CN112859823A - Control system and control method for full-sea-depth autonomous remote control underwater robot - Google Patents
Control system and control method for full-sea-depth autonomous remote control underwater robot Download PDFInfo
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- CN112859823A CN112859823A CN201911179989.6A CN201911179989A CN112859823A CN 112859823 A CN112859823 A CN 112859823A CN 201911179989 A CN201911179989 A CN 201911179989A CN 112859823 A CN112859823 A CN 112859823A
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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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Abstract
The invention relates to the field of underwater robot control, in particular to a control system and a control method adopted by a full-sea-depth autonomous remote control underwater robot for adapting to modular design. The system comprises: the control main body is used for controlling the external sensor equipment, collecting the state information of the external sensor and interacting data with the water surface display control center; the communication equipment is used for connecting the control main body and the water surface display control center to carry out communication and data interaction; and the water surface display control center is used for communicating with the control main body and monitoring the underwater working state of the control main body. The method comprises the control of a water surface display control center end and the control of an underwater robot carrier end. The control method of the invention uses a state machine circulation mode to correspond to a plurality of stages in the whole operation process of the ARV, is simple and clear, is convenient for the modular design of software, and can be transplanted to other ARV system control methods.
Description
Technical Field
The invention relates to the field of underwater robot control, in particular to a control system and a control method adopted by a full-sea-depth autonomous remote control underwater robot for adapting to modular design.
Background
In recent years, underwater robots play more and more important roles in the fields of marine exploration, underwater search and rescue, military reconnaissance and the like. The autonomous remote control underwater robot ARV is a novel hybrid underwater robot integrating the characteristics of an autonomous underwater robot AUV and a cable remote control underwater robot ROV, and the ARV carries an energy source and carries an optical fiber micro cable, so that the autonomous remote control underwater robot ARV can carry out underwater investigation in a larger range and can also carry out accurate investigation and operation in a local area.
For the full-sea-depth autonomous remote control underwater robot, because the working environment is special, namely a control main body is sealed in an oil-filled electronic cabin to bear the same pressure as the outside, the existing underwater robot control system cannot be directly applied to the full-sea-depth autonomous remote control underwater robot; in addition, the existing underwater robot control system is complex in variety, simple and reliable for autonomously remotely controlling the underwater robot, and can meet the requirement that most of control systems for autonomously remotely controlling the underwater robot are imperative.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a full-sea-depth autonomous remote control underwater robot control system and a control method, which can be applied to a myriameter strong-pressure oil-filled environment; the autonomous remote control underwater robot can be ensured to complete control tasks safely and reliably, and has good transportability; meanwhile, the system has expandability and is convenient for later maintenance and upgrading.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a control system of a full-sea-depth autonomous remote control underwater robot, comprising:
the control main body is used for controlling the external sensor equipment, collecting the state information of the external sensor equipment and interacting data with the water surface display control center;
the communication equipment is used for connecting the control main body and the water surface display control center and performing communication and data interaction;
and the water surface display control center is used for communicating with the control main body and monitoring the working state of the ARV under water.
Further comprising: the control and navigation device, the detection device and the expansion device are respectively connected between the control main body and the communication device.
The control main body comprises a main control computer system, and an emergency control node, a propulsion control node and a switch which are respectively connected with the main control computer system.
The communication equipment has four modes of communicating with the water surface display control center, which are respectively as follows: optical fiber communication, radio, iridium communication, underwater acoustic communication, and umbilical cable communication.
The water surface display and control center comprises a water surface radio station, a water surface ultra-short baseline receiving device, a switch and a water surface ultra-short baseline receiving device, wherein the water surface radio station and the water surface ultra-short baseline receiving device are respectively communicated with radio and iridium satellites in communication equipment, and underwater acoustic communication corresponds to the water surface radio station and the water surface ultra-short baseline receiving device.
A control method for an all-sea-depth autonomous remote control underwater robot comprises a water surface display control center end control part and an underwater robot carrier end control part.
