CN114023135B - AUV collision avoidance training system - Google Patents
AUV collision avoidance training system Download PDFInfo
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- CN114023135B CN114023135B CN202111313242.2A CN202111313242A CN114023135B CN 114023135 B CN114023135 B CN 114023135B CN 202111313242 A CN202111313242 A CN 202111313242A CN 114023135 B CN114023135 B CN 114023135B
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- 238000012549 training Methods 0.000 title claims abstract description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims abstract description 5
- 238000012360 testing method Methods 0.000 claims description 16
- 238000007667 floating Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 238000004873 anchoring Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 13
- 238000011160 research Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
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- Business, Economics & Management (AREA)
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- Educational Technology (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AUV collision avoidance training system, wherein an airbag module is an analog obstacle and comprises an upright post (1), a protective airbag (3) and a pressure sensor (2), wherein the protective airbag (3) is arranged around the upright post (1), and the pressure sensor (2) is used for detecting whether collision occurs or not; the master control module comprises a control unit (4), a radio antenna (6) and a power supply (7), wherein the power supply (7) supplies power to the pressure sensor (2) and the radio antenna (6); the control unit (4) receives collision information transmitted by the pressure sensor (2), and then sends the collision information to the remote monitoring station through the radio antenna (6); the weight module comprises a weight (10) and a traction component (9) with adjustable length, wherein the weight (10) is connected with the upright post (1) through the traction device (9). The invention provides modularized barriers which can be arranged at different water depths and can be changed in size in a collision training exercise, and provides collision protection and collision detection in the training.
Description
Technical Field
The invention belongs to the technical field of autonomous collision avoidance of AUV, relates to an AUV collision avoidance training system, and in particular relates to an AUV collision avoidance training system based on modularized simulation obstacles
Background
The underwater unmanned vehicle AUV (Autonomous Underwater Vehicle) is an unmanned, autonomous control device for traveling under water. With the continuous development of AUV technology, AUV has wide application prospect in marine environment research and marine resource detection. The ocean is a complex and changeable environment, and when the underwater unmanned aircraft is in working navigation, the unmanned aircraft needs to face obstacles from the sea surface, such as navigation ships, buoys and the like; obstacles in water, such as large fish, etc.; the threat of a collision of an obstacle below the water surface, such as an underwater canyon, a rock wall, etc., may seriously cause damage to the AUV. How to avoid the obstacle becomes an important research direction in the research of AUV technology.
AUVs are highly autonomous in a dynamic, complex marine environment, and must have very high obstacle avoidance control capability for obstacles of different locations and sizes in the marine environment. In order to improve the obstacle avoidance capability, a collision avoidance test field is required to be arranged for carrying out collision avoidance training on the AUV. In the collision avoidance training, in order to meet the requirements of various working conditions, obstacles with different sizes from the water surface, the water and the water bottom need to be simulated. Meanwhile, aiming at the problem that the AUV is damaged due to collision between the training AUV and the obstacle, the AUV needs to be protected in the test process. Therefore, in the collision avoidance training, the problem to be solved in the AUV collision avoidance test is solved by how to set up the obstacle with variable size on the water surface, in the water and at the water bottom, and simultaneously sensing the occurrence of collision, and safely and efficiently developing the AUV collision avoidance training test work.
The research on the problem related to autonomous collision avoidance of the AUV is currently focused on aspects of autonomous collision avoidance system composition, intelligent collision avoidance algorithm, sonar data filtering and the like. The current method for AUV collision prevention is endless and mainly comprises random sampling, linear fitting, potential field method, ant colony algorithm, quantum behavior algorithm and the like. For example, in the article 'dynamic obstacle avoidance study of underwater robots based on sensors', the sensors are used for acquiring obstacle information, and the information acquired by the sensors is described by adopting a grid method, so that the AUV can avoid obstacles and meet the navigation requirement. However, the related collision avoidance method does not relate to the arrangement of the obstacle and the protection of the AUV after collision during the actual test, and the AUV may be damaged during collision avoidance training. The patent 'AUV multidirectional collision avoidance capability training system with a safety protection air bag' proposes a method for protecting the AUV by measuring the distance between the AUV and an obstacle through a distance measurement sonar and controlling a valve by an obstacle avoidance computer to inflate the retractable safety air bag, so that the problem of damage to the AUV caused by collision is effectively solved. However, the system is inconvenient in the implementation process, for example, in the inflation and deflation process of the air bag, the AUV is required to perform buoyancy adjustment by matching with data of a preset depth posture thrust comparison table, and the process has the problem of difficult control. In addition, the system needs to additionally install an air bag and an air charging and discharging device in the AUV training process, the system is difficult to realize in the specific implementation process, has the problem of high cost, and cannot be arranged in a collision avoidance capability training system suitable for various AUVs.
