CN104369842A - Water surface auxiliary robot based on autonomous underwater vehicle and use method - Google Patents
Water surface auxiliary robot based on autonomous underwater vehicle and use method Download PDFInfo
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- CN104369842A CN104369842A CN201410393093.9A CN201410393093A CN104369842A CN 104369842 A CN104369842 A CN 104369842A CN 201410393093 A CN201410393093 A CN 201410393093A CN 104369842 A CN104369842 A CN 104369842A
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Abstract
The invention discloses a water surface auxiliary robot based on an autonomous underwater vehicle. The water surface auxiliary robot comprises a water surface auxiliary device; the water surface auxiliary device is composed of an energy supply device and a wireless signal relay device; the energy supply device and the wireless signal relay device synchronously move along with the autonomous underwater vehicle; the energy supply device and the wireless signal relay device are connected with the autonomous underwater vehicle through cables; the energy supply device and the wireless signal relay device are arranged on a ship-shaped structure robot boy; a control system, a motion system, a cable management system, a tracking navigation system and an auxiliary system are arranged in the robot body; the control system is in signal connection with the wireless signal relay device and the like; the wireless signal relay device, the energy supply device, the motion system, the cable management system, the tracking navigation system and the auxiliary system are controlled to achieve the aim that the water surface auxiliary robot and the autonomous underwater vehicle are kept to synchronously move in the horizontal direction; and the energy supply device is electrically connected with the wireless signal relay device and the like.
Description
Technical field
The present invention relates to a kind of water surface robot, particularly a kind of for autonomous underwater navigation provide the water surface auxiliary robot of back work and the method for use, namely based on water surface auxiliary robot and the using method of Autonomous Underwater Vehicle.
Background technology
That explores ocean along with the mankind deepens continuously, and deep-sea technology is developed rapidly, and submarine navigation device becomes more and more extensive as a kind of its application of instrument exploring ocean.According to the difference of mode, submarine navigation device can be divided into Autonomous Underwater Vehicle and remote control submarine navigation device, remote control submarine navigation device is a kind of submarine navigation device worked under the control of base station, high-speed communication can be carried out by cable, and energy transmission & distribution electric energy, but the restriction of the length by cable, its operating range is limited; Autonomous Underwater Vehicle carries out deep ocean work when unmanned manipulation, its operating range is wide, and improve its flying power by carrying large-capacity battery, but for the Autonomous Underwater Vehicle that long-time deep-sea works, have communication slow, locate the problems such as discontinuous, energy supplement is difficult.
At present, Autonomous Underwater Vehicle is when deep ocean work, and what signalling methods employing was more is underwater sound communication, and its speed of transmission is slow, and data volume is little, substantially can not complete the high-speed transfer of mass data, as transmission HD video data, high definition image data.Above water craft can adopt radio, satellite, inertial navigation system (INS) etc. to position navigation, and submarine navigation device can only be located by underwater acoustic technology substantially at the bottom, or the location that emerges.Need underwater positioning system to coordinate according to hydroacoustic positioning, and can only act on marine site, local, when when the operation of large area marine site, the enforcement difficulty of hydroacoustic positioning is large; Will reduce the work efficiency of submarine navigation device greatly according to the location that emerges, and location do not have continuity.The electric energy arbitrary way of aircraft mainly contains: electromagnetic isolation is charged, by cable plug charging, salvage replacing battery.Electromagnetic isolation charging can carry out contactless charging by electromagnetic induction under sea level, and this charging modes is convenient, but charging duration is long, and loss is large; Cable plug charges, and its charging rate is very fast, but needs cable to be connected with aircraft, its complex operation; Salvage and change battery and full battery can be directly installed, but need to salvage and dismounting, and adverse effect is sealed with to Autonomous Underwater Vehicle.
Summary of the invention
The technical problem to be solved in the present invention is to provide the water surface auxiliary robot of a kind of structure simple autonomous underwater navigation work.