The control method of the water surface display control center end comprises the following steps:
1) the water surface display control center initializes the water surface display control computer;
2) when detecting that the ARV state information acquired by a master control computer system uploaded by an ARV through an optical fiber and an umbilical cable on a switch in the water surface display control center needs to be received, the water surface display control computer automatically receives, analyzes, stores and displays the ARV state information acquired by the master control computer system;
3) when detecting that the state information of the ARV acquired by the main control computer system uploaded by the ARV through a radio, iridium module, an acoustic communicator and an ultra-short baseline mode on the serial port of the water surface display control computer needs to be received, the water surface display control computer receives, analyzes, stores and displays the state information of the ARV acquired by the main control computer system;
4) and the water surface display control center sends the control instruction to the ARV control main body at regular time according to the control instruction input by the water surface display control computer.
The underwater robot carrier end control method comprises the following steps:
1) starting an ARV and electrifying, wherein the ARV is in a hardware inspection stage, a main control computer system carries out parameter configuration and mission downloading and opens a power supply switch of a sensor required in a diving stage;
2) the main control computer system judges whether a diving starting instruction sent by the water surface display control center is received, if so, step 3) is executed, and if not, step 2) is continuously executed;
3) the ARV is in a diving stage;
4) the main control computer system judges whether a command of throwing the submerged nose bar sent by the water surface display control center is received, if so, the step 5) is executed, and if not, the step 4) is continuously executed;
5) the diving weight is powered off, and the ARV is in a hovering positioning stage; powering on the propulsion control node and the propeller steering engine;
6) the main control computer system judges whether the serial port of the main control computer system receives the positioning calibration information sent by the water surface ultra-short baseline, if so, the step 7) is executed, and if not, the step 6) is continuously executed;
7) the ARV is in a navigation stage;
8) the main control computer system judges whether a remote control starting command sent by the water surface display control center is received, if so, step 9) is executed, and if not, step 10) is executed;
9) the ARV enters a manual remote control mode, and the main control computer system controls the ARV to execute corresponding actions according to a motion control command issued by the water surface display control center;
10) the ARV enters an autonomous mission navigation mode and executes motion control according to a mission downloaded in advance;
11) the main control computer system judges whether a floating weight throwing instruction sent by the water surface display control center is received, if so, the step 12) is executed, and if not, the step 8) is executed;
12) the floating weight is powered off, the sensor is powered off, the optical fiber shearing is executed, and the ARV is in a floating stage;
13) the main control computer system judges whether the water surface floats upwards or not through a depth meter, if so, step 14) is executed, and if not, step 13) is continuously executed;
14) the ARV is in a recovery stage, and a radio station and an iridium module switch are turned on;
15) and the main control computer system judges whether an ending instruction sent by the water surface display control center is received, if so, the step 1 is executed, and if not, the step 15) is continuously executed.
The invention has the following beneficial effects and advantages:
1. in the invention, each circuit board of the control main body is screened and tested by ten thousand meters of pressure, so that the ten thousand meters pressure-resistant requirement of a control system can be met;
2. the invention adopts the modular design, designs relatively independent functions into the control sub-nodes, not only lightens the pressure of the main control node, but also forms the modular design, improves the reliability and maintainability of the system, and can reduce the energy consumption of the control system by opening or operating the minimum unit control system in the ARV working process;
3. the invention can be conveniently expanded according to the requirements of different devices on the interfaces, and various types of interfaces are reserved during design, so that the interface requirements of the expansion sensor can be basically met, and the expansion sensor is convenient to transplant and expand;
4. the control method of the invention uses a state machine circulation mode to correspond to a plurality of stages in the whole operation process of the ARV, is simple and clear, is convenient for the modular design of software, and can be transplanted to other ARV system control methods.
