CN112148023A - Equal-plane underwater formation method for autonomous underwater robot - Google Patents
Equal-plane underwater formation method for autonomous underwater robot Download PDFInfo
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- CN112148023A CN112148023A CN202011082451.6A CN202011082451A CN112148023A CN 112148023 A CN112148023 A CN 112148023A CN 202011082451 A CN202011082451 A CN 202011082451A CN 112148023 A CN112148023 A CN 112148023A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention discloses an isoplanar underwater formation method for an autonomous underwater robot. The system comprises an underwater robot formation formed by a plurality of autonomous underwater robots, and the formation works in a manner of pilot-following to form a geometric formation. All underwater robots in the formation run on the same plane, and the relative position and the relative speed are kept stable. The formation formed by the method has high stability and strong robustness, the underwater robots do not need information interaction, the problem of underwater weak communication or no communication is solved, and the formation system formed by the method can be proved to be a progressive convergence system.
Description
Technical Field
The invention relates to the technical field of ocean engineering and control, in particular to an equal-plane underwater formation method for autonomous underwater robots.
Background
The cable-controlled underwater Robot (ROV) needs the connection of a cable and a mother ship, is limited by the length and the strength of the cable, has a small operation range, and is easy to cause cable winding and breaking accidents. Different from a cable-controlled underwater Robot (ROV), the autonomous underwater robot (AUV) is not connected with a mother ship through a cable, the autonomous underwater robot basically runs by means of autonomous capability, the control difficulty is high, the control of formation of the autonomous underwater robot is generally pre-programmed, once problems occur in the task execution process, the result is difficult to predict, and even the AUV is lost. Because the volume is small, the carrying energy is limited, the function of a single autonomous underwater robot is limited, the autonomous underwater robot can only be used for executing some simple and local tasks, and complex and large-scale ocean tasks are often completed through the coordination and cooperation among a plurality of autonomous underwater robots, the formation method of the plurality of autonomous underwater robots becomes a hotspot problem of research in the field.
In recent years, the research of the formation method mainly comprises a pilot-follow method, a sliding mode control method, a virtual structure method, an artificial potential field method, a model prediction control method and the like, but most research results are reflected in theory; meanwhile, the underwater environment is complex, particularly underwater communication is not smooth, and information interaction between underwater robots is difficult, so that in practical application, simple and effective methods are fewer, and the invention aims to provide the practical method.
Disclosure of Invention
The invention aims to provide a method for forming a planar underwater formation of an autonomous underwater robot, which realizes formation setting, formation keeping and formation tracking of a formation formed by a plurality of autonomous underwater robots by installing and arranging a blue-green laser transmitter on the autonomous underwater robot and calibrating a positioning point and a positioning sector.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the formation of the autonomous underwater robots comprises at least 2 underwater robots, 1 piloting underwater robot is arranged in the formation, and the rest following underwater robots are arranged in the formation; all underwater robots keep the same speed and run on the same depth plane to form a fixed formation. In formation, the relative distance and the relative angle between the underwater robots are specified in advance, and at most 2 following underwater robots can be arranged on the left side and the right side of a pilot respectively for piloting the underwater robots.
The 2 following underwater robots of the piloting underwater robot can be used as the pilots of the other 2 following underwater robots respectively in the same formation mode, and the like.
Taking a piloting underwater robot and a following underwater robot on the right side of the piloting underwater robot as an example, determining a distance index according to a relative distance and a relative angle between the piloting underwater robot and the following underwater robot, and respectively using a blue-green laser emitter to mark points of the piloting underwater robot and the following underwater robot according to the distance index;
the side surface of the piloting underwater robot uses 3 blue-green laser transmitters to emit light beams which intersect at a positioning point and form a positioning sector at the same time; in a minimum configuration of the present case, the middle one of the laser emitters may be omitted.
The following underwater robot uses 5 blue-green laser transmitters to emit light beams to intersect at a positioning point at the front part, 2 mutually orthogonal laser beam positioning sectors are formed at the same time, an underwater high-definition camera is used for capturing the positioning point of a pilot, an actuator is used for controlling the following underwater robot to move, the positioning point of the follower is close to the positioning point of the pilot until the two points are overlapped to form a 'formation positioning point', and meanwhile, the positioning sector of the follower is orthogonal to the positioning sector of the pilot; in the minimum configuration of the present case, the middle laser emitter can be omitted;
after the formation positioning point is formed, the following underwater robot and the piloting underwater robot on the right side can form a fixed double-machine formation form;
if the piloting underwater robot only has 1 follower on the left side, the left following underwater robot operates in the same mode as the right following underwater robot, and finally a fixed double-machine formation is formed;
if the piloting underwater robot has 2 followers on the left and the right, the left and the right following underwater robots are respectively operated by adopting the mode, and a fixed three-machine formation can be formed.
