CN104369842B - 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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- CN104369842B CN104369842B CN201410393093.9A CN201410393093A CN104369842B CN 104369842 B CN104369842 B CN 104369842B CN 201410393093 A CN201410393093 A CN 201410393093A CN 104369842 B CN104369842 B CN 104369842B
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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, more particularly to a kind of water surface that provided auxiliary work is navigated by water for autonomous underwater
Auxiliary robot and the method for using, i.e., the water surface auxiliary robot and using method based on Autonomous Underwater Vehicle.
Background technology
As the mankind deepen continuously to ocean exploration, deep-sea technology is developed rapidly, and submarine navigation device is used as one
Kind explore ocean instrument its application become more and more extensive.According to the difference of control mode, submarine navigation device can be divided into independently
Submarine navigation device and remote control submarine navigation device, remote control submarine navigation device is a kind of underwater navigation worked under the control of base station
Device, by cable high-speed communication, and energy transmission ＆ distribution electric energy can be carried out, but are limited by the length of cable, and its working range is limited；
Autonomous Underwater Vehicle carries out deep ocean work in the case of unmanned manipulation, its working range width, and is stored by carrying Large Copacity
Battery improves its endurance, but for the Autonomous Underwater Vehicle of long-time deep-sea work, has the slow, positioning that communicates and do not connect
The problems such as continuous, energy supplement is difficult.
At present, Autonomous Underwater Vehicle is in deep ocean work, communication mode using it is more be underwater sound communication, its transmission speed
Degree is slow, and data volume is little, and the high-speed transfer of mass data can not be completed substantially, such as transmission HD video data, high definition image data.
Above water craft can carry out location navigation using radio, satellite, inertial navigation system (INS) etc., and submarine navigation device is at the bottom
Position substantially only through underwater acoustic technology, or the positioning that emerges.Underwater positioning system is needed to coordinate according to hydrolocation,
And local marine site can only be acted on, when in the operation of large area marine site, the enforcement difficulty of hydrolocation is big；According to emersion water
Face positioning will greatly reduce the work efficiency of submarine navigation device, and position not with seriality.The electric energy of aircraft is mended
Filling mode mainly has：Electromagnetic isolation is charged, is charged by cable plug, salvages and change battery.Electromagnetic isolation charges can be in Hai Ping
Contactless charging is carried out by electromagnetic induction under face, this charging modes are convenient, but the charging interval is long, loss is big；Cable is inserted
Head charges, and its charging rate is very fast, however it is necessary that cable is connected with aircraft, its is cumbersome；Salvaging replacing battery can be straight
The full electricity battery of installation is connect, but is needed to salvage and is dismounted, and the sealing to Autonomous Underwater Vehicle is adversely affected.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of water surface auxiliary of the autonomous underwater navigation work of simple structure
Robot.
In order to solve above-mentioned technical problem, the present invention provides a kind of water surface auxiliary machinery based on Autonomous Underwater Vehicle
People, including the water surface auxiliary machine device being arranged on Autonomous Underwater Vehicle；The water surface auxiliary device is included with autonomous underwater
The synchronization-moving energy recharge device of aircraft and wireless signal relay；The energy recharge device and relay wireless signals
Device is connected with each other by cable with Autonomous Underwater Vehicle.
