The invention discloses a water surface buoy system for assisting communication and positioning of an underwater robot and a tracking method, and belongs to the technical field of underwater robots. In order to solve the problem that the positioning precision of the current underwater robot is influenced by the static characteristics of the existing buoy, so that the distance between the underwater robot and the underwater robot becomes far and becomes poor, the designed water surface buoy system is used as a communication relay for transferring data information between a shore-based control end and the underwater robot on one hand; bidirectional communication between the shore-based control end and the underwater robot is realized; on the other hand, the buoy obtains the relative position of the underwater robot through sonar positioning of the underwater robot and automatically moves to correct the position deviation, and it is guaranteed that the buoy and the underwater robot are located on the same line perpendicular to the horizontal plane. As the buoy and the underwater robot are located on the same line perpendicular to the horizontal plane, the longitude and latitude of the buoy are the longitude and latitude of the underwater robot, and the position of the underwater robot can be accurately positioned by combining the depth position of the underwater robot.
协助水下机器人通信和定位的水面浮标系统及跟踪方法,属于水下机器人技术领域。为了解决目前水下机器人的定位精度受到现有的浮标静态特点影响而存在与水下机器人的距离变远而变差的问题,本发明利用设计的水面浮标系统一方面作为通信中继,中转岸基控制端与水下机器人之间的数据信息,实现岸基控制端与水下机器人的双向通信;另一方面浮标通过对水下机器人的声呐定位获取其相对位置并自主运动纠正位置偏差,保证浮标与水下机器人处于同一垂直于水平面的线上。由于浮标与水下机器人处于同一垂直于水平面的线上,所以浮标所处经纬度即是水下机器人所处经纬度,结合水下机器人的深度位置,即可精准定位水下机器人的位置。
Water surface buoy system for assisting communication and positioning of underwater robot and tracking method
协助水下机器人通信和定位的水面浮标系统及跟踪方法
2023-03-28
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr |
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