CN113895580B - Communication positioning device and method for cableless autonomous underwater robot - Google Patents
Communication positioning device and method for cableless autonomous underwater robot Download PDFInfo
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- CN113895580B CN113895580B CN202111361286.2A CN202111361286A CN113895580B CN 113895580 B CN113895580 B CN 113895580B CN 202111361286 A CN202111361286 A CN 202111361286A CN 113895580 B CN113895580 B CN 113895580B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/58—Rafts, i.e. free floating waterborne vessels, of shallow draft, with little or no freeboard, and having a platform or floor for supporting a user
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- B65H75/48—Automatic re-storing devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
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Abstract
The utility model provides a communication positioning device and method for a cable-free autonomous underwater robot, wherein the positioning device comprises: the floating raft, the communication cable and the connecting base are arranged on the water surface; the overwater buoyant raft is provided with an overwater corner measuring support, a cable retracting mechanism and a GPS positioning module, the communication cable is a zero-buoyancy cable, and the first end of the communication cable penetrates through the overwater corner measuring support and is connected with the cable retracting mechanism; the underwater robot communication device comprises a connecting base, a communication cable, a communication interface and a communication cable, wherein the connecting base is connected with the underwater robot, the connecting base is provided with an underwater corner measuring support and a cable clamping mechanism, the second end of the communication cable penetrates through the underwater corner measuring support and then is clamped by the cable clamping mechanism and is connected with the communication interface of the underwater robot, and the second end of the communication cable is made of floating body materials; the underwater robot has the capabilities of data return, remote control and accurate positioning, can be directly installed on various cable-free autonomous underwater robot bodies for use, and improves the positioning accuracy of the underwater robot.
Description
Technical Field
The disclosure relates to the technical field of underwater robot control, in particular to a communication positioning device and method for a cable-free autonomous underwater robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, ocean energy sources, communication and power transmission pipelines (hereinafter collectively referred to as "submarine pipelines") such as submarine oil pipelines, communication optical cables and power cables are put into use in large quantity, and the submarine pipelines after being put into operation need to be regularly inspected so as to solve possible problems of submarine pipeline bodies and potential threats to routing areas. If the anchor body or the fishing net of the operation ship is dragged to cause accidents such as damage and fracture of the submarine pipeline, the damaged or fractured position of the pipeline needs to be quickly and accurately positioned so as to accelerate the maintenance efficiency of the faulty pipeline. At present, the state inspection and fault detection of the submarine pipeline are mainly realized by manual diving visual observation, and the operation mode has poor reliability and high danger.
The best carrier for executing the submarine pipeline state inspection and fault detection operation is an underwater robot, in particular to a cable-free autonomous underwater robot (AUV, hereinafter referred to as the underwater robot, unless otherwise specified, all refer to the underwater robot), which has the advantages of independent energy, flexibility, convenience in retraction and extension and the like, has a wider and wider operation range and application field than a cable remote control underwater Robot (ROV), and can carry out continuous autonomous operation. In a shallow sea area where a submarine pipeline is prone to causing problems, the operating depth of the underwater robot is usually required to be within 80 meters, and high operating speed is not required, but the underwater robot is required to have accurate underwater navigation and positioning capacity, detection data of the underwater robot aiming at the submarine pipeline is transmitted to a mother ship on the water surface or a shore in a remote mode in real time, and operation and maintenance personnel can conveniently identify the condition of the submarine pipeline. Because the cableless autonomous underwater robot is not physically connected with the mother ship on the water surface or the water surface, the communication data transmission of the cableless autonomous underwater robot is slow (underwater acoustic communication), the navigation and positioning precision is poor, and great inconvenience is brought to the state inspection and fault detection operation of the submarine pipeline.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a communication positioning device and method for a cable-free autonomous underwater robot, which have the capabilities of data return, remote control and precise positioning, can be directly installed on various cable-free autonomous underwater robot bodies for use, and improves the positioning precision of the underwater robot.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a communication and positioning device for a cableless autonomous underwater robot.