In order to solve the problems of the technologies described above, the invention provides a kind of water surface auxiliary robot based on Autonomous Underwater Vehicle, comprise the water surface auxiliary machine device be arranged on Autonomous Underwater Vehicle; Described water surface auxiliary device comprises with the synchronization-moving energy recharge device of Autonomous Underwater Vehicle and wireless signal relay; Described energy recharge device and wireless signal relay are all interconnected by cable and Autonomous Underwater Vehicle.
Improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described energy recharge device and wireless signal relay be all arranged on ship type constructed machine man-machine with it; Control system, kinematic scheme, cable management system, tracing navigation system and ancillary system is provided with in described robot fuselage; Described control system is connected with wireless signal relay, energy recharge device, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle signal respectively; And realize by controlling wireless signal relay, energy recharge device, kinematic scheme, cable management system, tracing navigation system and ancillary system the synchronizing moving that water surface auxiliary robot and Autonomous Underwater Vehicle keep in the horizontal direction; Described energy recharge device is electrically connected with wireless signal relay, control system, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle respectively.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described wireless signal relay comprises radio module, satellite positioning navigation module and fiber optic cable communications module; Described fiber optic cable communications module is connected with Autonomous Underwater Vehicle signal by cable; Described energy recharge device is electrically connected with Autonomous Underwater Vehicle by cable; Described control system is connected with radio module, satellite positioning navigation module and fiber optic cable communications module by signal; Described energy recharge device is electrically connected with control system, radio module, satellite positioning navigation module and fiber optic cable communications module.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described cable management system comprises cable distributor, cable state monitor; Described cable distributor is the take-up and pay-off device by driven by motor, and described cable is wrapped on the reel of take-up and pay-off device equably; Described cable state monitor is connected with signal between cable, realizes the monitoring of cable state; Described cable distributor is all connected with control system signal with cable state monitor; Integrated optical fiber line, cable and monitoring line in described cable; Described cable distributor and cable state monitor are all electrically connected with energy recharge device.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described kinematic scheme comprises propelling unit, motion controller; Described propelling unit comprises the left propelling unit and right propelling unit that are separately positioned on robot fuselage arranged on left and right sides; Described motion controller is connected with control system, left propelling unit and right propelling unit signal respectively; Described motion controller, left propelling unit and right propelling unit are all electrically connected with energy recharge device.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described tracing navigation system comprises inertial navigation system, hydroacoustic positioning communication module and Doppler anemometer; Described inertial navigation system, hydroacoustic positioning communication module are all connected with control system signal with Doppler anemometer, and the inertial navigation system on described Autonomous Underwater Vehicle is connected with control system signal by cable;
Described hydroacoustic positioning communication module and Doppler anemometer are all electrically connected with energy recharge device, and described inertial navigation system is electrically connected with energy recharge device by cable.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described ancillary system comprises the self-diagnosable system and weather monitoring device that are all connected with control system signal; Described self-diagnosable system and weather monitoring device are all electrically connected with energy recharge device.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described energy recharge device is the energy recharge device that master battery pack, stand by battery, solar electrical energy generation module, transformation voltage stabilizer and battery management controller are formed.
Further improvement as to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention: described control system comprises control mainboard and control path; Described control mainboard controls the work of modules, and described control mainboard is integrated with embedded computer, concentrator and camera.
A kind of water surface householder method of Autonomous Underwater Vehicle: complete based on water surface auxiliary robot; Described water surface auxiliary robot by energy recharge device obtain electric energy, and by electric energy by cable to Autonomous Underwater Vehicle, as the available power of Autonomous Underwater Vehicle; Described water surface auxiliary robot realizes the transmitting-receiving of wireless signal by wireless signal relay, and by cable to Autonomous Underwater Vehicle, realizes Autonomous Underwater Vehicle and complete the live signal transmission with water surface base station alternately by real-time wireless signal; Described water surface auxiliary robot by the movement track of control system ACTIVE CONTROL water surface auxiliary robot, and keeps water surface auxiliary robot consistent in the horizontal direction with Autonomous Underwater Vehicle path of motion.