As the improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：The energy is mended
To device and wireless signal relay be arranged at ship type constructed machine it is man-machine with；Control is provided with the robot fuselage
System processed, motor system, cable management system, tracing navigation system and aid system；The control system respectively with wirelessly
Signal relay device, energy recharge device, motor system, cable management system, tracing navigation system, aid system and autonomous
Submarine navigation device signal connects；And by controlling wireless signal relay, energy recharge device, motor system, cable management
System, tracing navigation system and aid system realize that water surface auxiliary robot and Autonomous Underwater Vehicle keep in the horizontal direction
On synchronizing moving；The energy recharge device respectively with wireless signal relay, control system, motor system, cable pipe
The electrical connection of reason system, tracing navigation system, aid system and Autonomous Underwater Vehicle.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Wireless signal relay includes radio module, satellite positioning navigation module and fiber optic cable communications module；The fiber optic cable communications
Module is connected by cable with Autonomous Underwater Vehicle signal；The energy recharge device is by cable and Autonomous Underwater Vehicle
Electrical connection；The control system is connected with radio module, satellite positioning navigation module and fiber optic cable communications module by signal；It is described
Energy recharge device is electrically connected with control system, radio module, satellite positioning navigation module and fiber optic cable communications module.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Cable management system includes cable distributor, cable state monitor；Described cable distributor is the receipts driven by motor
Actinobacillus device, the cable is equably wrapped on the reel of take-up and pay-off device；Described cable state monitor and cable it
Between signal connection, realize the monitoring of cable state；The cable distributor and cable state monitor are and control system
Signal connects；Integrated optical fiber line, cable and monitoring line in the cable；The cable distributor and cable state monitor are equal
Electrically connect with energy recharge device.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Motor system includes propeller, motion controller；The propeller includes being separately positioned on a left side for robot fuselage arranged on left and right sides
Propeller and right propeller；The motion controller is connected respectively with control system, left propeller and right propeller signal；It is described
Motion controller, left propeller and right propeller are electrically connected with energy recharge device.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Tracing navigation system includes inertial navigation system, hydrolocation communication module and Doppler anemometer；The inertial navigation system,
Hydrolocation communication module and Doppler anemometer are connected with control system signal, the inertia on the Autonomous Underwater Vehicle
Navigation system is connected by cable with control system signal；
The hydrolocation communication module and Doppler anemometer are electrically connected with energy recharge device, the inertial navigation
System is electrically connected by cable with energy recharge device.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Aid system includes self-diagnosable system and the weather monitoring device being connected with control system signal；The self-diagnosable system and weather
Monitor is electrically connected with energy recharge device.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Energy recharge device is master battery pack, battery backup, solar electrical energy generation module, transformation manostat and battery management controller
The energy recharge device of composition.
As the further improvement to the water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention：It is described
Control system includes control mainboard and control circuit；The control mainboard controls the work of modules, in the control mainboard
It is integrated with embedded computer, hub and photographic head.
A kind of water surface householder methods of Autonomous Underwater Vehicle：Completed based on water surface auxiliary robot；The water surface auxiliary
Robot obtains electric energy by energy recharge device, and electric energy is passed through into cable to Autonomous Underwater Vehicle, used as autonomous
The available energy of submarine navigation device；The water surface auxiliary robot realizes the receipts of wireless signal by wireless signal relay
Send out, and by cable to Autonomous Underwater Vehicle, realize that Autonomous Underwater Vehicle has been interacted by real-time wireless signal
Transmit into the live signal with water surface base station；The water surface auxiliary robot passes through control system active control water surface auxiliary machinery
The movement track of people, and keep water surface auxiliary robot consistent in the horizontal direction with Autonomous Underwater Vehicle movement locus.
As the improvement of the water surface householder methods to a kind of Autonomous Underwater Vehicle of the present invention：The control system
By the current navigation environment of tracing navigation system and aid system acquisition and the relative position of Autonomous Underwater Vehicle；Institute
Relative position of the control system according to current navigation environment and Autonomous Underwater Vehicle is stated, Jing cable management systems carry out cable
The length adjustment of line；By energy recharge device to wireless signal relay, control system, motor system, cable management system
System, tracing navigation system, aid system and Autonomous Underwater Vehicle provide the energy；The energy recharge device passes through more change owner
Set of cells or battery backup solar electrical energy generation module absorb and the form such as generate electricity after solar energy to complete energy recharge.
