The invention provides an aquaculture online monitoring system capable of automatically cruising. The aquaculture online monitoring system comprises an online monitoring ship, a hand-held remote control terminal and a remote monitoring platform. The online monitoring ship comprises a hull, an automatic ship control part, an environment and ecology online monitoring part, a wireless communication module, a hybrid power supply system and an automatic sleeping module, wherein the automatic ship control part is partially installed on the hull; the environment and ecology online monitoring part is used for monitoring the aquaculture environment and ecology and giving an early warning when environmental and ecological indicators exceed a set threshold range; the wireless communication module is connected with the automatic ship control part and the environment and ecology online monitoring part; the hybrid power supply system is installed on the hull; the automatic sleeping module is installed on the hull and used for automatically sleeping when the monitoring ship does not need to perform monitoring or sailing; the hand-held remote control terminal and the remote monitoring platform are both connected with the wireless communication module; the hull is made of aluminum alloy. The aquaculture online monitoring system has the advantages of being capable of automatically cruising, performing online monitoring and regulation on the environment and ecology and performing remote platform control.

Aquaculture online monitoring system capable of automatically cruising

The invention discloses a full-actuating type autonomous underwater vehicle (FAAUV) cooperative control method The method comprises the following steps that a second-order discrete motion model and a kinetic model of an FAAUV are built firstly; then, due to different positioning errors of each underwater robot navigation positioning device, route information owned by the underwater robot navigation positioning devices is inconsistent; the route information is regarded as virtual pilot information, the virtual pilot information is composed of a series of continuous way points, and a finite time consistency controller combining a finite time control method and consistency is provided for cooperatively controlling the speed and the position of the FAAUV within the finite time; each underwater robot utilizes a tachymeter and a gyroscope for measuring navigational speed and the moving posture of itself, and the virtual pilot information and the speed information of the underwater robots are played on time According to the control method, actuating control force of different shafts of a plurality of FAAUVs is calculated, and the aim that a plurality of underwater vehicles reach the preset formation shape within the finite time is achieved

Full-actuating type autonomous underwater vehicle cooperative control method

The invention discloses an automatic cruising method and a cruising device, and automatic cruising can be realized without limitation of satellite signals. The automatic cruising method comprises that the cruising device receives target cruising point information; when it is determined that the indoor navigation condition is met, a picture of a current cruising position is collected in real time, and the cruising device is navigated to a position indicated by the target cruising point information according to the picture of the cruising point; and when it is determined that the indoor navigation condition is not met, the cruising device is navigated to the position indicated by the target cruising point information by utilizing GPS.

Automatic cruising method and cruising device

The invention relates to a control system of an underwater detecting device The control system of the underwater detecting device comprises an attitude control system of the underwater detecting device and a locating system of the underwater detecting device The underwater detecting device comprises a propeller, a control sealed cabin, an AHRS routine attitude reference system, an ultra short base line sonar locating system, a sonar three-dimensional imaging system, cables, a device frame, an underwater camera and the like The control system of the underwater detecting device determines the heading path of the underwater detecting device through scanning on underwater environments, and hovering at any depth, fixed heading travel, stabilizing and adjusting of the attitudes and the like of the underwater detecting device are achieved through control of the propeller, the surface information of an underwater structure is obtained through the operation that the underwater camera carries out close range observation, in the whole working process of the underwater detecting device, the real-time position of the underwater detecting device is obtained through the ultra short base line sonar locating system to guarantee the safety of the working of the underwater detecting device, and requirements on operators are lowered

Control system of underwater detecting device

The invention relates to an unmanned underwater vehicle IVFH (intelligent vector field histogram) collision avoidance method, in particular, an unmanned underwater vehicle two-dimensional IVFH (intelligent vector field histogram) collision avoidance method With the method adopted, an unmanned underwater vehicle can obtain the location information of an obstacle through processing sensor data in a navigation process, so that the unmanned underwater vehicle can focus on security and rapidity, and the unmanned underwater vehicle can have a certain intelligence like human beings; and reasonable collision avoidance actions can be decided based on factors such as the distance of the obstacle, the distance of a target point, free grid percentage and known field of vision percentage, for example, course and navigational speed instructions can be determined, so that the unmanned underwater vehicle can avoid the obstacle so as to prevent danger The method of the invention is suitable for collision avoidance conditions of unmanned underwater vehicles

Unmanned underwater vehicle IVFH (intelligent vector field histogram) collision avoidance method

The invention provides an experimental control structure of an unmanned surface vessel, which comprises a shore module, a ship module, a navigation sensor and a ship body propelling and steering mechanism. A data collecting and receiving module collects movement parameter information of a ship body measured by the navigation sensor according to a set control cycle; a ship communication module transfers the movement parameter information of the ship body to a shore communication module; a navigational parameter display module displays the movement parameter information of the ship body; a movement control module carries out movement control resolving according to the movement parameter information of the ship body to obtain a drive instruction of movement of the ship body; and the shore communication module transfers the drive instruction to the ship communication module, and the ship communication module transfers an execution mechanism drive module and controls the ship body propelling and steering mechanism to drive the ship body to move according to the control requirement. According to the experimental control structure, modifying and validating of a movement control algorithm can be finished just by modifying shore control software in an experimental process without modifying ship control software, and a research of a movement control experiment of the unmanned surface vessel is conveniently carried out.