Improvement as the water surface householder method to a kind of Autonomous Underwater Vehicle of the present invention: described control system obtains current navigation environment and the relative position of Autonomous Underwater Vehicle by tracing navigation system and ancillary system; Described control system, according to the relative position of current navigation environment and Autonomous Underwater Vehicle, carries out the length adjustment of cable through cable management system; The energy is provided to wireless signal relay, control system, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle by energy recharge device; The forms such as described energy recharge device generates electricity after absorbing solar power by replacing master battery pack or stand by battery solar electrical energy generation module complete energy recharge.
Water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention in implementation procedure, on the one hand, the course information of the inertial navigation system determination Autonomous Underwater Vehicle of Autonomous Underwater Vehicle; Water surface auxiliary robot is then by the course information of Doppler anemometer aided inertial navigation system determination water surface auxiliary robot; Again by sonar communication device underwater acoustic positioning system and sonar communicator with the use of the relative position determining Autonomous Underwater Vehicle and water surface auxiliary robot, compensate the measured error of inertial navigation system; Again by the real-time weather conditions on weather monitoring device monitoring sea; By the running state of the Sensor monitoring water surface auxiliary robot of self-diagnosable system; Detected by the real-time running state of cable state monitor to optical fiber cable integrated in cable, cable and monitoring line; In addition on the one hand, while obtaining above-mentioned robotary result, the running state of carrying out water surface auxiliary robot controls: as carried out the folding and unfolding of cable through electric machine control take-up and pay-off device by cable distributor; Control the angle of rake electric machine rotation of left propelling unit and the right side by motion controller, and realize the Stroke Control of water surface auxiliary robot by the angle of rake electric machine rotation of left propelling unit and the right side; By satellite positioning navigation module determination water surface auxiliary robot location information, then realize the signal transmission between water surface auxiliary robot and peripheral operation system by radio module; The control signal of peripheral operation system after the reception of radio module, then by cable transmission to Autonomous Underwater Vehicle.
First the signal that Autonomous Underwater Vehicle exports carries stable cable to output to water surface auxiliary robot by signal, then by water surface auxiliary robot, signal is transferred to water surface base station in the mode of transmission over radio by radio module by this signal; Information transmit-receive time this mode solves Autonomous Underwater Vehicle distant voyage send problem.And the energy recharge device of ability is solar energy system on this water surface auxiliary robot, carries out providing of self energy by solar power being converted to electric energy, also carrying out the autonomous energy recharge of Autonomous Underwater Vehicle, increase the flying power of Autonomous Underwater Vehicle; And water surface auxiliary robot by position fixing system and kinematic scheme achieve in the horizontal direction with the synchronized operation of Autonomous Underwater Vehicle track.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is profile schematic top plan view of the present invention;
Fig. 2 is profile elevational schematic view of the present invention;
Fig. 3 is the main TV structure schematic diagram of profile of the present invention;
Fig. 4 is profile plan structure schematic diagram of the present invention;
Fig. 5 is the left TV structure schematic diagram of profile of the present invention;
Fig. 6 is wireless signal relay schematic diagram of the present invention;
Fig. 7 is cable distributor structural representation of the present invention;
Fig. 8 is cable cross-section structural representation of the present invention;
Fig. 9 is energy recharge device of the present invention composition schematic diagram;
Figure 10 is built-in system schematic diagram of the present invention;
Figure 11 is the present invention and Autonomous Underwater Vehicle collaborative work schematic diagram.
Detailed description of the invention
Embodiment 1, Fig. 1 ~ Figure 11 give a kind of based on the water surface auxiliary robot of Autonomous Underwater Vehicle and the method for use.The method of this use overcomes the deficiencies such as Autonomous Underwater Vehicle flying power of the prior art is poor, ability to communicate is weak.
Should adopt the robot fuselage 100 of ship type structure based on water surface auxiliary robot of Autonomous Underwater Vehicle, make robot obtain enough buoyancy at the water surface by the structure of this ship type, what it is such that robot can be static rests on the water surface.Relevant position on robot fuselage 100 is provided with control system 720, kinematic scheme 20, wireless signal relay 30, cable management system 40, energy recharge device 50, tracing navigation system 60 and ancillary system 70.