A untethered autonomous underwater vehicle communication locating device, comprising: the floating raft, the communication cable and the connecting base are arranged on the water surface;
the overwater buoyant raft is provided with an overwater corner measuring support, a cable retracting and releasing mechanism and a GPS positioning module, the communication cable is a zero-buoyancy cable, and the first end of the communication cable penetrates through the overwater corner measuring support and then is connected with the cable retracting and releasing mechanism;
the connecting base is connected with the underwater robot, the connecting base is provided with an underwater corner measuring support and a cable clamping mechanism, the second end of the communication cable penetrates through the underwater corner measuring support and then is clamped by the cable clamping mechanism and connected with a communication interface of the underwater robot, and the second end of the communication cable is made of floating body materials.
As some possible implementations, the outer shell of the water raft is a buoyant material.
As some possible realization modes, the top of the overwater buoyant raft is provided with a smoke generator which can emit colored smoke.
As some possible implementation manners, the water rotation angle measuring bracket is provided with an inclination angle sensor which is configured to measure the inclination angle and the azimuth angle of the communication cable in water in real time.
As some possible implementations, the cable pay-out and pay-out mechanism is a cable hoist for paying out and pulling up the telecommunication cable.
As some possible implementations, the floating raft is also provided with a satellite communication module.
As possible realization modes, the tail of the water floating raft is detachably provided with a tail module, the tail module is an unpowered tail module or a powered tail module, the unpowered tail module is provided with a steering engine, a rudder and a stabilizer, and the powered tail module is provided with the steering engine, the rudder, the stabilizer, a propulsion motor, a propeller and a battery pack.
As some possible implementations, the electrical control module of the water raft comprises a control circuit board, a wireless transceiver and a battery, and the control circuit board is provided with six-axis motion sensors which are configured to measure the real-time navigation angle and the motion attitude of the floating raft on the water in real time.
As a further limitation, the top of the floating raft is provided with a communication antenna, connected with the wireless transceiver of the electrical control module, and connected with the wireless transceiver of the remote control platform of the mother ship on the water or the shore.
As possible implementation modes, the cable clamping mechanism comprises a fixed buckle, the fixed buckle is controlled by an electromagnetic coil, when the electromagnetic coil is powered off, the buckle is pushed out by a spring to clamp the communication cable, the electromagnetic coil is powered on, then the buckle structure is pulled out, and the communication cable is pulled out.
The second aspect of the disclosure provides a communication positioning method for a cableless autonomous underwater robot.
A communication positioning method for a cableless autonomous underwater robot is provided, and the positioning device of the first aspect of the disclosure comprises the following steps:
after the underwater robot submerges into water, the cable retracting and releasing mechanism releases a communication cable with a proper length according to the navigation depth of the underwater robot and the relative flow velocity with the water body;
the real-time position of the overwater buoyant raft is obtained through a GPS positioning module, the real-time pose of the overwater buoyant raft is obtained through a six-axis motion sensor of an electrical control module of the overwater buoyant raft, and the extension length of a communication cable is obtained through a cable retraction mechanism;
the method comprises the steps of obtaining the linear distance and the included angle from a floating raft to an underwater robot according to the inclination angle and the azimuth angle of a communication cable on the water surface measured by an inclination angle sensor of an overwater rotation angle measuring support, the inclination angle and the azimuth angle of the communication cable in the water measured by an inclination angle sensor of an underwater rotation angle measuring support, the navigation depth and the relative water flow speed measured by a navigation system of the underwater robot, and obtaining the real-time position of the underwater robot under water by taking the GPS position of the floating raft on the water as the origin.
As some possible implementation modes, the underwater robot operation control signals and submarine pipeline detection data are transmitted in a real-time and bidirectional mode through communication cables;
the navigation data of the underwater robot and the submarine pipeline detection data collected by the detection equipment are transmitted to the overwater buoyant raft, and are transmitted to a distant mother ship on the water surface or a shore-based control console through wireless communication equipment or a satellite module of a communication antenna of the overwater buoyant raft, and meanwhile, control signals of the mother ship on the water surface or the shore-based control console are received;
and the water surface mother ship or the shore-based control console changes the navigation track and the navigation task of the underwater robot in real time according to the detection data and the image of the detection equipment.
