The invention provides a collaborative operation method for an autonomous underwater robot and a docking device, and relates to the technical field of underwater robot control. According to the method, a communication process is established by using a handshake mechanism and is used as a basis for information interaction, instruction issuing and data transmission of the autonomous underwater robot and the docking device; designing a state primitive according to the autonomous operation process of the autonomous underwater robot and the docking device, wherein the state primitive executes each operation in the autonomous operation process; independently designing an autonomous operation finite-state machine for the autonomous underwater robot and the docking device, and combining state elements of each operation in the process of executing autonomous operation; in the autonomous operation process, the autonomous underwater robot and the docking device execute the autonomous operation finite-state machines respectively and conduct communication interaction, and the autonomous operation process is achieved. According to the method, modeling is carried out for each flow of interactive cooperation, and the docking device replaces human beings to carry out decision processing on the seabed.
本发明提供一种自主水下机器人与对接装置协同作业方法,涉及水下机器人控制技术领域。该方法利用握手机制建立通信过程,作为自主水下机器人和对接装置信息交互、指令下达以及数据传输的基础;针对自主水下机器人和对接装置自主作业过程设计状态基元,状态基元执行自主作业过程中每个操作;针对自主水下机器人和对接装置分别设计自主作业有限状态机,将执行自主作业过程中每个操作的状态基元进行组合;在自主作业流程中,自主水下机器人与对接装置各自执行自主作业有限状态机,并进行通信交互,实现自主作业过程。该方法针对交互协作的各个流程进行建模,实现了对接装置代替人类在海底进行决策处理。
Cooperative operation method for autonomous underwater robot and docking device
一种自主水下机器人与对接装置协同作业方法
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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