CN101436074A - Autonomous type underwater robot by simultaneous positioning and map constructing method - Google Patents
Autonomous type underwater robot by simultaneous positioning and map constructing method Download PDFInfo
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Abstract
The invention belongs to an underwater navigation and delivery vehicle, and in particular relates to an autonomous underwater robot which adopts a simultaneous positioning and map establishing method. The autonomous underwater robot takes a scanning and imaging sonar as a main sensor and simultaneous positioning and map establishing as a main method, and can complete autonomous navigation in a complex submarine environment. The autonomous underwater robot comprises a main computer subsystem, a data acquisition subsystem, a power supply subsystem, an inertial navigation subsystem, an under-deck parameter detection subsystem, a propeller control subsystem, an external sensor subsystem, a redundant self-rescue subsystem and a distress alarm subsystem, wherein the power supply subsystem comprises a main power supply subsystem and a spare power supply subsystem; and the data acquisition subsystem is communicated with the main computer subsystem through the Ethernet in the aspect of upward communication, and communicated with other subsystems through a CAN bus in the aspect of downward communication. The autonomous underwater robot is particularly suitable for the unknown complex submarine environment, and has low manufacturing cost and low operating cost at sea, and good reliability.
Description
Technical field
The invention belongs to a kind of underwater navigation and delivery vehicle, the autonomous type underwater robot with map constructing method is located in specifically a kind of employing simultaneously.
Background technology
Inertial navigation is the main positioning means that autonomous type underwater robot (Autonomous Underwater Vehicles, be called for short AUV) adopts when independently navigating by water under water, but when its subject matter was that precision can meet the demands, often price was too expensive.Along with the progress of sonar technique, at present advanced AUV does not adopt accelerometer substantially but adopts Doppler anemometer, can directly measure AUV and need not integration with respect to the 3D speed in seabed.The air navigation aid that adopts Doppler anemometer to combine with optical fibre gyro, still inevitably produce cumulative errors, for eliminating this deviation, the main at present method that adopts has: (1) utilizes GPS to revise, promptly allow a series of positions of AUV in its road float, accept gps signal to revise current location; (2) acoustics assisting navigation is arranged long baseline, short baseline etc. in the operating area; (3) Terrain-aided Navigation.But said method is all limited with multi-form working range to AUV, and wherein many come-ups of GPS are revised deviation, and energy resource consumption is very big, has limited working time and working range; And acoustics baseline method restriction AUV can only be in short distance effectively; Terrain-aided Navigation utilizes terrain information to locate and navigate, and for AUV, this requires must have in advance accurate submarine topography map.Because submarine topography is different with land, therefore obtaining accurate seabed map remains the problem that various countries are being explored, at present, only just have more accurate submarine topography relief data in the subregion in coastal waters, therefore the application based on the Terrain-aided Navigation of sea chart also has very big limitation.
Along with the continuous development of AUV technology, it will be to more long-range, the development of more wide working sea area as the deep-sea important execution carrier of delivery technology under water.If require AUV in more wide zone with cheaper operating cost work, feasibility thinking is the dependence that as far as possible reduces outside navigate frames such as lash ship and basic matrixs, makes AUV realize the independent navigation location." location and map constructing method simultaneously " (Simultaneous Localization and mapping is called for short the SLAM method), be considered to robot real key that realizes independent navigation in circumstances not known.The SLAM method can be described as: under circumstances not known, the mobile robot is from the starting point of the unknown, through a series of positions, utilize airborne sensor information architecture increment type environmental map simultaneously to the self-position location, this method has obtained fast development since nineteen ninety proposes.Location and map creating method and Map Expression form are closely related simultaneously, as grating map, characteristics map, topological map etc., SLAM method based on environmental characteristic is most widely used, and is particularly useful for not having outdoor environment, barrier of regular geometric shapes etc.It is expressed in the pose of robot and environmental characteristic coordinate among the state vector, in the motion process of robot by the observation of environmental characteristic being done the estimation of optiaml ciriterion.This method is divided into three steps: extract based on the environmental characteristic of outside perception (1); (2) prediction of recursive form and update algorithm; (3) corresponding data association technology.