As a further limitation, when the communication cable is wound around an underwater obstacle, the cable clamping mechanism of the wireless communication remote control connection base opens the fixing buckle, the underwater fixing end of the communication cable is loosened, the communication cable is separated from the communication port of the underwater robot, and the underwater robot is enabled to enter an autonomous planning navigation state without the restriction of the communication cable.
As a further limitation, when the communication cable is separated from the underwater robot, the cable retraction and extension mechanism retracts the communication cable to the shortest, at the moment, the overwater buoyant raft sends self GPS positioning information to the mother ship on the water surface or the shore-based control console through the communication antenna, and the overwater buoyant raft is controlled to return to the mother ship on the water surface or the shore to be independently retracted according to the GPS positioning information.
As some possible implementation manners, in the floating process of the underwater robot, the cable retraction mechanism retracts the communication cable according to the water depth data measured by the depth meter on the underwater robot, so that the water buoyant raft and the underwater robot always keep a basically fixed water surface distance.
As some possible realization modes, when the underwater robot is recovered within a preset distance range in the daytime, the smoke generator on the top of the water floating raft is started to emit colored smoke drifting upwards, and the position of the underwater robot is confirmed according to the smoke position.
As some possible implementations, when retrieving within a preset distance range at night, the position of the underwater robot is confirmed according to the LED lamp installed at the communication antenna.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the utility model discloses the novelty provides a no cable is from autonomous underwater vehicle communication positioner, has improved data transmission rate, has solved the drawback that conventional no cable is from autonomous underwater vehicle can't be when navigating under water real-time transmission control signal and detection data, has realized controlling in real time and the real-time location of underwater vehicle.
2. The invention discloses an innovative communication positioning device for a cableless autonomous underwater robot, and the navigation positioning precision of a conventional cableless autonomous underwater robot can generate a large error along with the accumulation of time because an electromagnetic signal can not penetrate through a water body.
3. The communication positioning device of the cableless autonomous underwater robot can be used as a marine marker, the accurate position and track of the conventional cableless autonomous underwater robot are usually difficult to know when the conventional cableless autonomous underwater robot navigates below the water surface, and the navigation position of the underwater robot can be known in real time through the overwater buoyant raft, so that the recovery of a mother ship on the water surface and the emergency salvage when the mother ship breaks down are facilitated.
4. The utility model discloses a no cable is from autonomous underwater vehicle ware communication positioner, can realize that the communication cable is automatic to receive and release and break off, cable jack is installed to the buoyant raft on water, can change the communication cable according to underwater vehicle ware navigation degree of depth and stretch out length, can retrieve safety length with the communication cable when underwater vehicle ware dives the surface, still can break off being connected of buoyant raft on water and underwater vehicle ware people when meetting the navigation danger.
5. According to the communication positioning device for the cableless autonomous underwater robot, the water floating raft is provided with the replaceable tail module, and the appropriate type can be selected according to the operation condition to be installed so as to adapt to the complex and variable sea conditions and flow rate.
6. The communication positioning device of the cableless autonomous underwater robot is convenient to install and use, the structure and the control system of the existing underwater robot do not need to be obviously changed, and the communication positioning device is convenient to install and use only by fixedly connecting the connecting base outside the shell and connecting the communication cable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is an overall structural schematic diagram of a communication positioning device of an untethered autonomous underwater robot provided in embodiment 1 of the present disclosure.
Fig. 2 is a side sectional view of a water raft provided in embodiment 1 of the present disclosure.
Fig. 3 is a side cross-sectional view of a connection base provided in embodiment 1 of the present disclosure.