The water surface auxiliary robot based on Autonomous Underwater Vehicle of the present invention is during realization, on the one hand, autonomous water
The inertial navigation system of lower aircraft determines the course information of Autonomous Underwater Vehicle；Water surface auxiliary robot then passes through Doppler
Tachymeter aided inertial navigation system determines the course information of water surface auxiliary robot；Pass through sonar communication device hydrolocation system again
, with the use of the relative position for determining Autonomous Underwater Vehicle and water surface auxiliary robot, compensation inertia is led for system and sonar communicator
The measurement error of boat system；Monitor the real-time weather conditions on sea by weather monitoring device again；By the sensing of self-diagnosable system
Device monitors the running status of water surface auxiliary robot；By cable state monitor to optical fiber cable integrated in cable, cable
Detected with the real-time running state of monitoring line；Still further aspect, while above-mentioned robotary result is obtained, enters
The running status control of water-filling face auxiliary robot：As carried out cable by cable distributor Jing motor controls take-up and pay-off device
Folding and unfolding；Left propeller is controlled by motion controller and right angle of rake motor is rotated, and by left propeller and right propeller
Motor rotate and realize the Stroke Control of water surface auxiliary robot；Water surface auxiliary robot position is determined by satellite positioning navigation module
Confidence ceases, then realizes the signal transmission between water surface auxiliary robot and peripheral operation system by radio module；Peripheral operation
The control signal of system Jing after the reception of radio module, then by cable transmission to Autonomous Underwater Vehicle.
The signal of Autonomous Underwater Vehicle output conveys stable cable output to water surface auxiliary machinery by signal first
People, then by water surface auxiliary robot by the signal radio module by signal being transferred to water surface base by way of being wirelessly transferred
Stand；Information transmit-receive when this mode solves Autonomous Underwater Vehicle long voyage send problem.And the water surface auxiliary machine
Energy recharge device on device people just is solar energy system, and by converting the solar into electric energy carrying for self energy is carried out
For, the autonomous energy recharge of Autonomous Underwater Vehicle is also carried out, increase the endurance of Autonomous Underwater Vehicle；And the water surface is aided in
Robot by alignment system and motor system realize in the horizontal direction with the synchronous operation of Autonomous Underwater Vehicle track.
Description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the profile schematic top plan view of the present invention；
Fig. 2 is the profile elevational schematic view of the present invention；
Fig. 3 is the profile main structure diagram of the present invention；
Fig. 4 is the profile overlooking the structure diagram of the present invention；
Fig. 5 is the profile left view structural representation of the present invention；
Fig. 6 is the wireless signal relay schematic diagram of the present invention；
Fig. 7 is the cable distributor structural representation of the present invention；
Fig. 8 is the cable cross-section structural representation of the present invention；
Fig. 9 is the energy recharge device composition schematic diagram of the present invention；
Figure 10 is the built-in system schematic diagram of the present invention；
Figure 11 is the present invention and Autonomous Underwater Vehicle collaborative work schematic diagram.
Specific embodiment
Embodiment 1, Fig. 1～Figure 11 gives a kind of water surface auxiliary robot based on Autonomous Underwater Vehicle and uses
Method.The method for using overcomes the deficiencies such as Autonomous Underwater Vehicle endurance of the prior art is poor, ability to communicate is weak.
The robot fuselage 100 of the water surface auxiliary robot using ship type structure of Autonomous Underwater Vehicle should be based on, be passed through
The structure of this ship type causes robot to obtain enough buoyancy in the water surface so that robot can rest on the water surface with static.
Relevant position on robot fuselage 100 is provided with control system 720, motor system 20, wireless signal relay 30, cable
Wire management system 40, energy recharge device 50, tracing navigation system 60 and aid system 70.
Control system 720 includes control mainboard and control circuit；Control mainboard controls motor system 20, relay wireless signals
Modules in device 30, cable management system 40, energy recharge device 50, tracing navigation system 60 and aid system 70
Work, is integrated with embedded computer 722, hub 723 and photographic head in control mainboard.