Control system 720 comprises control mainboard and control path; Control the work of modules in mainboard controlled motion system 20, wireless signal relay 30, cable management system 40, energy recharge device 50, tracing navigation system 60 and ancillary system 70, control mainboard is integrated with embedded computer 722, concentrator 723 and camera.
Kinematic scheme 20 comprises propelling unit 200 and motion controller 210; Propelling unit 200 comprises motor-driven left propelling unit 201 and right propelling unit 202, as shown in Figure 2; Left propelling unit 201 and right propelling unit 202 are separately positioned on the left side and the right of robot fuselage 100 downside; When robot of the present invention is suspended on the water surface by robot fuselage 100, can guarantee that left propelling unit 201 and right propelling unit 202 are all below the water surface.Between motion controller 210 with control system 720, signal is connected (embedded computer 722 is connected through signal between control path with motion controller 210 by concentrator 723), implemented the issue of control command by the embedded computer 722 of control system 720, and control according to predetermined implementation standard the implementation that left propelling unit 201 and right propelling unit 202 carry out control command by motion controller 210.Left propelling unit 201 mainly contains following operational mode with right propelling unit 202: when left propelling unit 201 and right propelling unit 202 rotate forward and the thrust produced is identical simultaneously, robot accomplish linear forward movement; When left propelling unit 201 and right propelling unit 202 rotate forward simultaneously and there is velocity contrast, robot advance and with divertical motion, when when the positive thrust of left propelling unit 201 is greater than the positive thrust of right propelling unit 202, robot right-hand turning is less than the positive thrust of right propelling unit 202 to the positive thrust of, left propelling unit 201 robot left-handed turning to; When left propelling unit 201 and right propelling unit 202 reverse and the thrust produced is identical simultaneously, robot completes setback; Control propelling unit by difference and also can complete rotary motion.
Wireless signal relay 30 is mainly for solving the problem of Autonomous Underwater Vehicle in water-bed working communication location difficulty.Wireless signal relay 30 comprises radio module 300, satellite positioning navigation module 310, fiber optic cable communications module 320, as shown in Figure 6.Radio module 300 comprises vertical atenna I 301, vertical atenna II 303 and horizontal antenna 302; Vertical atenna I 301, vertical atenna II 303 and horizontal antenna 302 combinationally use, for transceiving electromagnetic ripple.Vertical atenna I 301, vertical atenna II 303 and horizontal antenna 302 are all by being connected with embedded computer 722 signal through concentrator 723 after signal transacting, and cooperated with mutual between control system 720 (embedded computer 722) by radio module 300 (vertical atenna I 301, vertical atenna II 303 and horizontal antenna 302), complete and communicate and marine radio positioning function.Satellite positioning navigation module 310 can utilize GPS or dipper system to position, and by satellite and base station communication; Satellite positioning navigation module 310 is connected with embedded computer 722 signal through concentrator 723 by control path, after embedded computer 722 signal acquisition locating information, just can be carried out the motion control of robot through left propelling unit 201 and right propelling unit 202 by embedded computer 722.Fiber optic cable communications module 320 is connected with embedded computer 722 signal through concentrator 723 by control path, and embedded computer 722 realizes the transmitting-receiving of data message through cable 420 (optical fiber) and Autonomous Underwater Vehicle by fiber optic cable communications module 320.
