System for navigation of an autonomously navigating submersible body during entry into a docking station, method
AssigneeFraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
InventorsJuergen Beyerer, Gunnar Brink
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Abstract
A system for navigation of an autonomously navigating submersible body during entry into a docking station below the water surface includes a determiner for determining an actual motion vector of the autonomously navigation submersible body in relation to the set motion vector describing the optimum entry direction into the docking station and a calculating unit. The calculating unit serves to determine the deviation between the actual motion vector and the set motion vector to determine control vectors based on the deviation and to thereby control the autonomously navigating submersible body during entry.
Claims19
A system for navigation of an autonomously navigating submersible body during entry into a docking station below water surface, comprising:
- a determiner for determining an actual motion vector of the autonomously navigating submersible body in relation to a set motion vector describing an optimum entry direction into the docking station, wherein the determiner for determining the actual motion vector is mounted on the docking station;
- a calculating unit for determining the deviation between the actual motion vector and the set motion vector to determine control signals based on a deviation, wherein the calculating unit is disposed on the docking station;
- and
- a control determining the control signals based on the deviation and controlling the autonomously navigating submersible body during entry into the docking station by means of the control signals such that the actual motion vector approaches the set motion vector;
- wherein the autonomously navigating submersible body comprises an autonomous driving mode and remote control driving mode and wherein the control is configured to activate the remote control driving mode in a near range of the docking station.
A method for navigation of an autonomously navigating submersible body during entry into a docking station below water surface, comprising:
- determining an actual motion vector of the autonomously navigating submersible body in relation to a set motion vector describing an optimum entry direction into the docking station from the point of view of the docking station;
- determining a deviation between the actual motion vector and the set motion vector to determine control signals based on the deviation;
- and
- controlling the autonomously navigating submersible body based on the deviation and wherein controlling is performed such that the actual motion vector approaches the set motion vector by use of a remote control driving mode;
- wherein the autonomously navigating submersible body comprises an autonomous driving mode and remote control driving mode and wherein the remote control driving mode is activated in a near range of the docking station.
A non-transitory digital storage medium having a computer program stored thereon to perform a method for navigation of an autonomously navigating submersible body during entry into a docking station below a water surface, the method comprising:
- determining an actual motion vector of the autonomously navigating submersible body in relation to a set motion vector describing an optimum entry direction into the docking station;
- determining a deviation between the actual motion vector and the set motion vector to determine control signals based on the deviation;
- and
- controlling the autonomously navigating submersible body based on the deviation and wherein controlling is performed such that the actual motion vector approaches the set motion vector by use of a remote control driving mode;
- wherein the autonomously navigating submersible body comprises an autonomous driving mode and remote control driving mode and wherein the remote control driving mode is activated in a near range of the docking station,
- when said computer program is run by a computer.
Dependencies are inferred from the claim text.