Motor system 20 includes propeller 200 and motion controller 210；Propeller 200 includes motor-driven left propulsion
Device 201 and right propeller 202, as shown in Figure 2；Left propeller 201 and right propeller 202 are separately positioned on robot fuselage 100
The left side and the right of downside；When the robot of the present invention is suspended on the water surface by robot fuselage 100, can be true
Left propeller 201 and right propeller 202 are protected all below the water surface.Signal connects between motion controller 210 and control system 720
(embedded computer 722 passes through signal connection between the Jing control circuits of hub 723 and motion controller 210) is connect, by control
The embedded computer 722 of system processed 720 implements the issue of control instruction, and by motion controller 210 according to predetermined implementation
Standard controls left propeller 201 and right propeller 202 is controlled the implementation of instruction.Left propeller 201 and right propeller 202 are led
There is following operational mode：When the thrust that left propeller 201 is rotated forward with right propeller 202 and produced is identical simultaneously, machine
People completes straight ahead motion；When left propeller 201 and right propeller 202 are rotated forward and there is speed difference simultaneously, robot advances
It is left and with divertical motion, robot is turned to the right when the positive thrust of left propeller 201 is more than the positive thrust of right propeller 202
Robot is turned to the left when the positive thrust of propeller 201 is less than the positive thrust of right propeller 202；When left propeller 201 and the right side push away
Enter device 202 while when the thrust for inverting and producing is identical, robot completes setback；Controlling propeller by difference can also be complete
Into rotary motion.
Wireless signal relay 30 is mainly solution Autonomous Underwater Vehicle in water-bed working communication location difficulty
Problem.Wireless signal relay 30 includes radio module 300, satellite positioning navigation module 310, fiber optic cable communications module 320,
As shown in Figure 6.Radio module 300 includes vertical antenna I 301, vertical antenna II 303 and horizontal antenna 302；Vertical antenna I
301st, vertical antenna II 303 and horizontal antenna 302 are applied in combination, for transceiving electromagnetic ripple.Vertical antenna I 301, vertical antenna II
303 and the Jing hubs 723 after signal processing of horizontal antenna 302 be connected with the signal of embedded computer 722, and by nothing
Line electricity module 300 (vertical antenna I 301, vertical antenna II 303 and horizontal antenna 302) and (embedding assembly of control system 720
Machine 722) between cooperate, complete communication and marine radio positioning function.Satellite positioning navigation module 310 is available
GPS or dipper system are positioned, and by satellite and base station communication；Satellite positioning navigation module 310 passes through control circuit
Jing hubs 723 are connected with the signal of embedded computer 722, by the signal acquisition location information of embedded computer 722 after, so that it may
To carry out the motor control of robot by the left propellers 201 of the Jing of embedded computer 722 and right propeller 202.Fiber optic cable communications
Module 320 is connected by control circuit Jing hub 723 with the signal of embedded computer 722, and embedded computer 722 passes through light
The Jing cables 420 (optical fiber) of cableless communication module 320 realize the transmitting-receiving of data message with Autonomous Underwater Vehicle.