1. A cableless autonomous underwater robot; 2. the underwater robot is provided with a communication antenna; 3. a connection base; 4. a communication cable; 5. floating rafts on water; 6. a buoyant raft shell on water; 7. an electrical control module; 8. an overwater corner measuring bracket; 9. a communication antenna; 10. a cable retracting mechanism; 11. an unpowered tail module; 12. a fin stabilizer; 13. a powered tail module; 14. a propeller; 15. a rudder; 16. an underwater corner measuring support; 17. fixing the buckle; 18. an underwater fixed end of the communication cable; 19. an underwater robot housing.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as described in the background art, in the prior art, a cableless Autonomous Underwater Vehicle (AUV) is used for submarine pipeline inspection and obstacle detection, and the problems of slow communication data transmission (underwater acoustic communication) and poor navigation positioning accuracy exist. In order to solve the technical problem, the present disclosure provides a communication positioning device for a cable-free autonomous underwater robot, which can improve the navigation precision of the underwater robot and realize real-time and rapid transmission of robot control signals and submarine pipeline detection data.
In an exemplary embodiment of the present disclosure, as shown in fig. 1, the floating raft includes three parts, namely a floating raft, a communication cable, and a connection base, specifically, the following are included:
(1) Water floating raft
The buoyant raft 5 on water is a surface of water floater that has the streamline appearance for realize long-range wireless communication and GPS location on the surface of water, buoyant raft casing 6 on water is the body material, can guarantee that the buoyant raft on water floats all the time and sails on the surface of water.
The top of the floating raft is provided with a communication antenna 9 and a smoke generator, the inside of the floating raft is provided with a cable retraction jack 10, a GPS positioning module, a satellite communication module, a water turning angle measuring support and an electric control module 7, and the rear part of the floating raft is provided with a replaceable tail module.
The communication antenna 9 installed at the top of the overwater floating raft 5 is used for overwater remote wireless communication, is connected with a wireless transceiver of the electrical control module 7 on the overwater floating raft, performs digital-image transmission networking with the wireless transceiver on a mother ship on the water surface or a remote control platform on the shore, realizes remote two-way information transmission, provides the position and attitude navigation data and underwater detection data images of the robot for an operator in real time, and enables the operator to remotely control the operation of the underwater robot or make a corresponding autonomous operation task according to the information.
The communication antenna 9 is provided with a plurality of high-brightness LED lamps, so that an operator can remotely find the position of the overwater buoyant raft 5 at night, and then confirm the position of the cableless autonomous underwater robot 1, and the cableless autonomous underwater robot 1 is convenient to monitor the water surface and approach to recovery.
The top of buoyant raft 5 on water is equipped with the smoke generator, and the smoke generator is started by electronic switch, can send the colored smog that upwards floats, makes the control personnel can be in the long-range position of discovering the buoyant raft on water on daytime, and then confirms underwater robot's position, is convenient for to underwater robot's surface of water control and be close to the recovery.
And a cable retracting and releasing mechanism arranged in the water floating raft 5 is used for retracting and tensioning the communication cable. When the underwater robot dives, the cable retracting mechanism calculates the cable releasing length according to the navigation depth of the underwater robot and the relative flow velocity of the underwater robot and a water body, the navigation performance of the underwater robot can be prevented from being influenced or wound by the overlong communication cable, meanwhile, the communication cable can be straightened in the water as much as possible through the pretightening force setting, and the underwater positioning is conveniently carried out according to the angle of the communication cable.
When the underwater robot floats upwards, the cable retraction and release mechanism retracts the short communication cable, so that the water floating raft and the underwater robot always keep a basically fixed water surface distance. When the underwater robot submerges in the water surface, the length of the cable extending out of the communication cable is retracted within 2m by the cable retracting mechanism, and the underwater robot and the water floating raft can be conveniently retracted.
The satellite communication module installed in the water floating raft 5 is a bidirectional satellite data transceiver, can provide high-stability satellite communication covering the whole world, and realizes short message transceiving and active positioning functions.
And a GPS positioning module arranged in the water floating raft 5 is used for measuring the coordinate position of the water floating raft in real time, so that the precise navigation and positioning of the underwater robot are realized.
The electric control module in the water floating raft 5 comprises a control circuit board, a wireless transceiver, a lithium battery pack and the like; the control circuit board is provided with six-axis motion sensors which can measure the real-time navigation angle and the motion attitude of the floating raft on water.