The other following underwater robots can be operated in the same way, and only the following underwater robots are required to be provided with side laser transmitters in advance and form laser positioning points and positioning sectors.
Drawings
FIG. 1 is a schematic diagram of the system operation of the isoplanar underwater formation method of autonomous underwater robots of the present invention;
FIG. 2 is a flow chart of a control method of the isoplanar underwater formation method of the autonomous underwater robot of the present invention;
FIG. 3 is a schematic diagram of the calibration of the piloting underwater robot of the isoplanar underwater formation method of the autonomous underwater robot of the present invention;
FIG. 4 is a following underwater robot calibration schematic diagram of the isoplanar underwater formation method of the autonomous underwater robot of the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, an autonomous underwater robot formation comprises 2 or more than 2 underwater robots, and a formation shape, such as a triangle, is set according to task needs. The formation contains: one underwater robot is piloted and a plurality of underwater robots are followed. In this embodiment, the autonomous underwater robot formation is composed of a piloting underwater robot a1, a right following underwater robot a2, and a left following underwater robot A3.
The underwater robot A1 is a preset pilot of the whole formation and starts to run at the forefront of the formation firstly.
The underwater robot A2 and the underwater robot A3 are two followers of A1 and are respectively positioned on the right side and the left side of A1.
As shown in fig. 3, the underwater robot a1 is used as a navigator, and 3 blue-green laser transmitters arranged regularly and vertically are symmetrically arranged on the left and right sides of the body of the underwater robot, and can emit directional laser beams underwater.
As shown in fig. 4, the underwater robot a2, as a right follower of a1, has 5 blue-green laser transmitters arranged at its head.
Fig. 2 shows a formation operation control flow. Firstly, presetting the requirement of formation, and referring to fig. 1, the formation requires that the distance from A2 to A1 is rho _ d, and the direction included angle is
And run in the same direction in the same plane. From this requirement, it is easy to derive
The point P _ A is the formation positioning point.
In the initial state of formation, the formation is not formed yet, and after the A1 runs first, the A2 needs to keep up with the A1 and find the formation anchor point to form the formation. Referring to fig. 3, the intersection point of 3 laser beams emitted by the side laser emitter of a1 is P _ a2, and the distance from P _ a2 to a1 is L _ L, so that the emission angles of the upper and lower lasers of a1 are both the same
The laser beam emitted by a1 forms two sector planes L _ back and L _ front, which locate the sector for the pilot.
With reference to fig. 4, the follower a2 transmits laser beams through the head-arranged lasers to intersect at the point P _ a1, and the distance from P _ a1 to a2 is L _ f, so that the transmitting angles of the upper, lower, left and right 4 lasers of a2 are all determined
The laser beam emitted by a2 forms 4 sector planes F _ back, F _ front, F _ back _2, F _ front _2, which are the sector planes for the follower to locate, and F _ back is perpendicular to F _ back _2 and F _ front is perpendicular to F _ front _ 2.
After the positioning sector of the follower a2 is formed, the underwater high-definition camera captures a pilot positioning point P _ a2 and a positioning sector thereof, the follower operates under the driving of an actuator, and firstly, the positioning sector of the follower a2 is intersected with the positioning sector of the pilot a1, so that the following possibilities exist:
e.F _ back, F _ back _2 intersects L _ back, A2 should decelerate and move to the right;
f.F _ back, F _ back _2 intersects L _ front, A2 should slow down and move to the left;
g.F _ front, F _ front _2 intersects L _ back, A2 should accelerate and move to the right;
h.F _ front, F _ front _2 intersects L _ front, A2 should accelerate and move to the left.
During operation, the a2 is adjusted by adjusting the posture so that the positioning sector of the a2 is perpendicular to the positioning sector of the a1, namely (F _ front, F _ back) × (L _ back, L _ front) and (F _ front _2, F _ back _2) × (L _ back, L _ front); then, bringing anchor point P _ A1 close to anchor point P _ A2 and gradually coinciding, the enqueueing is achieved.
For the follower A3 on the left side, the formation is realized by adopting a method corresponding to a2, and the description is omitted.
Followers A2 and A3 may add two other followers, respectively, and may add the followers step by step. If two followers, namely left follower and right follower, are added to A2, only the side laser emitters are arranged on the left side surface and the right side surface of the machine body of A2 as in A1, and laser positioning points and positioning sectors are formed, and the formation method is the same as A2. Similarly, two followers on the left and right may be added to A3. The layers are cascaded layer by layer, and finally, larger-scale formation can be formed. However, considering the need and limitation of the area occupied by the formation, and ρ _ d and
and (4) limiting the defined gaps in the formation, wherein the number of followers in the formation cannot be increased infinitely, so that the robots in the formation cannot collide with each other and interfere with each other.