Cable management system 40 includes cable distributor 400, cable state monitor 410 and cable 420；By based on cable
The cable management schemes that wire management system 40 is realized, and ensure that cable 420 is not affecting Autonomous Underwater Vehicle according to this scheme
It is short as far as possible on the premise of normal work, it is this that cable 420 is strapped in into Autonomous Underwater Vehicle and water surface auxiliary robot
Between the mode of beeline can reduce the running resistance of Autonomous Underwater Vehicle and water surface auxiliary robot.Cable management system
System 40 manages cable by the depth data of Autonomous Underwater Vehicle and 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, such as Fig. 7 institutes
Show.Servomotor 402 is arranged in the rotating shaft of main drum 403 and coaxial, and servomotor 402 directly drives main drum without speed change
403 rotate；Down-lead card 404 and the collaborative work of loose drum 405 make cable be evenly arranged on main drum 403；Servomotor 402 leads to
Cross control circuit Jing hub 723 to be connected with the signal of embedded computer 722, in embedded computer 722 autonomous underwater is obtained
The depth data of aircraft and with the relative position of water surface auxiliary robot after, it is determined that release cable 420 length.Cable
420 are integrated with optical fiber cable 421, cable 422, monitoring line 423, filling line 424, protection outer layer 425, and Fig. 8 is the section of cable
Figure；Monitoring line 423 is set in protection outer layer 425, optical fiber cable 421 and cable 422, the He of optical fiber cable 421 are set in monitoring line 423
Filling line 424 is filled in space between cable 422 and monitoring line 423.Cable state detector 410 passes through detection line 423
Whether judge the protection outer layer 425 of cable 420 has breakage and damaged degree；Cable state detector 410 passes through control circuit
Jing hubs 723 are connected with the signal of embedded computer 722, and cable state detector 410 sends to the testing result of cable 420
To embedded computer 722, traveling one is entered to the testing result of cable 420 according to built-in program by embedded computer 722
The operation of step；And cable state detector 410 is after the pulling force data for obtaining the folding and unfolding of cable 420, it is possible to which the cable 420 is received
The pulling force data put is transferred to embedded computer 722, and is realized by servomotor 402 by embedded computer 722 micro-
Adjust the folding and unfolding linear velocity of cable 420.
Energy recharge device 50 provides electric energy for the work of water surface auxiliary robot, is Autonomous Underwater Vehicle conveying electric energy.
Energy recharge device 50 include master battery pack 511, battery backup 512, solar electrical energy generation module 500, transformation manostat 520 with
And battery management controller 530, as shown in Figure 9.It is man-machine that master battery pack 511 and battery backup 512 are placed in water surface auxiliary machinery
The inside of body 100；Solar electrical energy generation module 500 is main by 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 are constituted, by the sun
Light generates electricity；The electric energy that solar electrical energy generation module 500 is produced is delivered directly to master battery pack 511 by controller for solar 506, too
Electric energy produced by positive energy electricity generation module 500 can meet the power supply of Autonomous Underwater Vehicle and water surface auxiliary robot operation substantially
Require；Transformation manostat 520 can carry out voltage inversion, lift conveying voltage to reduce energy loss；Battery management controller
530 management electric energy transmission ＆ distribution and control, the control circuit Jing hub 723 of battery management controller 530 is believed with embedded computer 722
Number connection, by embedded computer 722 through aid system 70 weather monitoring device 710 obtain weather conditions optimize electric energy
Use.
Tracing navigation system 60 is by hydrolocation communication module 600, Doppler anemometer 610 and inertial navigation system 620
Composition.Hydrolocation communication module 600 includes underwater sound probe I 601, underwater sound probe II 602, underwater sound probe III 603 and signal
Transmitting-receiving process device 604；Underwater sound probe III 603 can launch the sound wave for receiving carrying information, and underwater sound communication can be used as water surface auxiliary machine
Device people and the subsidiary communications of Autonomous Underwater Vehicle.Signal transmitting and receiving processor 604 respectively with the underwater sound probe I 601, the underwater sound probe II
602nd, underwater sound probe III 603 and the connection of the signal of embedded computer 722；Embedded computer 722 is by signal transmitting and receiving process
The Jing underwater sounds of device 604 probe I 601, underwater sound probe II 602, underwater sound probe III 603 sends communication signal；
Determine the mode one of water surface auxiliary robot and the relative position of Autonomous Underwater Vehicle：By underwater sound probe I
601st, the time difference of the sound wave that the Autonomous Underwater Vehicles that receive of underwater sound probe II 602, underwater sound probe III 603 send is calculating
Both relative positions；
Determine the mode two of water surface auxiliary robot and the relative position of Autonomous Underwater Vehicle：Water surface auxiliary robot leads to
Cross inertial navigation system 620 and Doppler anemometer 610 is positioned, location data is carried out with the location data of submarine navigation device
Matching primitives.Because there are cumulative errors, this mode is used as auxiliary positioning.