The afterbody module is installed to the afterbody of buoyant raft on water, and the afterbody module divide into unpowered afterbody module 11 and takes power afterbody module 13 two kinds, is detachable mechanism, can replace according to the difference of operation task and surface of water situation.
The unpowered tail module 11 is provided with a steering engine, a rudder 15 and a stabilizer fin 12, so that the overwater buoyant raft has a complete streamline shell structure, the advancing resistance is reduced, the sailing stability is improved, and the unpowered tail module is suitable for being used under a good water surface condition with small wind waves;
the power-driven tail module 13 is provided with a steering engine, a rudder 15 and a stabilizer 12, and is also internally provided with a propulsion motor, a propeller 14 and a battery pack, can utilize self power to advance to offset part of water resistance, reduces navigation influence on the underwater robot, and is suitable for being used under severe water surface conditions with large storms.
The steering engine and the rudder are installed on the tail module of the floating raft on water, the rudder direction can be adjusted by the driving of the steering engine according to the azimuth angle of the communication cable detected by the corner measuring mechanism, so that the floating raft on water closely follows the navigation direction of the underwater robot, the navigation influence on the underwater robot is reduced, and the accuracy of position positioning is improved.
The water rotation angle measuring bracket 8 is used for measuring the extension angle of the communication cable and protecting the cable body. The communication cable penetrates through the overwater corner measuring support arranged on the overwater buoyant raft, so that the rotation in any direction can be realized, the included angle between the communication cable and the overwater buoyant raft can be limited, and the condition that the cable body is damaged due to the overlarge bending angle is avoided; and an inclination angle sensor is also arranged on the water rotation angle measuring support, so that the inclination angle and the azimuth angle of the communication cable in water can be measured in real time.
The cable retraction mechanism 10 is a set of cable winches for retracting and tensioning the communication cables.
(2) Communication cable
The communication cable 4 is an optical fiber communication cable with a traction-resistant steel wire, the total length of the cable body is 100m, and the communication cable can transmit large-flow communication data and is used for realizing bidirectional transmission of control commands and data images between the water floating raft and the underwater robot.
The communication cable 4 is a zero-buoyancy cable, and does not have obvious influence on the navigation of the underwater robot in water.
The floating raft on water is connected with a connecting base 3 arranged on the underwater robot through a communication cable.
The underwater fixed end 18 of the communication cable is made of floating body material, and when the underwater fixed end is separated from the cable clamping mechanism, the underwater fixed end can automatically float on the water surface.
(3) Connection base
The connection base 3 is a connection mechanism which is arranged outside the underwater robot shell 19 and used for fixedly connecting a communication cable, and is provided with an underwater corner measurement support and a cable clamping mechanism.
And an underwater corner measuring bracket 16 mounted on the connection base for measuring the extension angle of the communication cable and protecting the cable body. The communication cable penetrates through the underwater corner measuring support arranged on the connecting base, can rotate in any direction, can limit the included angle between the communication cable and the underwater robot body, and avoids the situation that the cable body is damaged due to overlarge bending angle; an inclination angle sensor is also arranged on the underwater rotation angle measuring support, and the inclination angle and the azimuth angle of the communication cable in water can be measured in real time.
The cable clamping mechanism of the connecting base can be used for clamping an underwater fixing end of a communication cable connected to the underwater robot body. The underwater fixing end of the communication cable connected with the underwater robot is stably connected with the light terminal of the underwater robot electrical module through a fixing buckle; the fixed buckle 17 is provided with an electromagnetic coil which can control the movement of the electromagnetic coil, and when the electromagnetic coil is powered off, the buckle is pushed out by a spring to tightly clamp the underwater fixed end of the communication cable so that the underwater fixed end of the communication cable cannot be separated; the electromagnetic coil can be pulled out of the buckle structure after being electrified, and the underwater fixed end of the communication cable can be freely separated from the cable clamping mechanism.
In this embodiment, the rotation angle measurement support on water and the rotation angle measurement support under water are both the ball pivot structure of restriction rotation range.