If the formation form needs to be changed, the p _ d and the p _ d are easily adjusted
Is achieved by the preset value of (1). In general application, ρ _ d ∈ [0.5,10 ]]The weight of the rice is reduced,
and selecting parameters according to the required formation form.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. An equal-plane underwater formation method for autonomous underwater robots is characterized by comprising the following steps:
the formation of the autonomous underwater robots comprises at least 2 underwater robots, 1 piloting underwater robot is arranged in the formation, the rest following underwater robots are arranged in the formation, and all the underwater robots operate on the same plane at the same speed to form a fixed isoplanar formation form;
in formation, the relative distance and the relative angle between all underwater robots are specified in advance, and at most 2 following underwater robots can be arranged on the left side and the right side of a pilot respectively;
if the piloting underwater robot only has 1 follower on the right side, according to the preset relative distance rho _ d and the relative angle between the piloting underwater robot and the following underwater robot
Determining distance indexes L _ L and L _ f, and respectively using a laser emitter to index points P _ A1 and P _ A2 for the piloting underwater robot and the following underwater robot according to the distance indexes;
piloting the right side of the underwater robot using 2 or more blue-green laser emitter setpoint P _ a 2;
the right following underwater robot uses 4 or more blue-green laser emitter positioning points P _ A1 at the front part, an underwater high-definition camera is used for capturing P _ A2, the following underwater robot is controlled by an actuator to move, and P _ A1 follows and approaches P _ A2 until P _ A1 and P _ A2 coincide, namely a formation positioning point P _ A;
the right following underwater robot uses laser beam sectors as assistance in the process of moving P _ A1, and takes the specified laser sectors orthogonal to each other as a criterion, and has the following operations:
a. the rear positioning sector of the right follower is intersected with the rear positioning sector of the navigator, and the right follower needs to decelerate and move to the right;
b. the rear positioning sector of the right follower is intersected with the front positioning sector of the navigator, and the right follower needs to decelerate and move to the left;
c. the front positioning sector of the right follower is intersected with the rear positioning sector of the navigator, and the right follower needs to accelerate and move to the right;
d. the front positioning sector of the right follower is intersected with the rear positioning sector of the navigator, and the right follower should accelerate and move to the left;
after the formation positioning point P _ A is formed, a fixed double-machine formation form can be formed on the right side of the formation positioning point P _ A by the following underwater robot and the piloting underwater robot;
if the piloting underwater robot only has 1 follower on the left side, the left following underwater robot operates in a mode of symmetry with the right underwater robot, and a fixed dual-machine formation can be formed;
if the piloting underwater robot has 2 left and right followers, the left and right following underwater robots are respectively operated in the above mode, so that a fixed three-machine formation can be formed;
the left and right following underwater robots of the navigator can be used as the 'navigators' of other underwater robots if other following underwater robots follow the following underwater robots, and the 'navigators' can have 1 or 2 followers and are respectively positioned at the left and right sides of the 'navigators'; in this case, in addition to arranging the laser transmitters at the front part of the navigator, the laser transmitters are also arranged at corresponding positions on the left side and the right side of the body of the navigator, so that the laser transmitters can be used as other navigators following the underwater robot, and a fixed formation is formed by the method;
by analogy, formation on a larger-scale equal plane can be formed finally;
ρ_d∈[0.5,10]the weight of the rice is reduced,
degree;
considering the requirement and limitation of the space occupied by the formation, and the sum of ρ _ d
The number of followers in the formation cannot be increased infinitely due to the limited gaps in the formation, so that underwater robots in the formation cannot collide with each other and interfere with each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011082451.6A CN112148023A (en) | 2020-10-10 | 2020-10-10 | Equal-plane underwater formation method for autonomous underwater robot |
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| CN202011082451.6A CN112148023A (en) | 2020-10-10 | 2020-10-10 | Equal-plane underwater formation method for autonomous underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534824A (en) * | 2021-07-21 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Visual positioning and close-range intensive formation method for underwater robot cluster |
| CN114647250A (en) * | 2022-03-21 | 2022-06-21 | 中国船舶科学研究中心 | Double-layer cluster control method suitable for underwater unmanned vehicle |
| CN117111613A (en) * | 2023-09-05 | 2023-11-24 | 广东工业大学 | Cluster cooperative control method for underwater robot |
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2020
- 2020-10-10 CN CN202011082451.6A patent/CN112148023A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534824A (en) * | 2021-07-21 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Visual positioning and close-range intensive formation method for underwater robot cluster |
| CN114647250A (en) * | 2022-03-21 | 2022-06-21 | 中国船舶科学研究中心 | Double-layer cluster control method suitable for underwater unmanned vehicle |
| CN117111613A (en) * | 2023-09-05 | 2023-11-24 | 广东工业大学 | Cluster cooperative control method for underwater robot |
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