Autonomous Underwater VehicleAUV
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Overview Sea exploration AUVs can be used for ocean research and exploration, with stable products, strong maneuverability, and scalability, and extremely high cost-effectiveness. The device adopts a modular design. The control unit and software source code are all open source, with sufficient scalability and convenience for secondary development. Its outstanding performance makes it an ideal choice for underwater inspection, secondary development of teaching, scientific research, and underwater exploration. |
| Layout of ontology structure AUVThe overall layout of the structure adopts a driving method of single thruster combined with X-shaped rudder. The thruster generates forward propulsion force and has a certain speed of backward ability; The four servos of the X-shaped rudder can be individually controlled to rotate, enabling the AUV to turn, float, and dive. AUV adopts modular design and a hybrid structure of single and double shells. The appearance of AUV is a rotating body, and the bow and stern shape adopts Myring design. |
Introduction to the main hardware system Submersible pressure hull：AUVthe main body of the robot is a closed pressure resistant cabin, made of anodized aluminum alloy. The cabin also provides buoyancy for the robot, protecting its internal components. Advance steering system：Using a single thruster combined with an X-shaped rudder for driving. Control system：The AUV is equipped with an accelerometer, gyroscope, electronic compass, and depth sensor. Without relying on shore based communication, the AUV control system has certain data processing and computing capabilities to run trajectory tracking control algorithms. Trajectory tracking control algorithms include model predictive control, lightweight neural networks, etc。 The AUV is equipped with a control board (STM32F407) and a computing board (NVDIA Jetson Xavier NX) inside. The control board drives the underlying hardware to control the steering angle of the servo and the speed of the thruster; The computing board communicates with the shore station and issues motion commands to the control board; The upper computer is installed in the computing board and can send forward commands, stop commands, turn commands, and snorkel commands by default. It can provide development interfaces, and specific tracking algorithms require secondary development。 Equipped with NVDIA Jetson NX high-performance processor, the first party can conduct secondary development based on the AUV platform to achieve functions such as path planning, data fusion, seabed exploration, hydrological monitoring, regional monitoring, network cluster observation, target recognition, SLAM real-time mapping and positioning, obstacle avoidance and real-time trajectory planning algorithms, upper thrust allocation control algorithms (trajectory tracking control, attitude control), etc. Sensor System：The AUV standard configuration is equipped with depth sensors, compasses, gyroscopes, and accelerometer sensors for measuring and monitoring underwater environments to control its own posture. Communication and positioning system：AUV communicates with shore based system through USBL and underwater acoustic communication module. Underwater visual system：AUV is equipped with high-definition cameras and lighting equipment for capturing underwater scenes and providing video feedback to operators. Equipped with high-definition binocular cameras for underwater SLAM (real-time positioning and mapping), the cameras are integrated into the AUV and located inside the transparent cabin at the bow. duration performance：Equipped with a large capacity lithium battery, it can achieve autonomous navigation for at least 3 hours. |
