and multiple wharfs |
| CN116047920B (en) * | 2023-04-03 | 2023-06-06 | 杭州蓝芯科技有限公司 | Parameter optimization method and system for high-precision butt joint of multiple robots and multiple wharfs |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110794855A (en) | Comprehensive control system and method for underwater robot | |
| US8326472B2 (en) | Automatic vessel position holding control method and controller | |
| EP2890608B1 (en) | Apparatus and method | |
| WO2016165316A1 (en) | Underwater body device of underwater robot and method for autonomous obstacle avoidance | |
| CN108045531A (en) | For the underwater robot control system and method for submarine cable inspection | |
| EP3176068B1 (en) | Vessel characteristic estimation device and automatic steering device | |
| CN107908119B (en) | Management system for real-time monitoring of navigation performance of commercial ships | |
| CN107957727A (en) | Underwater robot control system and dynamic localization method | |
| Li et al. | A survey of maritime unmanned search system: Theory, applications and future directions | |
| Evans et al. | Docking techniques and evaluation trials of the SWIMMER AUV: an autonomous deployment AUV for work-class ROVs | |
| JP2008265651A (en) | Underwater vehicle motion control device and underwater vehicle | |
| Gilmour et al. | Field resident AUV systems—Chevron's long-term goal for AUV development | |
| CN108345313A (en) | A kind of interconnection method of submarine navigation device and connection station | |
| CN102539182A (en) | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device | |
| CN108132617B (en) | A kind of autonomous underwater robot supervision dormancy method with buoyancy regulating device | |
| EP4006679A1 (en) | Watercraft alignment systems, and associated methods | |
| CN115019412A (en) | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors | |
| CN108469731B (en) | Fault monitoring and robust control method for wave glider | |
| JP4709975B2 (en) | Automatic ship position holding control method and automatic ship position holding control apparatus | |
| JP2006297977A (en) | Automatic ship position holding and controlling method and automatic ship position holding and controlling device | |
| CN114879703A (en) | Underwater robot path tracking control method | |
| CN111427009A (en) | Underwater positioning method and system for remote control unmanned underwater vehicle | |
| Shaik et al. | Development and Validation of Embedded System Architecture for Shallow-Water Based H-AUV | |
| JP5755071B2 (en) | Towing body control method and control apparatus therefor, and towed body control system | |
| Antonelli et al. | Real-time path planning and obstacle avoidance for an autonomous underwater vehicle |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200214 |
|
| RJ01 | Rejection of invention patent application after publication |