AUV is as an important branch of robot subject, all the time at state-of-the-art technology that constantly incorporates the land route robot and research focus.Domestic research to AUV at present only is confined to the navigator fix aspect of land route robot, and the research of employing SLAM method seldom on AUV.In the world, the researcher of U.S.'s Woods Hole Oceanographic Institution (WHOI) adopts the six degree of freedom vision system to carry out the research that AUV surveys based on the SLAM method, and " Titanic " shipwreck is explored, and obtains very good effect; On-the-spot robot research center, Sydney University is carried out the coral reef seabed with robot under water and is reconnoitred, and also obtains preliminary effect.But above-mentioned AUV navigator fix scope based on the SLAM method is all very little, generally only in hundreds of rice even tens meters.
Summary of the invention
The objective of the invention is to realize in a wider context based on the autonomous type underwater robot independent navigation of location simultaneously with map constructing method, propose a kind of employing and located autonomous type underwater robot with map constructing method simultaneously, its with the scanning imagery sonar be master reference, with simultaneously the location with map structuring be main method, can finish the independent navigation under complicated environments such as subsea, be specially adapted to the complex environment of deep-sea the unknown, low cost of manufacture, launching-out operation expense by this invention reduces greatly, and the good reliability of whole device.
The present invention adopts following technical scheme to realize: the autonomous type underwater robot with map constructing method is located in a kind of employing simultaneously, comprise main computer subsystem, data acquisition subsystem, the inertial navigation subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem and power subsystem out of my cabin, wherein said power subsystem comprises primary power subsystem and standby power supply subsystem, the primary power subsystem provides the electricity needs of robot system, the standby power supply subsystem is independent of the primary power subsystem, the electricity needs of robot system under the state of saving oneself is provided, described robot also comprises redundancy save oneself subsystem and rescue alarm subsystem, the redundancy control of system's catcher of saving oneself when main computer subsystem can't operate as normal to robot system, described data acquisition subsystem comprises the USB-CAN adapter, data acquisition subsystem upwards and between the main computer subsystem passes through ethernet communication, data acquisition subsystem, the inertial navigation subsystem, the primary power subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem out of my cabin, the redundancy subsystem of saving oneself, standby power supply subsystem and rescue alarm subsystem insert the CAN bus by the CAN adapter respectively, data acquisition subsystem is by CAN bus and inertial navigation subsystem, the primary power subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem out of my cabin, the redundancy subsystem of saving oneself, standby power supply subsystem and rescue alarm subsystem communication, described sensor subsystem out of my cabin comprises sonar sensor, it is formed by the narrow beam scanning imagery sonar that is installed in top, outside framework the place ahead with at the common anticollision sonar with broad field angle of outside framework front lower, wherein narrow beam scanning imagery sonar is used to survey the surrounding environment target, and common anticollision sonar is used for robot measurement apart from the height at the bottom with survey the front lower place barrier with urgent collision prevention.
Among the present invention, save oneself subsystem and rescue alarm subsystem of described main computer subsystem, data acquisition subsystem, inertial navigation subsystem, power subsystem, cabin intrinsic parameter detection subsystem, redundancy is located in the pressure chamber, described pressure chamber is a set up and down pair of pressure chamber structure, pressure chamber is fixed on the outside framework, i.e. the present invention adopts open-shelf physical construction.
Sensor in the described inertial navigation subsystem comprises fibre optic gyroscope, accelerometer and digital compass, and the sensor adopts the medium accuracy instrument to meet the demands, and inserts the CAN bus by the CAN adapter respectively, with the data acquisition subsystem interaction data.
Described power subsystem is made up of lithium electronics power battery pack and battery detection plate, the capacity of battery is determined by factors such as cruising time of underwater robot and propeller powers, wherein the battery detection plate inserts the CAN bus by the CAN adapter, and described standby power supply subsystem is by CAN bus and the redundancy subsystem communication of saving oneself.
Detection subsystem is used for the various state parameters etc. in the detected pressures cabin constantly in the described cabin, as temperature, humidity, supply voltage, source current, cabin sealing state, wherein temperature, humidity and cabin sealing state adopt multiple spot to detect, this subsystem is made up of cabin intrinsic parameter check-out console and front-end detection circuit, and its middle deck intrinsic parameter check-out console inserts the CAN bus by the CAN adapter.