Experimental control structure of unmanned surface vessel

The invention puts forwards a swimming-walking hybrid bionic blade leg and track combined walking underwater robot and a control method of the swimming-walking hybrid bionic blade leg and track combined walking underwater robot. The swimming-walking hybrid bionic blade leg and track combined walking underwater robot comprises a frame, a floating body module, a hanging bracket, a control sealed cabin, a motion component, a sensing detection component, a visual positioning device and an operation extension module; the floating body module, the hanging bracket, the control sealed cabin, the motion component, the sensing detection component, the visual positioning device and the operation extension module are all mounted on the frame, and the gravity center of the underwater operation robot is located right under the buoyancy center. By adopting the invention, the underwater operation robot can adapt to operation demands for working faces of different categories and different attitudes, and further can adapt to the demands on omnidirectional mobility and obstacle climbing abilities on the different working faces, thereby being capable of providing technical support to various underwater operation tasks completed by the underwater operation robot.

Swimming-walking hybrid bionic blade leg and track combined walking underwater robot and control method thereof

The invention relates to an AUV (Autonomous Underwater Vehicle) underwater acoustic locating method based on double mobile beacons, which is characterized in that the double mobile beacons are realized by two USVs, a differential GPS (Global Positioning System), a course and course angular velocity sensor and an acoustic locating and communication sonar are respectively installed on the two USVs, and course, navigational speed and course angular velocity sensors and an acoustic locating and communication sonar are installed on the AUV. The acoustic locating and communication sonars on the two USVs periodically send acoustic locating signals and send the self positions to the AUV. When the AUV receives the acoustic locating signal and position coordinate of the USV, the AUV performs underwater locating through an extended Kalman filter; and meanwhile, the AUV sends the measuring and locating result to the two USVs through the acoustic locating and communication sonar to drive the two USVs to move with the AUV in a grouping manner with the AUV as navigator and stabilize the distance between the AUV to minimal safe distance and stabilize the included angle between the AUV connecting line to pi/2.

AUV (Autonomous Underwater Vehicle) underwater acoustic locating method based on double mobile beacons

The invention relates to an AUV back-to-the-dock guidance system and an AUV back-to-the-dock guidance method based on a dipole potential field. The AUV back-to-the-dock guidance system and the AUV back-to-the-dock guidance method are characterized in that the head of an AUV is equipped with a USBL transceiver, and two USBL transponders are installed at the two sides of a recycling station; the AUV can use the transceiver to measure the distances and the azimuths of the transponders in an AUV body coordinate system xBoByB; the coordinates of the AUV in a recycling coordinate system xoy can be calculated according to the distances and the azimuths, and an AUV back-to-the-dock expected course angle instruction can be obtained based on the principle of dipole potential field; and the AUV controls the AUV to sail at an expected course angle by an adaptive nonsingular terminal sliding mode control method to realize back-to-the-dock guidance. By adopting the method, the coordinates of the AUV in the recycling coordinate system xoy can be calculated directly. Then, the AUV is guided by an established dipole potential field to enter the recycling station along the central axis of the recycling station. The method is simple, only needs a small amount of calculation, makes the error between the actual course angle and the course angle specified by the instruction in the back-to-the-dock process very small, and has a better back-to-the-dock effect than other back-to-the-dock algorithms.

AUV back-to-dock guidance system and AUV back-to-the-dock guidance method based on dipole potential field

The invention provides an obstacle avoiding method for an underwater navigation device. The obstacle avoiding method for an underwater navigation device makes the determination by utilizing the information of the distance to an obstacle and the angle between the underwater navigation device and the obstacle to obtain the expected navigation angle so as to adjust and plan the navigation track of the underwater navigation device, thus the requirements of enabling the remote underwater navigation device safely to reach an navigation point can be met. The obstacle avoiding method can be used as the navigating direction adjusting strategy of the underwater navigation device to realize the aim of ensuring the safety of the underwater navigation device, and has the characteristics of simpleness of the algorithm, high efficiency, reliability and convenience in controlling. The obstacle avoiding method also can be applied in the partial route planning and the obstacle avoidance of underwater robots and automatic guiding trolleys.

Cui Rongxin

Papers

Experimental control structure of unmanned surface vessel

Swimming-walking hybrid bionic blade leg and track combined walking underwater robot and control method thereof

AUV (Autonomous Underwater Vehicle) underwater acoustic locating method based on double mobile beacons

AUV back-to-dock guidance system and AUV back-to-the-dock guidance method based on dipole potential field

Obstacle avoiding method for underwater navigation device