The invention particularly relates to a cluster-type AUV (Autonomous Underwater Vehicle) net-pulling obstacle-clearing system and a control method. The system comprises an AUV cluster, an obstacle removing net, a laying device and control equipment, wherein the AUV cluster is composed of AUVs with underwater navigation, positioning and communication capabilities; the obstacle removing net is in a regular polygon shape and is connected with the AUVs through corner points at the opening. The laying device is used for storage before the AUVs enter water, and the control equipment comprises a computer and control software and is used for performing task planning and parameter binding on the AUV cluster before launching and remote control on the AUV cluster when the AUV cluster is located on the water surface. The control method adopts a leader-follower method. The problem of cooperative control of the multiple AUVs participating in trawling in the three-dimensional space under the rope net constraint condition is solved, and compared with a traditional obstacle removing scheme that a special ship is adopted to install large special equipment, operation is easy, efficiency is high, and cost is low.

    本发明具体涉及一种集群式AUV拉网清障系统及控制方法。所述系统包括AUV集群、清障网、布放装置和操控设备,AUV集群由具备水下导航、定位、通信能力的AUV组成;清障网为正多边形,通过开口处的角点与各AUV相连;布放装置用于各AUV入水前的存储,操控设备包括计算机和操控软件,用于对AUV集群进行发射前的任务规划、参数装订以及AUV集群处于水面时的遥控。所述控制方法采用领队‑跟随者的方法。本发明解决了绳网约束条件下,参与拖网的多条AUV在三维空间内的协同控制问题,相较传统的采用专用船只安装大型专用设备的清障方案操作简单、效率高、成本低。


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    Titel :

    Cluster-type AUV (Autonomous Underwater Vehicle) net-pulling obstacle-clearing system and control method


    Weitere Titelangaben:

    一种集群式AUV拉网清障系统及控制方法


    Beteiligte:
    WANG FENGHUI (Autor:in) / CHEN JIANFENG (Autor:in) / LI GUOLIANG (Autor:in) / WU ZUOFU (Autor:in) / LEI JUAN (Autor:in) / ZHANG KAIYUAN (Autor:in) / HUANG JIANGCHENG (Autor:in)

    Erscheinungsdatum :

    26.01.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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