Disclosure of Invention
Aiming at the prior art, the invention aims to provide an AUV collision avoidance training system based on modularized simulation obstacles, which provides modularized obstacles capable of being arranged at different water depths and changing the size in AUV collision training exercises, and provides collision protection and collision detection for the AUV in training.
In order to solve the technical problems, the invention provides an AUV collision avoidance training system, which comprises an air bag module, a master control module and a weight module, wherein the air bag module is an analog obstacle and comprises a stand column, a protective air bag arranged around the stand column and a pressure sensor, and the pressure sensor is used for detecting whether collision occurs;
The master control module comprises a control unit, a radio antenna and a power supply, wherein the power supply supplies power for the pressure sensor and the radio antenna; the control unit receives the pressure sensor (transmitted collision information, and then transmits the collision information to the remote monitoring station through the radio antenna;
the weight module comprises a weight and a traction component with adjustable length, and the weight is connected with the upright post through a traction device.
Further, the general control module further comprises an ultrasonic vibrator, the power supply supplies power to the ultrasonic vibrator, the control unit controls the ultrasonic vibrator to emit ultrasonic waves to the sonar carried by the AUV according to collision information, and the AUV converts ultrasonic signals into collision information and sends the collision information to the remote monitoring station.
Further, the stand is made of light materials, has sealing waterproof performance, and in collision avoidance training, the size of the stand is changed according to test requirements, and simulation barriers with different sizes are provided.
Further, the pressure sensors are uniformly distributed on the inner wall of the outer side of the air bag.
Further, the radio antenna and the power supply float above the water surface by being disposed on the buoyancy material.
Further, the control unit and the ultrasonic vibrator are arranged in a sealed cabin inside the upright post.
Further, the connection mode of the weight and the air bag module is changed by adjusting the length of the traction component, and the air bag module is set to be anchored and floated;
The anchoring is to anchor the weight to the water bottom, and the fixed depth of the air bag module in the water is changed by adjusting the length of the traction part to simulate the obstacle in the water surface, the water and the water bottom to keep a static state;
The floating type is that the weight is connected with the upright post of the air bag into a whole by adjusting the length of the traction component, and the obstacle floating on the water surface or in the state of being suspended in the water is simulated by adjusting the size of the weight.
The invention has the beneficial effects that: the invention can provide simulated barriers for AUV collision avoidance training, not only simulate the barriers positioned in different water depths and in different motion states, but also can combine to form barrier types with different sizes and sizes, and provide support for the development of AUV collision avoidance training. The invention can provide collision protection for the AUV for training, avoid the damage of the AUV during collision, detect real-time collision information and send the real-time collision information to the remote monitoring platform, and ensure continuous and effective development of AUV collision training work. Based on the characteristics, the method can be used for building the collision avoidance capability training water area applicable to various AUVs, so that the AUVs can be trained to efficiently and safely carry out collision avoidance training.
Drawings
Fig. 1 is a block diagram of an AUV collision avoidance system of the present invention.
Fig. 2 (a) is a schematic front view of the airbag module of the present invention.
Fig. 2 (b) is a schematic plan view of the airbag module of the present invention.
Fig. 3 is a flow chart of real-time collision information transmission in the collision avoidance test of the present invention.
Fig. 4 is a schematic representation of an anchoring system for an AUV collision avoidance system of the present invention.