Described propeller control subsystem comprises five underwater propellers and controls each angle of rake drive controlling plate respectively, can realize the five degree of freedom motion, wherein the vertical direction along pressure chamber is provided with three thrusters, horizontal direction is provided with two thrusters, the vertical direction thruster is individually fixed in the symmetrical both sides of outside framework front portion and the afterbody of outside framework, the horizontal direction thruster is individually fixed in the symmetrical both sides at outside framework middle part, and described drive controlling plate inserts the CAN bus by the CAN adapter.
Described sensor subsystem out of my cabin also comprises pressure transducer and gps antenna, pressure transducer is fixed in the afterbody and the angle of rake top of vertical direction of framework, thereby be used to measure hydraulic pressure and calculate the height of this place apart from the water surface, gps antenna is installed in the top, rear portion of outside framework, and it inserts the CAN bus by the CAN adapter respectively.
The described redundancy subsystem of saving oneself is two redundancies subsystem of saving oneself, wherein the first cover redundancy subsystem of saving oneself is held a concurrent post by data acquisition subsystem, catcher control when the main computer subsystem cisco unity malfunction, the second cover redundancy subsystem of saving oneself is embedded board controller fully independently, can adopt ARM embedded Control plate, be specifically designed to the processing of saving oneself, in all catcher control during cisco unity malfunction of main computer subsystem and data acquisition subsystem, by the RS232 interface communication, and insert CAN bus and other subsystem communication between itself and main computer subsystem and the data acquisition subsystem by the CAN adapter.
Described rescue alarm subsystem is worked under redundancy is saved oneself the control of subsystem, comprise acoustics rescue alarm system and wireless rescuing warning system, promptly when underwater robot breaks down, can send rescue alarm by dual mode, this subsystem is by CAN bus and the redundancy subsystem interaction data of saving oneself.
The present invention comprises that also a kind of employing locatees the sonar signal feature extracting method with the autonomous type underwater robot of map constructing method simultaneously, and this method may further comprise the steps:
(1) in all Bin of each Ping of sonar, finds out main echo, be defined as a feature.
(2) if the Bin of higher-strength is linked to be sheet in the echo, formed a little bunch, then will assemble within the specific limits, such as 0.5 meter point bunch with a some feature representation.
(3) behind the end of scan of one-period, merge processing for the continuity point feature that exists on the distance underwater robot same distance.
The invention has the beneficial effects as follows: this autonomous type underwater robot air navigation aid utilizes various outside assisting navigation means different with classic method, it does not use the acoustics basic matrix as long baseline LBL, short baseline SBL, ultra-short baseline USBL etc., do not use expensive High Accuracy Inertial Navigation System yet, and mainly rely on the inertial navigation sensors that the active sonar sensor cooperates medium accuracy, and adopt to locate simultaneously and finish the independent navigation location with map constructing method, therefore (1) use and the expense of operating low: classic method is gone to sea at every turn all needs multiple functional lash ship, will certainly cause the cost of going to sea huge, and the present invention has broken away from outside navigation support, such as the lash ship support with lay the acoustics basic matrix, therefore make the launching-out operation expense reduce greatly; (2) low cost of manufacture: this device has adopted the active scan sonar with better imaging capability as main environment detection sensor, and the inertial navigation sensors that is used medium accuracy can meet the demands, need not to adopt expensive high precision inertia system, therefore greatly reduce manufacturing cost; (3) zone that can work is more wide: because the present invention adopts the air navigation aid of location and map constructing method simultaneously, reduced the accumulation of error, therefore can navigate by water fartherly under identical navigation error requires, can realize the independent navigation about 10 kilometers; (5) because the present invention adopts the two cover redundancies subsystems of saving oneself, when robot meets accident or works during fault, ensure that the robot security pulls out and emerges, report to the police by acoustically or wireless mode, so the entire machine robot system has good reliability; (4) intellectual and complicacy are not the characteristics at deep-sea; and on the principle of the invention be utilize statistic correlation between the barrier target eliminate or a computation process that reduces to navigate in the accumulation of error that produces; and the imaging effect of sonar is more excellent under deep-marine-environment, so the present invention is highly suitable for deep-marine-environment.
Description of drawings
Fig. 1 is a physical construction synoptic diagram of the present invention;
Fig. 2 is a system architecture synoptic diagram of the present invention;
Fig. 3 is electrical control system structure figure of the present invention;
Fig. 4 is location and map constructing method treatment scheme synoptic diagram simultaneously of the present invention;
Fig. 5 is a horizontal direction controller work synoptic diagram;
Fig. 6 is a vertical direction controller work synoptic diagram;
Fig. 7 is a fundamental diagram of the present invention.