Drawings
FIG. 1 is a block diagram of the overall system of the present invention;
the system comprises a control main body 1, a control and navigation device 2, a detection device 3, a communication device 4, other devices 5, a water surface display control center 6, an expansion device 7, an Ethernet bus 8, a serial port 1 bus 9, a serial port 2 bus 10, a CAN bus 11, a wireless communication mode 12, an underwater acoustic communication mode 13, an umbilical cable communication mode 14 and an optical fiber communication mode 15.
FIG. 2 is a flow chart of a control method of a water surface display control center end of the full-sea-depth autonomous remote control underwater robot;
FIG. 3 is a flow chart of a full-sea-depth autonomous remote control underwater robot vehicle end control method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The use of the terms "front," "back," "left," "right," and similar designations herein is for purposes of illustration and does not represent a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 is a diagram showing the overall system structure of the present invention.
A full-sea-depth autonomous remote control underwater robot control system comprises:
the system comprises a control main body 1, a control and navigation device 2, a detection device 3, a communication device 4, other devices 5, a water surface display control center 6, an expansion device 7, an Ethernet bus 8, a serial port 1 bus 9, a serial port 2 bus 10, a CAN bus 11, a wireless communication mode 12, an underwater sound communication mode 13, an umbilical cable communication mode 14 and an optical fiber communication mode 15.
The control main body 1 comprises a main control computer system, an emergency control node, a propulsion control node and a switch; the main control computer system is connected with the emergency control node and the propulsion control node through CAN buses, the main control computer system is connected with the switch through network cables, and the control main body 1 is connected with the control and navigation equipment 2, the detection equipment 3, the other equipment 5 and the expansion equipment 7 and is also connected with the water surface display and control center 6 through the communication device 4;
the main functions of the control body 1 are: and the control of the external sensor equipment is completed, the state information of the external sensor is collected, and the data interaction with the water surface display control center 6 is realized. The core of the system is a main control computer system, a core circuit board of the main control computer system adopts a customized control computer based on an ARM Cortex-A9 inner core, and the main control computer system further comprises a power supply conversion circuit board and a communication extension circuit board. The master control computer system external interface comprises at least 13 serial ports, 2 CAN ports, 1 network port, 34 IO output and input ports, 4 AD sampling interfaces and 6 DA output interfaces. The control and navigation device 2, the detection device 3, the communication means 4, the other devices 5, the extension device 7 and the control body 1 are all connected through the above interfaces, and the type of data transmission between each device and the control body 1 depends on the interface used by the device itself. And the main control computer system runs a Linux operating system to complete the on-off control of each device and complete data processing.
The emergency control node and the propulsion control node are connected with a master control computer system through a CAN bus to form a distributed control system. Because the main transmission between master node and the slave node is control command and state feedback, the data volume is less but the requirement on reliability is high, so the CAN bus is selected for transmission in the design.
The emergency control node adopts an AVR single chip microcomputer as a main control chip, the external interface of the emergency control node also comprises 2 serial ports, the 2 serial ports are connected with a radio station and an iridium module through a serial port 2 bus 10, the emergency control node has the main function that when the master control computer system is abnormal, a series of emergency operations can be completed, and meanwhile, the connected radio station and iridium module send real-time position information of an ARV to the water surface display control center 6 through a wireless communication mode 12.
The propulsion control node adopts a control chip based on a Cortex-M4 inner core, and an external interface of the propulsion control node comprises another path of CAN2 interface besides a CAN interface connected with a main control computer, and forms an independent CAN network with a propeller steering engine. The main functions are to receive CAN commands sent by the master control computer system, control the propeller steering engine through a CAN2 interface, and simultaneously feed back the state information of the propeller steering engine to the master control computer system through a CAN bus 11.
The switch is an Ethernet interaction center in the control system, the design adopts a Moxa EDS308 series gigabit network switch, and the connecting equipment comprises a main control computer system, an optical transceiver, an umbilical cable, a camera and a sounding side scanning sonar.
The control main body 1 is arranged in an oil-filled electronic cabin, and all components on a circuit board are subjected to pressure test and screening by ten thousand meters, wherein the pressure test refers to that the pressure in a pressure tank exceeds 120 Mpa.