Fig. 5 is a floating schematic diagram of the AUV collision avoidance system of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
Referring to fig. 1, an AUV collision avoidance training system based on modular combination simulation obstacle according to the present invention includes: the device comprises a master control module, a weight module and an air bag module.
With reference to fig. 2 (a) and 2 (b), an airbag module is provided as an obstacle, and the airbag module is composed of an airbag pillar 1, a surrounding safety protection airbag 3, and a plurality of pressure sensors 2.
The air bag stand column 1 is made of light materials, meanwhile, the air bag stand column 1 needs to have good sealing and waterproof performances, in collision avoidance training, the size of the stand column can be changed according to test requirements, so that simulation barriers with different sizes are provided, and a control unit 4 and an ultrasonic vibrator 5 are arranged in the air bag stand column 1. The safety protection air bag 3 is attached to the outer surface of the air bag upright post 1, the safety protection air bag is in an elliptic strip shape, the side part of the safety protection air bag can be spliced and combined with the air bag upright post to form air bag modules with different sizes, the safety protection air bag is used for simulating obstacles with different sizes, and buoyancy can be provided when the safety protection air bag is used for protecting an AUV during collision, so that the whole air bag module can float on the water surface. The pressure sensors 2 are uniformly distributed on the inner wall of the outer side of the safety protection air bag 3 and are used for detecting whether the safety protection air bag 3 collides with the AUV. When the AUV collides with the safety protection airbag 3, the pressure sensor 2 detects the pressure change to generate a level change, and the level change information is transmitted to the control unit 4 through conduction.
Referring to fig. 4, the master control module is composed of a control unit 4 installed in a sealed cabin inside the airbag pillar 1, an ultrasonic vibrator 5, a radio antenna 6 floating on the water surface, a storage battery 7 and a cable 8.
The radio antenna 6 and the battery 7 are mounted on a buoyancy material, have a certain buoyancy, and float above the water surface.
The master control module plays roles of supplying power, controlling, transmitting information and the like in the whole training system. The cable 8 integrates a cable and a network cable; the battery 7 can supply power to the pressure sensor 2, the ultrasonic vibrator 5 and the control unit 4 through a cable 8; the control unit 4 can receive real-time collision information of the pressure sensors 2 installed inside the safety protection airbags 3, and transmit the real-time collision information to the radio antenna 6 through the cable 8, in addition, the control unit 4 can control the ultrasonic vibrator 5 to emit ultrasonic waves after receiving the real-time collision information, and a communication protocol can be provided for AUV sonar detection in a test; the radio antenna 6 is capable of transmitting real-time collision information to a remote monitoring station. The ultrasonic vibrator 5 can further avoid the influence of the change of the training environment on the result, and reduce the possibility of judgment errors.
The weight module consists of a weight hauling rope 9 and a weight 10. The weight module is used for providing gravity and fixing the position of the whole obstacle module. The weight 10 and the air bag column 1 are connected or directly combined into a whole by using the gravity haulage rope 9, so that the obstacle in various states can be simulated, as shown in fig. 4 and 5.
When the AUV of the present embodiment performs the collision avoidance algorithm test at the test site, the workflow is as shown in fig. 3.
Step one: the AUV collides with the obstacle arranged on the test site in the training process, and the safety protection air bag arranged on the outer surface of the obstacle can provide collision protection for the test AUV.
Step two: the pressure sensor 2 installed inside the safety protection air bag 3 can receive real-time collision information, the pressure sensor 2 detects that the pressure change can generate level change, and the level change information is transmitted to the control unit 4.
Step three: after receiving the real-time collision information conducted from one or more of the safety bags 3, the control unit 4 may communicate the real-time collision information to a remote monitoring station via the radio antenna 6.
The real-time collision information is transmitted to the remote monitoring station, and the specific implementation mode is as follows:
1. The control unit 4 transmits real-time collision information to the radio antenna 6 through the cable 8, and the radio antenna 6 transmits data to a remote monitoring station;
2. After receiving the real-time collision information, the control unit 4 controls the ultrasonic vibrator 5 to emit ultrasonic waves, and after receiving ultrasonic signals through the sonar, the AUV judges that the AUV collides with the arranged obstacle and transmits the real-time collision information to the water surface monitoring platform.
