An underwater AUV cable searching system based on a magnetometer comprises: an AUV driving module used for collecting sensor data related to AUV control, substituting an AUV motion control algorithm to control advancing, retreating, steering, sinking and floating of an AUV through a propeller module, controlling an emergency floating module to open a counterweight cabin door to discard a heavy object when voltage abnormity or device water leakage is detected, and quickly floating and timely sending positioning information; and an AUV algorithm module which is used for receiving the sensor data acquired by the AUV driving module, transmitting the data to an upper computer for real-time display through the wireless communication module, receiving a control instruction of the upper computer, transmitting the control instruction to a corresponding module for processing, acquiring data of a magnetometer in real time, and substituting the data into a cable searching algorithm to obtain a current target course, so that a target depth is obtained by using an off-bottom altimeter and is transmitted to an AUV driving module for execution, and whether the target depth is a fault point of the submarine cable is judged according to whether the magnetometer data has abnormal attenuation or not.
一种基于磁力仪的水下AUV寻缆系统,包括AUV驱动模块,用于采集与AUV控制相关的传感器数据,带入AUV运动控制算法通过推进器模块来控制AUV的进退、转向和沉浮,检测到电压异常或者装置漏水,控制紧急上浮模块打开配重舱门抛弃重物,迅速上浮并及时发送定位信息;AUV算法模块,用于接收AUV驱动模块采集的传感器数据,将数据通过无线通信模块传送给上位机实时显示,接收上位机的控制指令并传达给相应模块进行处理,同时实时采集磁力仪的数据,将数据带入寻缆算法得出当前的目标航向,使用离底高度计得出目标深度,并传送给AUV驱动模块来执行,并根据磁力仪数据是否出现异常衰减来判断是否为海缆的故障点。
Underwater AUV cable searching system based on magnetometer
一种基于磁力仪的水下AUV寻缆系统
2021-09-24
Patent
Electronic Resource
Chinese
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