The control and navigation device 2 comprises a Doppler log, a TCM, a depth meter and an altimeter. Are connected with the serial port of a main control computer system in the control main body 1 through a serial port 1 bus 9. In the design, the Doppler log is RDI 300K DVL, and a 422 serial port is selected; the TCM adopts PNI TCM XB, the depth gauge adopts a Parascientific 8BT11000-I full-sea depth gauge, the altimeter adopts Kongsberg 1007d, and the three sensors adopt 232 serial port communication modes.
The detection device 3 comprises a CTD, a mechanical arm, a lighting lamp, a sounding side-scan sonar and a camera. The CTD selects Seabord SBE49 and is connected with a 232 serial port of a main control computer system in the control main body 1, and the manipulator is connected with a manipulator master in the water surface display control center 6 through a serial port 1 bus; the illuminating lamp adopts SeaLite 3150, and the DA interface of the main control computer system in the control main body 1 outputs analog quantity to finish the control of the brightness of the illuminating lamp; the sounding side scan sonar and the camera are selected to be transmitted in an Ethernet mode due to large data volume, so that the sounding side scan sonar and the camera are connected with the switch in the control main body 1;
the communication equipment 4 comprises a radio station, an iridium module, an ultra-short baseline, an acoustic communicator, an umbilical cable and an optical transmitter and receiver. The radio station and the iridium module are connected with a serial port of a main control computer system in the control main body 1 through a serial port 1 bus and connected with a serial port of an emergency control node in the control main body 1 through a serial port 2 bus to form dual-backup redundancy control, and the radio station and the iridium module are connected with a water surface display control center through a wireless communication mode 12; the ultra-short baseline and acoustic communicator is connected with a serial port of a main control computer system in the control main body 1 through a serial port 1 bus, and the ultra-short baseline and acoustic communicator is connected with a water surface display control center through an underwater acoustic communication mode 13; the umbilical cable is connected with the switch in the control main body 1 and is connected with the water surface display control center through an umbilical cable communication mode 14; the optical transceiver is connected with the switch in the control main body 1 and is connected with the water surface display control center in an optical fiber communication mode 15;
the invention has four communication modes with the water surface display control center, and different communication means can be selected according to different stages of tasks. The optical fiber communication is suitable for the stage of the submergence and operation of the ARV and is used as the most main communication means of the ARV and the water surface display control center, the radio and iridium communication modes are suitable for finishing the ARV task, cutting off the optical fiber, floating up the water surface and then sending positioning information to a mother ship; the acoustic communicator and the ultra-short baseline belong to an underwater acoustic communication mode, and are suitable for realizing tracking and positioning of the ARV during the underwater operation of the ARV; the umbilical cable is suitable for completing short-distance large data volume transmission in a debugging stage;
in the other devices 5, the oil-filled compensator is used for filling oil into the ARV oil-filled electronic cabin to maintain the pressure balance between the electronic cabin and the outside, so that the oil quantity in the compensator needs to be monitored in real time. The battery BMS outputs battery information, and its data exchange uses the CAN interface, thus being connected to the CAN bus 11. The propeller steering engine is connected to the CAN2 interface of the propulsion control node.
The water surface display and control center 6 has the main function of monitoring the underwater working state of the ARV on the mother ship through communication with the ARV, and completing real-time operation, control and monitoring of the ARV. Corresponding to the type of the ARV communication device 4, the communication device in the water surface display control center 6 comprises a water surface radio station, a water surface iridium module, a water surface ultra-short baseline receiving device, a water surface acoustic communication machine and a water surface optical transceiver.
The invention relates to a plurality of communication modes which are provided with expansion interfaces, including an expansion serial port, an expansion network port, an expansion CAN port, an expansion AD sampling interface and an expansion DA output interface. The reserved communication interface ensures that the invention has good portability and expandability.