Embodiment
Shown in 1, the present invention adopts open-shelf physical construction, fixing double pressure cabin 2 up and down on the outside framework 1, and five underwater propellers are set, comprise three vertical direction thrusters 5 and two horizontal direction thrusters 6, wherein be respectively equipped with vertical direction thruster 5 in the left-right symmetric both sides of outside framework 1 front portion, the front upper at outside framework 1 is provided with narrow beam scanning imagery sonar 3 simultaneously, and lower front is provided with the common anticollision sonar 4 that has than broad beam; The left-right symmetric both sides at outside framework 1 middle part are fixing horizontal direction thruster 6 respectively; The top, rear portion of outside framework 1 is provided with gps antenna 8, and its centre position, rear portion is provided with a vertical direction thruster 5, and this angle of rake top is equipped with pressure transducer 7.
As shown in Figure 2, autonomous type underwater robot of the present invention system is mainly by main computer subsystem in the cabin, data acquisition subsystem, inertial navigation subsystem, primary power subsystem, cabin intrinsic parameter monitoring subsystem, propeller control subsystem, save oneself subsystem, standby power supply subsystem and rescue alarm subsystem of sensor subsystem, redundancy formed out of my cabin, below in conjunction with Fig. 2 and Fig. 3 the function and the principle of work of each subsystem module is elaborated.
1, main computer subsystem
Main computer subsystem is the computing platform and the upper strata decision center of underwater robot, can adopt a high-performance industrial computer, such as configuration IEI company four nuclear CPU-Q6600 mainboards, 8G internal memory and SATA2 high speed hard-disk.Principal computer is undertaken most calculation tasks of robot, comprises calculating such as sensor signal processing, attitude estimation and navigation calculating, control calculating, assignment decisions, path planning.It sends instruction to data acquisition subsystem, and obtains various sensing datas and bottom supplemental characteristic from data acquisition subsystem.In addition, it and the second cover redundancy subsystem of saving oneself also have data interaction, with mutual affirmation duty.
2, data acquisition subsystem
Data acquisition subsystem is responsible for gathering the data from each subsystem, as inertial navigation subsystem, power subsystem, cabin intrinsic parameter monitoring subsystem, propeller control subsystem, sensor subsystem out of my cabin, and and the second cover redundancy subsystem of saving oneself data interaction is arranged, with mutual affirmation duty.Data acquisition subsystem is made up of PC104 industrial computer and USB-CAN adapter.Data acquisition subsystem upwards passes through ethernet communication with main computer subsystem, receive the director data of main computer subsystem, and the Various types of data of acquisition process sent to principal computer, the express network communication mode can be guaranteed the reliable transmission of Large Volume Data, downwards by CAN bus and other subsystem communication.In addition, data acquisition subsystem is also as
The cover redundancy system of having saved oneself obtains the control of total system when the main computer subsystem cisco unity malfunction.
3, inertial navigation subsystem
Inertial navigation sensors in this subsystem comprises fibre optic gyroscope, accelerometer, and cooperates one three number of axle word compass.Gyroscope adopts the product of medium accuracy, and such as Muscovite VG951D, its effect is the yawrate that obtains underwater robot, can obtain the deflection of underwater robot behind digital quantity output and the integration.Accelerometer also adopts the product of medium accuracy, such as the LCF2350 of Jewell, and resolution 1 μ G.Digital compass can be selected HMR3000 for use, and angle precision can reach 0.5 degree, and the calibration function that device carries makes this digital compass also can work reliably under the nearer situation of distance thruster.Above-mentioned each sensor in the inertial navigation subsystem inserts CAN bus and data acquisition subsystem interaction data by the CAN adapter.
4, primary power subsystem
Primary power is made up of lithium-ion-power cell group and battery detection plate, and the electricity needs of robot system is provided, and factors such as the capacity of battery and the cruising time of underwater robot and propeller power are closely related, can be by following formula to calculating:
Battery capacity=(power of thruster general power * 70%+ industrial computer power+high power sensor) * cruising time.The battery detection plate inserts CAN bus and data acquisition subsystem interaction data by the CAN adapter.
