The invention relates to a remote recovery control system and method for an autonomous remote control underwater robot. The system comprises a water surface monitoring subsystem, an ARV recovery control subsystem and a motion control subsystem. The method comprises steps that when the pressure switch detects that the ARV floats on the water surface, the ARV satellite communication module sends longitude and latitude information to the mother ship satellite transceiving module and also sends the longitude and latitude information to the remote recovery management module; the mother ship satellite transceiver module sends the ARV positioning information to the water surface monitoring computer; and the water surface monitoring computer displays the ARV positioning information on a liquid crystal display screen, calculates the distance and orientation between the mother ship and the ARV according to the mother ship positioning information sent by the mother ship GPS module, and selects aradio remote control recovery process or a satellite autonomous recovery process for recovery. According to the method, ARV remote intelligent recovery is realized, safety of the carrier in the ARV recovery process can be effectively improved, sailors are prevented from risk operation recovery, and personnel safety is guaranteed.
本发明涉及一种用于自主遥控水下机器人的远程回收控制系统及方法,系统包括水面监控子系统,ARV回收控制子系统和运动控制子系统;方法包括:当压力开关检测到ARV上浮水面后,ARV卫星通讯模块将经纬度信息,发送给母船卫星收发模块,也发送给远程回收管理模块;母船卫星收发模块将ARV定位信息发送给水面监控计算机;水面监控计算机将ARV定位信息在液晶显示屏上进行显示,同时根据母船GPS模块发送的母船定位信息,计算母船与ARV的距离及方位,并选择无线电遥控回收过程或卫星自主回收过程进行回收。本发明实现了ARV远程智能化回收,能够有效地提高ARV回收过程中载体的安全性,避免了船员冒险作业回收,保障人员安全。
Remote recovery control system and method for autonomous remote control underwater robot
一种用于自主遥控水下机器人的远程回收控制系统及方法
2021-01-15
Patent
Electronic Resource
Chinese
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