A full-sea-depth autonomous remote control underwater robot control method comprises the following steps:
the method comprises the steps of a control method of a water surface display control center end of the full-sea-depth autonomous remote control underwater robot and a control method of a carrier end of the full-sea-depth autonomous remote control underwater robot.
Fig. 2 is a flow chart of a control method of the water surface display control center end of the full-sea-depth autonomous remote control underwater robot.
The method for controlling the water surface display control center end of the full-sea-depth autonomous remote control underwater robot comprises the following steps:
step S1, the water surface display control center initializes a control interface, a network communication module and a serial communication module;
step S2, when detecting that there is ARV on the router to receive the data through optical fiber and umbilical cable, automatically starting the network receiving program to receive, analyze, store and display the data;
step S3, when detecting that the data uploaded by the ARV through the radio, iridium module, acoustic communicator and ultra-short baseline mode need to be received, starting a serial port receiving program to receive, analyze, store and display the data;
and step S4, the water surface display control center sends the control command and the data to the ARV control main body at regular time according to the control command and the data input by the control interface.
FIG. 3 is a flow chart of a full-sea-depth autonomous remote control underwater robot vehicle end control method of the present invention.
The full-sea-depth autonomous remote control underwater robot ARV end control method comprises the following steps:
step S1, starting the ARV and electrifying, performing parameter configuration and mission downloading in a hardware checking stage (BHV State is 0), and opening a power supply switch of a sensor required in a diving stage;
step S2, judging whether a command of 'starting diving' sent by the water surface display control center is received, if so, executing step S3, otherwise, continuing to execute step S2;
step S3, in the dive stage (BHV State ═ 1);
step S4, judging whether a command of throwing the submerged nose bar sent by the water surface display control center is received, if so, executing step S5, otherwise, continuing to execute step S4;
step S5, the submersible weight is powered off and is in a hovering positioning stage (BHV State is 2); powering on the propulsion control node and the propeller steering engine;
step S6, judging whether the serial port receives the positioning calibration information sent by the water surface ultra-short baseline, if so, executing step S7, otherwise, continuing to execute step S6;
step S7, in the navigation stage (BHV State is 3);
step S8, judging whether a 'start remote control' command sent by the water surface display control center is received, if so, executing step S9, otherwise, executing step S10;
step S9, entering a manual remote control mode, and controlling the ARV to execute corresponding actions according to the motion control command issued by the water surface display control center;
step S10, entering into autonomous mission navigation mode, executing movement control according to the mission downloaded in advance;
step S11, judging whether a 'float weight throwing' instruction sent by the water surface display control center is received, if so, executing step S12, otherwise, returning to execute step S8;
step S12, the floating weight is powered off, the sensor is powered off, the optical fiber is cut, and the floating weight is in a floating stage (BHV State is 4);
step S13, judging whether the water surface floats upwards through the depth meter, if so, executing step S14, otherwise, continuing to execute step S13;
step S14, in the recovery stage (BHV State is 5), the radio station and iridium module switch is turned on;
and step S15, judging whether an 'end' instruction sent by the water surface display control center is received, if so, executing step 1, otherwise, continuing to execute step S15.
Claims (8)
1. A control system of a full-sea-depth autonomous remote control underwater robot is characterized by comprising:
the control main body is used for controlling the external sensor equipment, collecting the state information of the external sensor equipment and interacting data with the water surface display control center;
the communication equipment is used for connecting the control main body and the water surface display control center and performing communication and data interaction;
and the water surface display control center is used for communicating with the control main body and monitoring the working state of the ARV under water.
2. The control system of claim 1, further comprising: the control and navigation device, the detection device and the expansion device are respectively connected between the control main body and the communication device.
3. The control system of claim 1, wherein the control body comprises a main control computer system, and an emergency control node, a propulsion control node, and a switch, which are respectively connected to the main control computer system.