5, cabin intrinsic parameter monitoring subsystem
Guarantee the operate as normal of underwater robot, the various state parameters in the monitoring pressure cabin comprise temperature, humidity, supply voltage, source current, cabin sealing state etc. constantly.Wherein temperature, humidity and cabin sealing monitoring adopt multiple spot to detect.Cabin intrinsic parameter monitoring subsystem inserts CAN bus and data acquisition subsystem interaction data by the CAN adapter.
6, propeller control subsystem
The present invention adopts five thruster modes, and vertical direction has three thrusters, and horizontal direction has two thrusters, the moving outer five degree of freedom motion of the translation that can realize dewatering.Thruster adopts distributed controlling schemes, and each thruster is controlled by a drive controlling plate respectively accordingly, and this control panel is core with the single-chip microcomputer, and five control panels insert CAN bus and data acquisition subsystem interaction data by the CAN adapter respectively.Thruster cooperates the multiple-blade screw propeller to form by dc permanent magnet motor or DC Brushless Motor.
7, sensor subsystem out of my cabin
The present invention also installs sonar sensor, pressure transducer and gps antenna except installing the inertial navigation sensors out of my cabin in the cabin.Wherein sonar sensor has two: a top, the place ahead that is installed in robot is the scanning imagery sonar of narrow beam, is used to survey the surrounding environment target; Another one is installed in front lower, is that anticollision sonar is common scanning imagery sonar, and the field angle that it has broad is used for robot measurement apart from the height at the bottom with survey the front lower place barrier with urgent collision prevention.Thereby pressure transducer is used for measuring hydraulic pressure and converses the distance of robot apart from the water surface.Owing to be operated in underwater environment, to the watertightness of sensor and having relatively high expectations of resistance to pressure out of my cabin, therefore sonar and pressure transducer itself need enough water-tight design, the gps antenna of Chu Shouing does not generally have watertightness in the market, need do watertight separately handles, the present invention selects the seal casinghousing sealing gps antenna of polytetrafluoroethylmaterial material, has watertightness preferably, and does not influence GSP substantially and receive wireless signal at the water surface.Gps antenna and sonar sensor insert the CAN bus by the CAN adapter, and pressure transducer connects the AD capture card and inserts the CAN bus by the CAN adapter.
8, the redundancy subsystem of saving oneself
Although the design of robot system is relatively reliable, but can not guarantee that it can not break down in the course of the work fully, especially after battery and top level computer system go wrong, to cause underwater robot out of control fully, the therefore redundant subsystem of saving oneself is used for the control of catcher total system when main computer subsystem or data acquisition subsystem can't operate as normal.The redundancy subsystem of saving oneself has two, constitutes two redundancies subsystem of saving oneself.Wherein the first cover redundancy subsystem of saving oneself is held a concurrent post by data acquisition subsystem, catcher control when the principal computer cisco unity malfunction, the second cover redundancy subsystem of saving oneself is a cover embedded board controller fully independently, can adopt ARM embedded Control plate, it is specifically designed to the processing of saving oneself, when main computer subsystem and data acquisition subsystem all during cisco unity malfunction, the subsystem catcher control of saving oneself of the second cover redundancy.
9, standby power supply subsystem
Standby power supply is independent of the primary power subsystem, is made up of lithium-ion-power cell group and battery detection plate, offers the electricity needs of robot system under the state of saving oneself.The volume ratio primary power battery capacity of general battery backup is much smaller, and general consideration can make the floating sea energy needed that goes up of robot at least during design.The battery detection plate of standby power supply subsystem inserts CAN bus and the redundancy subsystem interaction data of saving oneself by the CAN adapter.
10, rescue alarm subsystem
When robot broke down under water, the rescue alarm subsystem was worked under redundancy is saved oneself the control of subsystem, sends rescue alarm by dual mode, and a kind of is under water by acoustics Modem mode, and another kind is to pass through communication after emerging.The rescue alarm subsystem inserts the CAN bus by the CAN adapter, with the first cover redundancy subsystem of saving oneself be the data acquisition subsystem and the second cover redundancy subsystem interaction data of saving oneself.