Cable management system 40 comprises cable distributor 400, cable state monitor 410 and cable 420; By the cable management schemes realized based on cable management system 40, and ensureing that cable 420 is not affecting under the prerequisite that Autonomous Underwater Vehicle normally works short as much as possible according to this scheme, this mode cable 420 being strapped in shortest distance between Autonomous Underwater Vehicle and water surface auxiliary robot can reduce the running resistance of Autonomous Underwater Vehicle and water surface auxiliary robot.Cable management system 40 is by the depth data of Autonomous Underwater Vehicle and manage cable with the relative position of water surface auxiliary robot.Cable distributor 400 is made up of shell 401, servomotor 402, main drum 403, down-lead card 404 and loose drum 405, as shown in Figure 7.Coaxial in the rotating shaft that servomotor 402 is arranged on main drum 403, servomotor 402 rotates without speed change Direct driver main drum 403; Down-lead card 404 and loose drum 405 collaborative work make cable be evenly arranged on main drum 403; Servomotor 402 is connected with embedded computer 722 signal through concentrator 723 by control path, embedded computer 722 obtain Autonomous Underwater Vehicle depth data and with the relative position of water surface auxiliary robot after, determine to discharge the length of cable 420.Cable 420 is integrated with optical fiber cable 421, cable 422, monitoring line 423, interstitial wire 424, protects the section drawing that outer 425, Fig. 8 is cable; Monitoring line 423 is set in protection outer 425, in monitoring line 423, optical fiber cable 421 and cable 422 are set, in optical fiber cable 421 and the space between cable 422 and monitoring line 423, fill interstitial wire 424.By detection line 423, cable state detector 410 judges whether the protection skin 425 of cable 420 has breakage and damaged degree; Cable state detector 410 is connected with embedded computer 722 signal through concentrator 723 by control path, the testing result of cable state detector 410 pairs of cables 420 is sent to embedded computer 722, is further operated according to the testing result of built-in program to cable 420 by embedded computer 722; And cable state detector 410 is after the pulling force data obtaining cable 420 folding and unfolding, just the pulling force data of this cable 420 folding and unfolding can be transferred to embedded computer 722, and be realized the retractable cable speed of fine adjustment cable 420 by servomotor 402 by embedded computer 722.
Energy recharge device 50 provides electric energy for the work of water surface auxiliary robot, is Autonomous Underwater Vehicle transmission of electric energy.Energy recharge device 50 comprises master battery pack 511, stand by battery 512, solar electrical energy generation module 500, transformation voltage stabilizer 520 and battery management controller 530, as shown in Figure 9.Master battery pack 511 and stand by battery 512 are placed in the inside of water surface auxiliary robot fuselage 100; Solar electrical energy generation module 500 forms primarily of solar energy photovoltaic panel I 501, solar energy photovoltaic panel II 502, solar energy photovoltaic panel III 503, solar energy photovoltaic panel IV 504, solar energy photovoltaic panel V 505 and controller for solar 506, passes through solar power generation; The electric energy that solar electrical energy generation module 500 produces is delivered directly to master battery pack 511 by controller for solar 506, and the electric energy that solar electrical energy generation module 500 produces can meet the power requirement of Autonomous Underwater Vehicle and the operation of water surface auxiliary robot substantially; Transformation voltage stabilizer 520 can carry out voltage inversion, promotes conveying voltage to reduce energy loss; Battery management controller 530 manages electric energy transmission & distribution and control, battery management controller 530 control path is connected with embedded computer 722 signal through concentrator 723, is optimized the use of electric energy by embedded computer 722 through the weather conditions that the weather monitoring device 710 of ancillary system 70 obtains.
Tracing navigation system 60 is made up of hydroacoustic positioning communication module 600, Doppler anemometer 610 and inertial navigation system 620.Hydroacoustic positioning communication module 600 comprises underwater sound probe I 601, underwater sound probe II 602, underwater sound probe III 603 and signal transmitting and receiving treater 604; Underwater sound probe III 603 can the sound wave of launch and accept carry information, and underwater sound communication can be used as the subsidiary communications of water surface auxiliary robot and Autonomous Underwater Vehicle.Signal transmitting and receiving treater 604 pops one's head in I 601 respectively with the underwater sound, the underwater sound is popped one's head in II 602, the underwater sound is popped one's head in III 603 and embedded computer 722 signal be connected; Embedded computer 722 sends communication signal by signal transmitting and receiving treater 604 through underwater sound probe I 601, underwater sound probe II 602, underwater sound probe III 603;
Determine the mode one of the relative position of water surface auxiliary robot and Autonomous Underwater Vehicle: pop one's head in I 601 by the underwater sound, the underwater sound pops one's head in II 602, time difference of the underwater sound is popped one's head in sound wave that III 603 Autonomous Underwater Vehicles received send calculates both relative positions;
Determine the mode two of the relative position of water surface auxiliary robot and Autonomous Underwater Vehicle: water surface auxiliary robot is positioned by inertial navigation system 620 and Doppler anemometer 610, the locating data of locating data and submarine navigation device carries out matching primitives.Because there are cumulative errors, this mode is as auxiliary positioning.