4. The control system of claim 1, wherein the communication device has four communication modes with the surface display control center, which are respectively: optical fiber communication, radio, iridium communication, underwater acoustic communication, and umbilical cable communication.
5. The system of claim 1, wherein the surface display and control center comprises a surface radio station, a surface ultra-short baseline receiver, a switch, and a radio and iridium satellite communication device in communication equipment.
6. A control method for an underwater robot by autonomous full-sea-depth remote control is characterized by comprising two parts of water surface display control center end control and underwater robot carrier end control.
7. The control method of the full-sea-depth autonomous remote control underwater robot as claimed in claim 6, characterized in that the control method of the water surface display control center end is as follows:
1) the water surface display control center initializes the water surface display control computer;
2) when detecting that the ARV state information acquired by a master control computer system uploaded by an ARV through an optical fiber and an umbilical cable on a switch in the water surface display control center needs to be received, the water surface display control computer automatically receives, analyzes, stores and displays the ARV state information acquired by the master control computer system;
3) when detecting that the state information of the ARV acquired by the main control computer system uploaded by the ARV through a radio, iridium module, an acoustic communicator and an ultra-short baseline mode on the serial port of the water surface display control computer needs to be received, the water surface display control computer receives, analyzes, stores and displays the state information of the ARV acquired by the main control computer system;
4) and the water surface display control center sends the control instruction to the ARV control main body at regular time according to the control instruction input by the water surface display control computer.
8. The control method of the full-sea-depth autonomous remote-control underwater robot as claimed in claim 6, wherein the underwater robot vehicle side control method is as follows:
1) starting an ARV and electrifying, wherein the ARV is in a hardware inspection stage, a main control computer system carries out parameter configuration and mission downloading and opens a power supply switch of a sensor required in a diving stage;
2) the main control computer system judges whether a diving starting instruction sent by the water surface display control center is received, if so, step 3) is executed, and if not, step 2) is continuously executed;
3) the ARV is in a diving stage;
4) the main control computer system judges whether a command of throwing the submerged nose bar sent by the water surface display control center is received, if so, the step 5) is executed, and if not, the step 4) is continuously executed;
5) the diving weight is powered off, and the ARV is in a hovering positioning stage; powering on the propulsion control node and the propeller steering engine;
6) the main control computer system judges whether the serial port of the main control computer system receives the positioning calibration information sent by the water surface ultra-short baseline, if so, the step 7) is executed, and if not, the step 6) is continuously executed;
7) the ARV is in a navigation stage;
8) the main control computer system judges whether a remote control starting command sent by the water surface display control center is received, if so, step 9) is executed, and if not, step 10) is executed;
9) the ARV enters a manual remote control mode, and the main control computer system controls the ARV to execute corresponding actions according to a motion control command issued by the water surface display control center;
10) the ARV enters an autonomous mission navigation mode and executes motion control according to a mission downloaded in advance;
11) the main control computer system judges whether a floating weight throwing instruction sent by the water surface display control center is received, if so, the step 12) is executed, and if not, the step 8) is executed;
12) the floating weight is powered off, the sensor is powered off, the optical fiber shearing is executed, and the ARV is in a floating stage;
13) the main control computer system judges whether the water surface floats upwards or not through a depth meter, if so, step 14) is executed, and if not, step 13) is continuously executed;
14) the ARV is in a recovery stage, and a radio station and an iridium module switch are turned on;
15) and the main control computer system judges whether an ending instruction sent by the water surface display control center is received, if so, the step 1 is executed, and if not, the step 15) is continuously executed.
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| CN113391584A (en) * | 2021-06-11 | 2021-09-14 | 天津大学 | CAN bus-based extensible communication system |
| CN114180015A (en) * | 2022-01-02 | 2022-03-15 | 天津瀚海蓝帆海洋科技有限公司 | Middle-sized deep sea open-frame type ARV |
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| CN109159877A (en) * | 2018-07-13 | 2019-01-08 | 哈尔滨工程大学 | The full sea autonomous sampling operation method of depth AUV |
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