Underwater robot employing of the present invention location simultaneously is that the SLAM method is carried out navigator fix with map constructing method, thereby realizes autonomous the navigation.The principle of work of this method is described below: utilize this method to carry out relating in the process of navigator fix two coordinate systems, promptly quiet coordinate system and moving coordinate system.Quiet coordinate system is an absolute coordinate system, and moving coordinate system is that the position with current carrier is the center, is X-axis with current course direction.The implementation of SLAM method can be divided into three phases substantially: prediction, observation and renewal.At first attitude of carrier and map feature are stored in one independently in the state vector, then by prediction earlier again the iteration recursive process of observation come the estimating system state, realize the location of carrier and the establishment of characteristics map.Prediction normally utilizes self-contained instruments such as gyroscope that the attitude of current time carrier is carried out dead reckoning, because the precision of traditional dead reckoning is generally all very low, so can increase to some extent in the evaluated error of forecast period attitude of carrier.In the observation stage, utilize sonar perception surrounding environment, feature in the carrier surrounding environment is observed once more, obtain the measuring value of representation feature and carrier relative position under the carrier coordinate system, utilize the current estimated position of carrier that feature in the map and measuring value are transformed under the same coordinate system again, determine the one-to-one relationship of measurement and feature by the data association process, with both position deviation as observed reading, after the EKF processing, can improve the state estimation of carrier and feature simultaneously.Underwater robot of the present invention locate simultaneously with the flow process of map structuring Processing Algorithm as shown in Figure 4.
By to surrounding environment perception carry out mainly depending on the scanning imagery sonar that is installed in AUV top based on the independent navigation of SLAM.And for online structure of map and AUV localization method, it is unique available having only environmental characteristic, so Feature Extraction is a vital ring.Will carry out the filtering of sonar echo signal earlier before feature extraction, wherein the selection of threshold value has significant effects to target detection, and is low if threshold value was selected, and output background signal proportion strengthens, and unsettled latent target is more, and echo signal is not obvious; Select too highly may keep too much noise, and the lost part target information.Water listens equipment can receive the sonar echo signal of intensity at 0dB～80dB, generally the highest sampling decibel T is set between 50dB～60dB, then sample range is [0T], both can keep the interference that target information also can be removed the part high intensity noise well.Can from sonar data, extract feature after the filtering, extract feature and mainly take following three steps:
(1) finds out main echo among all Bin in each Ping of sonar, it is defined as a feature.Main echo is the mean value of intensity amplitude among those relative Ping and explain and show higher echo Bin, and the distance value of this Bin correspondence has been represented the distance between sonar and the target;
(2) if the Bin of higher-strength is linked to be sheet in the echo, formed a little bunch, then will accumulate in certain distance, as the point within 0.5 meter bunch with a some feature representation.Like this, those points in blocks that formed by seabed reef in blocks bunch just are marked as equally spaced some somes features by merging, and these feature pitch are 0.5 meter;
(3) behind the end of scan of one-period, for distance underwater robot same distance, be that the continuity point feature that the Bin of identical numbering go up to exist merges processing, have a feature to merge into a some feature institute in 0.5 meter, but do not participate in merging processing by the some feature that above-mentioned main echo forms.
After obtaining the some feature as stated above, be easy to the position angle and the distance of each some feature as can be known.Stable some feature all will be added in the characteristics map.All have in above-mentioned steps (2) and (3) to merge and handle, this mainly is to consider that the sea bottom complex environment is easy to make sonar data to handle and produces too intensive some feature, is unfavorable for that the real-time online of underwater robot navigation and positioning algorithm calculates.Merge processing with the vertical and horizontal dual mode in the above-mentioned steps, be similar to a kind of low-pass filter effect at the point of density feature, and because we stipulate that the some feature that main echo forms does not participate in this filtering, therefore can form stablely and clocklike put signature, can not lose in the seabed obviously reliable some signature of projection reef again large stretch of hermatolith.