Aid system 70 includes 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
Degree sensor, humidity sensor and Hall element are by capture card by control circuit Jing hub 723 and embedding assembly
The signal of machine 722 connects, the number that embedded computer 722 is obtained by temperature sensor, humidity sensor and Hall element
Judge according to the running status for carrying out robot, and breakdown judge is made according to parameter variation value.Weather monitoring device 710 includes gas
As monitor I 711, weather monitoring instrument II 712 and pico computer 713；Weather monitoring instrument I 711, weather monitoring instrument II 712 are equal
It is connected with the signal of pico computer 713, pico computer 713 obtains current by weather monitoring instrument I 711, weather monitoring instrument II 712
Weather data, and pico computer 713 is connected by control circuit Jing hub 723 with the signal of embedded computer 722, it is embedded
Computer 722 carries out the adjustment (such as powering) of robot running status by the data that pico computer 713 is obtained.
The control mainboard 721 of control system 720 be integrated with embedded computer 722, hub 723, main photographic head 724 with
And bottom photographic head 725, main photographic head 724 is installed in the lower section of transparent glass 701；The optical lens of bottom photographic head 725 are integrated
Install together with Doppler range rate measurement instrument probe 611.Bottom photographic head 725 and main photographic head 724 pass through control circuit Jing line concentration
Device 723 is connected with the signal of embedded computer 722；The Jing bottoms photographic head 725 of embedded computer 722 and main photographic head 724
The image of collection carries out motion assist control, while managing the operation of the whole water surface robot of control.Figure 10 is each system in combination
The schematic diagram of structure.
Schematic diagram when Figure 11 is water surface auxiliary robot and Autonomous Underwater Vehicle normal work, including：Seabed 1000,
Autonomous Underwater Vehicle 2000, cable 3000, sea level 4000, water surface auxiliary robot 5000.
Finally, in addition it is also necessary to it is noted that listed above is only a specific embodiment of the invention.Obviously, the present invention
Above example is not limited to, there can also be many deformations.One of ordinary skill in the art can be straight from present disclosure
The all deformations derived or associate are connect, protection scope of the present invention is considered as.
Claims (10)
1. the water surface auxiliary robot based on Autonomous Underwater Vehicle, aids in including the water surface being arranged on Autonomous Underwater Vehicle
Machine device；It is characterized in that：The water surface auxiliary machine device is included with the synchronization-moving energy recharge device of Autonomous Underwater Vehicle
And wireless signal relay；
The energy recharge device and wireless signal relay are connected with each other by cable with Autonomous Underwater Vehicle；
The energy recharge device and wireless signal relay be arranged at ship type constructed machine it is man-machine with；
Control system, motor system, cable management system, tracing navigation system and auxiliary are provided with the robot fuselage
System；
The control system respectively with wireless signal relay, energy recharge device, motor system, cable management system, chase after
The connection of track navigation system, aid system and Autonomous Underwater Vehicle signal；And by controlling wireless signal relay, the energy
Device for supplying, motor system, cable management system, tracing navigation system and aid system realize water surface auxiliary robot and oneself
Main submarine navigation device keeps synchronizing moving in the horizontal direction；
The energy recharge device respectively with wireless signal relay, control system, motor system, cable management system, chase after
The electrical connection of track navigation system, aid system and Autonomous Underwater Vehicle.
2. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 1, is characterized in that：It is described wireless
Signal relay device includes radio module, satellite positioning navigation module and fiber optic cable communications module；
The fiber optic cable communications module is connected by cable with Autonomous Underwater Vehicle signal；
The energy recharge device is electrically connected by cable with Autonomous Underwater Vehicle；
The control system is connected with radio module, satellite positioning navigation module and fiber optic cable communications module by signal；
The energy recharge device and control system, radio module, satellite positioning navigation module and fiber optic cable communications module electricity
Connection.
3. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 2, is characterized in that：The cable
Management system includes cable distributor, cable state monitor；
Described cable distributor is the take-up and pay-off device driven by motor, and the cable is equably wrapped in take-up and pay-off device
Reel on；
Signal connection, realizes the monitoring of cable state between described cable state monitor and cable；
The cable distributor and cable state monitor are connected with control system signal；
Integrated optical fiber line, cable and monitoring line in the cable；
The cable distributor and cable state monitor are electrically connected with energy recharge device.
4. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 3, is characterized in that：The motion
System includes propeller, motion controller；
The propeller includes being separately positioned on the left propeller and right propeller of robot fuselage arranged on left and right sides；
The motion controller is connected respectively with control system, left propeller and right propeller signal；
The motion controller, left propeller and right propeller are 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：The tracking
Navigation system includes inertial navigation system, hydrolocation communication module and Doppler anemometer；
The inertial navigation system, hydrolocation communication module and Doppler anemometer are connected with control system signal, described
Inertial navigation system on Autonomous Underwater Vehicle is connected by cable with control system signal；
The hydrolocation communication module and Doppler anemometer are electrically connected with energy recharge device, the inertial navigation system
Electrically connected with energy recharge device by cable.
6. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 5, is characterized in that：The auxiliary
System includes self-diagnosable system and the weather monitoring device being connected with control system signal；
The self-diagnosable system and weather monitoring device are electrically connected with energy recharge device.
7. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 6, is characterized in that：The energy
Device for supplying is that master battery pack, battery backup, solar electrical energy generation module, transformation manostat and battery management controller are constituted
Energy recharge device.
8. the water surface auxiliary robot based on Autonomous Underwater Vehicle according to claim 7, is characterized in that：The control
System includes control mainboard and control circuit；
The control mainboard controls the work of modules, be integrated with the control mainboard embedded computer, hub and
Photographic head.
9. a kind of water surface householder methods of Autonomous Underwater Vehicle, is characterized in that：Completed based on water surface auxiliary robot；
The water surface auxiliary robot obtains electric energy by energy recharge device, and electric energy is passed through into cable to autonomous underwater
Aircraft, as the available energy of Autonomous Underwater Vehicle；
The water surface auxiliary robot realizes the transmitting-receiving of wireless signal by wireless signal relay, and is arrived by cable
Autonomous Underwater Vehicle, realizes that Autonomous Underwater Vehicle completes the real-time letter with water surface base station by the interaction of real-time wireless signal
Number transmission；
The movement track that the water surface auxiliary robot passes through control system active control water surface auxiliary robot, and keep the water surface
Auxiliary robot is consistent in the horizontal direction with Autonomous Underwater Vehicle movement locus.
10. a kind of water surface householder methods of Autonomous Underwater Vehicle according to claim 9, is characterized in that：The control
System is by the current navigation environment of tracing navigation system and aid system acquisition and the relative position of Autonomous Underwater Vehicle
Put；
The control system is according to the relative position of current navigation environment and Autonomous Underwater Vehicle, Jing cable management systems
Carry out the length adjustment of cable；
Led to wireless signal relay, control system, motor system, cable management system, tracking by energy recharge device
Boat system, aid system and Autonomous Underwater Vehicle provide the energy；
The energy recharge device absorbs and sent out after solar energy by changing master battery pack or battery backup, solar electrical energy generation module
Electric form is completing energy recharge.
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| CN201410393093.9A CN104369842B (en) | 2014-08-12 | 2014-08-12 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
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| CN104787273A (en) * | 2015-05-12 | 2015-07-22 | 徐鹏飞 | Seabed berth type deepwater oil and gas pipeline inspection system |
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