Through the mutual cooperation of two real-time collision information transmission modes, whether collision appears in the time of can in time accurately monitoring AUV collision prevention test, the surface of water monitoring end of being convenient for in time stops the test, analysis collision cause etc..
The barriers in different states are set to be anchored and floated by adjusting the connection mode of the weight module and the airbag module.
Anchoring means, as shown in fig. 4, that the weight module is used as an anchor to fix the entire barrier system in a specific position. The weight module is fixed on the water bottom, is connected with the airbag upright post through a weight traction rope 9 with adjustable length, and can change the depth of the airbag module in water by adjusting the length of the weight traction rope 9 so as to simulate obstacles on the water surface, in the water and in a water bottom static state.
The floating type is shown in fig. 5, and is mainly used for simulating obstacles moving on the water surface and in the water along with sea waves and currents, the weight modules of the floating type provide gravity and are combined on the upright posts of the air bags, and the effect of floating on the water surface or suspending in the water and moving along with the floating type can be achieved by adjusting the size of the weight modules.
Claims (5)
1. An AUV collision avoidance training system, which is characterized in that: the device comprises an air bag module, a master control module and a weight module, wherein the air bag module is an analog obstacle and comprises an upright post (1), a protective air bag (3) and a pressure sensor (2), wherein the protective air bag (3) is arranged around the upright post (1), and the pressure sensor (2) is used for detecting whether collision occurs or not;
The master control module comprises a control unit (4), a radio antenna (6) and a power supply (7), wherein the power supply (7) supplies power to the pressure sensor (2) and the radio antenna (6); the control unit (4) receives collision information transmitted by the pressure sensor (2), and then sends the collision information to the remote monitoring station through the radio antenna (6);
the weight module comprises a weight (10) and a traction component (9) with adjustable length, and the weight (10) is connected with the upright post (1) through the traction component (9);
The master control module further comprises an ultrasonic vibrator (5), a power supply (7) supplies power to the ultrasonic vibrator (5), and the control unit (4) controls the ultrasonic vibrator (5) to emit ultrasonic waves to sonar carried by the AUV according to collision information, and the AUV converts ultrasonic signals into collision information and sends the collision information to the remote monitoring platform; the control unit (4) and the ultrasonic vibrator (5) are arranged in a sealed cabin in the upright post (1).
2. The AUV collision avoidance training system of claim 1 wherein: the upright post (1) is made of light materials, has sealing and waterproof performances, and can be changed according to test requirements in collision avoidance training to provide simulated barriers with different sizes.
3. The AUV collision avoidance training system of claim 1 wherein: the pressure sensors (2) are uniformly distributed on the inner wall of the outer side of the air bag (3).
4. The AUV collision avoidance training system of claim 1 wherein: the radio antenna (6) and the power supply (7) float above the water surface by being arranged on the buoyancy material.
5. The AUV collision avoidance training system of claim 1 wherein: the connection mode of the weight (10) and the airbag module is changed by adjusting the length of the traction component (9), and the airbag module is set to be anchored and floated;
The anchoring type is characterized in that a weight (10) is used as an anchor to be fixed on the water bottom, the fixed depth of the air bag module in the water is changed by adjusting the length of a traction part (9), and obstacles in the water surface, the water and the water bottom in a static state are simulated;
The floating type obstacle simulation device is characterized in that the weight (10) is connected with the air bag upright post (1) into a whole by adjusting the length of the traction component (9), and the obstacle floating on the water surface or in the state of being suspended in the water is simulated by adjusting the size of the weight (10).
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| CN202111313242.2A CN114023135B (en) | 2021-11-08 | 2021-11-08 | AUV collision avoidance training system |
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| KR20110114078A (en) * | 2010-04-12 | 2011-10-19 | 현대중공업 주식회사 | Movement obstruction simulator for vessel collision avoidance system |
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