Control system of the present invention has adopted two-layer control architecture, i.e. the impeller driven of bottom control and high-rise control behaviour decision making system.The bottom control system adopts the decoupling zero mode that the motion of underwater robot is decomposed into horizontal direction and vertical direction, therefore finish horizontal direction control and vertical direction control respectively by as shown in Figure 5 horizontal direction controller and vertical direction controller as shown in Figure 6, wherein pid parameter and other scale-up factor are adjusted according to the real work situation, the output quantity of decision of the senior level system becomes the input expectation value of bottom layer driving system, and the behaviour decision making structure that it adopts as shown in Figure 7.In sum, underwater robot among the present invention realizes that the course of work of independent navigation is as follows: at first, the bottom data acquisition system is carried out data acquisition to described unknown environments such as subsea in the navigation process, this process by the inertial navigation subsystem and out of my cabin the sensor of sensor subsystem finish, wherein accelerometer, optical fibre gyro cooperate digital compass in the forecast period of SLAM method the attitude of current time carrier to be navigated by water reckoning, wherein optical fibre gyro obtains the yawrate of underwater robot, digital compass output device people three-axis attitude angle; Narrow beam scanning imagery sonar is used for the acquisition environment target, can more accurately obtain the target reflection ripple in the surrounding environment, the observation of imaging sonar is mainly used in the observation stage of SLAM method, the feature in the underwater robot surrounding environment is observed and then obtained by feature extraction the distance and bearing angle of target; Common anticollision sonar is used to survey the distance between the place ahead obstacle and robot measurement and the seabed; Pressure transducer is used for the distance between described position of robot measurement and the sea level.The raw data of the sensor is given main computer subsystem through the data acquisition subsystem collection and with related data transmission.Main computer subsystem is by obtaining the optimal estimation of optimal estimation of underwater robot attitude and environmental characteristic map to the calculating of SLAM Processing Algorithm, these information and aforementioned acquired distance/direction information, obstacle distance information, altitude information and depth information are input to respectively in the predefined various actions pattern, behavior pattern is meant underwater robot next expectation execution amount constantly of behavior computing method output device people through design in advance under certain initial conditions, such as crab angle, leading or the degree of depth.Defined seven kinds of behavior patterns among the present invention altogether, be respectively setting path navigation behavior, regionally detecting behavior, keep away the barrier behavior, set height above sea level navigation behavior, minimum elevation navigation behavior, set depth navigation behavior and minimum-depth navigation behavior.Be separate between each behavior pattern, therefore all can produce expectation execution amount separately, these execution amounts directly are sent in crab angle/speed of a ship or plane fuzzy logic decision device and the degree of depth fuzzy logic decision device, crab angle/speed of a ship or plane fuzzy logic decision device and degree of depth fuzzy logic decision device also receive the instruction of mission planning and path planning module simultaneously when work, they adopt the good fuzzy decision algorithm of a prior design tuning of cover finally to determine next expectation execution amount constantly, the i.e. degree of depth of Qi Wang crab angle/speed of a ship or plane and expectation, and send to the propeller control subsystem of bottom.The propeller control subsystem utilizes gyro data and pressure sensor data and has used the PID controller of two decoupling zeros, Fig. 5 and Fig. 6 have just provided the controller scheme of decoupling zero, also need in the real work to go out two horizontal propellers and three vertical pusher thrust apportioning cost separately according to the mechanical kinetics Model Calculation of underwater robot.At last, thus drive horizontal direction thruster and vertical direction thruster by the output power controlling driving circuit of PID.
The present invention realized a kind of with the scanning imagery sonar be master reference, with simultaneously the location with map constructing method be the autonomous type underwater robot of main navigation locating method, the technical indicator of this robot is:
Physical dimension: should particularly carry burden requirement by concrete request for utilization, can be long 1.5 meters, wide 1.2 meters, high 1.1 meters such as outside framework, made by 304 stainless steel pipes; 0.3 meter of pressure chamber diameter, is made by the duralumin, hard alumin ium alloy material by long 1 meter.
Operating depth: do not limit, depend primarily on material, structure and the watertight ability of pressure chamber, and the watertight index of external sensor etc.
The speed of a ship or plane: for open-shelf underwater robot, generally the highest 4 joints of the speed of a ship or plane;
Horizontal thrust: for mating above-mentioned profile and structure, 30～40 kgfs;
Normal thrust: 25 kgfs;
Flying power: join the 4000Wh battery, generally can continue a journey 5～8 hours;
The AUV navigation and positioning accuracy: to cruise 10 kilometers, positioning error can be less than 100 meters in the environments such as subsea of more complicated.
Under the situation of known starting point absolute coordinates, this robot can carry out independent navigation by sonar and other airborne sensor fully under more complicated environments such as subsea, non-rising in the process of cruising, and adopts no cable mode fully; The characteristics map closed loop can be realized, promptly the starting point marine site can be identified when turning back to starting point circumaviate.