Ancillary system 70 comprises self-diagnosable system 700 and weather monitoring device 710.Self-diagnosable system 700 is integrated with temperature sensor, humidity sensor, Hall element and capture card; The working status parameter of water surface auxiliary robot can be obtained, temperature sensor, humidity sensor and Hall element are connected with embedded computer 722 signal through concentrator 723 by control path by capture card, the running state that embedded computer 722 carries out robot by the data that temperature sensor, humidity sensor and Hall element obtain judges, and makes breakdown judge according to parameter variation value.Weather monitoring device 710 includes weather monitoring instrument I 711, weather monitoring instrument II 712 and microcomputer 713; Weather monitoring instrument I 711, weather monitoring instrument II 712 are all connected with microcomputer 713 signal, microcomputer 713 obtains current weather data by weather monitoring instrument I 711, weather monitoring instrument II 712, and microcomputer 713 is connected with embedded computer 722 signal through concentrator 723 by control path, embedded computer 722 carries out the adjustment (as power supply etc.) of robot running state by the data that microcomputer 713 obtains.
The control mainboard 721 of control system 720 is integrated with embedded computer 722, concentrator 723, main camera 724 and bottom camera 725, and main camera 724 is arranged on below transparent glass 701; The optical lens of bottom camera 725 is integrated to be installed together with Doppler range rate measurement instrument probe 611.Bottom camera 725 is all connected with embedded computer 722 signal through concentrator 723 by control path with main camera 724; Embedded computer 722 carries out through the image that bottom camera 725 and main camera 724 gather auxiliary control of moving, and management simultaneously controls the operation of whole water surface robot.Figure 10 is the schematic diagram of each system in combination structure.
Figure 11 is water surface auxiliary robot and Autonomous Underwater Vehicle schematic diagram when normally working, and comprising: seabed 1000, Autonomous Underwater Vehicle 2000, cable 3000, sea level 4000, water surface auxiliary robot 5000.
Finally, it is also to be noted that what enumerate above is only a specific embodiment of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be had.All distortion that those of ordinary skill in the art can directly derive from content disclosed by the invention or associate, all should think protection scope of the present invention.
Claims (11)
1., based on the water surface auxiliary robot of Autonomous Underwater Vehicle, comprise the water surface auxiliary machine device be arranged on Autonomous Underwater Vehicle; It is characterized in that: described water surface auxiliary device comprises with the synchronization-moving energy recharge device of Autonomous Underwater Vehicle and wireless signal relay;
Described energy recharge device and wireless signal relay are all interconnected by cable and Autonomous Underwater Vehicle.
2. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 1, is characterized in that: described energy recharge device and wireless signal relay be all arranged on ship type constructed machine man-machine with it;
Control system, kinematic scheme, cable management system, tracing navigation system and ancillary system is provided with in described robot fuselage;
Described control system is connected with wireless signal relay, energy recharge device, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle signal respectively; And realize by controlling wireless signal relay, energy recharge device, kinematic scheme, cable management system, tracing navigation system and ancillary system the synchronizing moving that water surface auxiliary robot and Autonomous Underwater Vehicle keep in the horizontal direction;
Described energy recharge device is electrically connected with wireless signal relay, control system, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle respectively.
3. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 2, is characterized in that: described wireless signal relay comprises radio module, satellite positioning navigation module and fiber optic cable communications module;
Described fiber optic cable communications module is connected with Autonomous Underwater Vehicle signal by cable;
Described energy recharge device is electrically connected with Autonomous Underwater Vehicle by cable;
Described control system is connected with radio module, satellite positioning navigation module and fiber optic cable communications module by signal;
Described energy recharge device is electrically connected with control system, radio module, satellite positioning navigation module and fiber optic cable communications module.
4. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 3, is characterized in that: described cable management system comprises cable distributor, cable state monitor;
Described cable distributor is the take-up and pay-off device by driven by motor, and described cable is wrapped on the reel of take-up and pay-off device equably;
Described cable state monitor is connected with signal between cable, realizes the monitoring of cable state;
Described cable distributor is all connected with control system signal with cable state monitor;
Integrated optical fiber line, cable and monitoring line in described cable;
Described cable distributor and cable state monitor are all electrically connected with energy recharge device.
5. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 4, is characterized in that: described kinematic scheme comprises propelling unit, motion controller;
Described propelling unit comprises the left propelling unit and right propelling unit that are separately positioned on robot fuselage arranged on left and right sides;
Described motion controller is connected with control system, left propelling unit and right propelling unit signal respectively;
Described motion controller, left propelling unit and right propelling unit are all electrically connected with energy recharge device.
6. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 5, is characterized in that: described tracing navigation system comprises inertial navigation system, hydroacoustic positioning communication module and Doppler anemometer;
Described inertial navigation system, hydroacoustic positioning communication module are all connected with control system signal with Doppler anemometer, and the inertial navigation system on described Autonomous Underwater Vehicle is connected with control system signal by cable;
Described hydroacoustic positioning communication module and Doppler anemometer are all electrically connected with energy recharge device, and described inertial navigation system is electrically connected with energy recharge device by cable.
7. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 6, is characterized in that: described ancillary system comprises the self-diagnosable system and weather monitoring device that are all connected with control system signal;
Described self-diagnosable system and weather monitoring device are all electrically connected with energy recharge device.
8. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 7, is characterized in that: described energy recharge device is the energy recharge device that master battery pack, stand by battery, solar electrical energy generation module, transformation voltage stabilizer and battery management controller are formed.
9. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 8, is characterized in that: described control system comprises control mainboard and control path;
Described control mainboard controls the work of modules, and described control mainboard is integrated with embedded computer, concentrator and camera.
10. a water surface householder method for Autonomous Underwater Vehicle, is characterized in that: complete based on water surface auxiliary robot;
Described water surface auxiliary robot by energy recharge device obtain electric energy, and by electric energy by cable to Autonomous Underwater Vehicle, as the available power of Autonomous Underwater Vehicle;
Described water surface auxiliary robot realizes the transmitting-receiving of wireless signal by wireless signal relay, and by cable to Autonomous Underwater Vehicle, realizes Autonomous Underwater Vehicle and complete the live signal transmission with water surface base station alternately by real-time wireless signal;
Described water surface auxiliary robot by the movement track of control system ACTIVE CONTROL water surface auxiliary robot, and keeps water surface auxiliary robot consistent in the horizontal direction with Autonomous Underwater Vehicle path of motion.
The water surface householder method of 11. a kind of Autonomous Underwater Vehicles according to claim 10, is characterized in that: described control system obtains current navigation environment and the relative position of Autonomous Underwater Vehicle by tracing navigation system and ancillary system;
Described control system, according to the relative position of current navigation environment and Autonomous Underwater Vehicle, carries out the length adjustment of cable through cable management system;
The energy is provided to wireless signal relay, control system, kinematic scheme, cable management system, tracing navigation system, ancillary system and Autonomous Underwater Vehicle by energy recharge device;
The forms such as described energy recharge device generates electricity after absorbing solar power by replacing master battery pack or stand by battery solar electrical energy generation module complete energy recharge.
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| CN104932518A (en) * | 2015-05-15 | 2015-09-23 | 厦门大学 | Underwater robot sea search system |
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| CN105179876B (en) * | 2015-05-12 | 2017-03-15 | 徐鹏飞 | The seabed deep water hydrocarbon pipeline inspection system of formula in pool |
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