The present invention is by carrying multiple sensors and implement, can carry out work such as monitoring task in underwater environments such as rivers and lakes, water power dam, ocean and maintenance, repair.
Claims (10)
1, the autonomous type underwater robot with map constructing method is located in a kind of employing simultaneously, comprise main computer subsystem, data acquisition subsystem, the inertial navigation subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem and power subsystem out of my cabin, it is characterized in that: described power subsystem comprises primary power subsystem and standby power supply subsystem, described robot also comprises redundancy save oneself subsystem and rescue alarm subsystem, pass through ethernet communication between described data acquisition subsystem and the main computer subsystem, data acquisition subsystem, the inertial navigation subsystem, the primary power subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem out of my cabin, the redundancy subsystem of saving oneself, standby power supply subsystem and rescue alarm subsystem insert the CAN bus by the CAN adapter respectively, data acquisition subsystem is by CAN bus and inertial navigation subsystem, the primary power subsystem, cabin intrinsic parameter detection subsystem, the propeller control subsystem, sensor subsystem out of my cabin, the redundancy subsystem of saving oneself, standby power supply subsystem and rescue alarm subsystem communication, described sensor subsystem out of my cabin comprises sonar sensor, and it is made up of narrow beam scanning imagery sonar that is installed in top, outside framework the place ahead and the common anticollision sonar that is installed in the outside framework front lower.
2, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: save oneself subsystem and rescue alarm subsystem of described main computer subsystem, data acquisition subsystem, inertial navigation subsystem, power subsystem, cabin intrinsic parameter detection subsystem, redundancy is located in the pressure chamber, described pressure chamber is a set up and down pair of pressure chamber, and it is fixed on the outside framework.
3, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: the sensor in the described inertial navigation subsystem comprises fibre optic gyroscope, accelerometer and digital compass, it inserts the CAN bus by the CAN adapter respectively, communicates by letter with data acquisition subsystem.
4, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: described power subsystem is made up of lithium-ion-power cell group and battery detection plate, wherein the battery detection plate inserts the CAN bus by the CAN adapter, and described standby power supply subsystem is by CAN bus and the redundancy subsystem communication of saving oneself.
5, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: detection subsystem is made up of cabin intrinsic parameter check-out console and testing circuit in the described cabin, and its middle deck intrinsic parameter check-out console inserts the CAN bus by the CAN adapter.
6, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: described propeller control subsystem comprises five underwater propellers and controls each angle of rake drive controlling plate respectively, wherein the vertical direction along pressure chamber is provided with three thrusters, horizontal direction is provided with two thrusters, the vertical direction thruster is individually fixed in the symmetrical both sides of outside framework front portion and the afterbody of outside framework, the horizontal direction thruster is individually fixed in the symmetrical both sides at outside framework middle part, and described drive controlling plate inserts the CAN bus by the CAN adapter.
7, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: described sensor subsystem out of my cabin also comprises pressure transducer and gps antenna, pressure transducer is fixed in the afterbody and the angle of rake top of vertical direction of framework, gps antenna is installed in the top, rear portion of outside framework, and it inserts the CAN bus by the CAN adapter respectively.
8, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: the described redundancy subsystem of saving oneself is two redundancies subsystem of saving oneself, wherein the first cover redundancy subsystem of saving oneself is data acquisition subsystem, the second cover redundancy is saved oneself and is passed through the RS232 interface communication between subsystem and main computer subsystem and the data acquisition subsystem, and inserts CAN bus and other subsystem communication by the CAN adapter.
9, the autonomous type underwater robot with map constructing method is located in employing according to claim 1 simultaneously, it is characterized in that: described rescue alarm subsystem is made up of acoustics rescue alarm system and wireless rescuing warning system, and this subsystem inserts CAN bus and the redundancy subsystem communication of saving oneself by the CAN adapter.
10, a kind ofly adopt the described employing of claim 1 to locate sonar signal feature extracting method with the autonomous type underwater robot of map constructing method simultaneously, it is characterized in that this method may further comprise the steps:
(1) in all Bin of each Ping of sonar, finds out main echo, be defined as a feature.
(2) if the Bin of higher-strength is linked to be sheet in the echo, formed a little bunch, then will assemble within the specific limits point bunch with a some feature representation.
(3) behind the end of scan of one-period, merge processing for the continuity point feature that exists on the distance underwater robot same distance.
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