Example 2:
the embodiment 2 of the present disclosure provides a communication positioning method for a cableless autonomous underwater robot, in which the communication positioning device for a cableless autonomous underwater robot provided in embodiment 1 includes:
s1: entering water
And selecting different types of tail modules according to the water surface condition and installing the tail modules at the tail of the water floating raft. When the flow velocity of the water surface is small, the water body resistance of the floating raft on the water is small, and the unpowered tail module is selected to be installed, so that the overall weight of the floating raft on the water is reduced;
when the surface of water velocity of flow is great, the resistance that the buoyant raft received on the water is great, selects the installation to take power afterbody module, makes the buoyant raft on the water can compensate the influence of water resistance by the thrust of screw, avoids reducing underwater robot's navigation performance.
S2: backup navigation
Before the underwater robot launches, the connecting base is fixedly connected to the underwater robot body through a bolt, and is usually arranged on the upper portion of the body.
The underwater fixed end of the communication cable penetrates through the underwater corner measuring support of the connecting base and is clamped in a clamping structure inside the middle shaft of the underwater corner measuring support, so that the communication cable and the underwater robot are fixed and cannot be separated. And connecting the underwater port of the communication cable with the optical port of the underwater robot electrical control module to establish data communication.
The overwater fixed end of the communication cable penetrates through the overwater corner measuring support of the overwater floating raft, and is clamped in a clamping structure inside a middle shaft of the overwater corner measuring support, so that the communication cable and the overwater floating raft are fixed in position and cannot be separated from each other. And connecting the water port of the communication cable with the optical terminal port of the water floating raft electrical control module to establish data communication.
Through the steps, the underwater robot and the floating raft on water are connected through the connecting communication cable, and data communication is achieved.
And after the underwater robot launches, the floating raft on the water is also put into the water. When the underwater robot sails on the water surface, the cable retraction mechanism of the floating raft on the water is in a locking state, and the underwater robot pulls the floating raft on the water to advance on the water surface through the communication cable and keeps a fixed distance. If so, the underwater robot uses the self-contained communication antenna 2 for navigation positioning and data communication.
S3: navigation device
After the underwater robot submerges into water, the cable retracting and releasing mechanism releases the communication cable with proper length according to the navigation depth of the underwater robot and the relative flow velocity of the underwater robot and a water body, the navigation performance of the underwater robot can be prevented from being influenced or wound by the overlong communication cable, meanwhile, the communication cable can be straightened in the water as much as possible through the pretightening force setting, and the underwater positioning is conveniently carried out according to the angle of the communication cable.
And the underwater accurate positioning of the underwater robot is realized through the communication cable. The real-time position accessible GPS orientation module of buoyant raft on water surveys, and the real-time position appearance accessible electric control module's of buoyant raft on water six axis motion sensor surveys, and the cable jack of the length of stretching out accessible buoyant raft on water of communication cable surveys.
The inclination angle and the azimuth angle of the communication cable on the water surface, which are measured by the inclination angle sensor of the overwater rotation angle measuring support of the overwater floating raft, the inclination angle and the azimuth angle of the communication cable in the water, which are measured by the inclination angle sensor of the underwater rotation angle measuring support on the connecting base, the navigation depth, the relative speed of water flow and other physical quantities can be calculated, the linear distance and the included angle from the overwater floating raft to the underwater robot can be calculated, the underwater real-time position of the underwater robot is calculated by taking the GPS position of the overwater floating raft as the origin, and the accurate positioning and navigation of the underwater robot during underwater navigation are realized.
The real-time bidirectional transmission of the underwater robot control signal and the submarine pipeline detection data is realized through the communication cable. The navigation data of the underwater robot and the submarine pipeline detection data collected by the detection equipment are transmitted to the water floating raft, and are transmitted to a distant mother ship on the water surface or a shore-based control console through wireless communication equipment or a satellite module of a communication antenna of the water floating raft, and meanwhile, control signals of the mother ship on the water surface or the shore-based control console are received. The control personnel can change the navigation track and the navigation task of the underwater robot in real time according to the detection data and the images of the detection equipment, and the operation mode and the detection capability are more flexible than those of the conventional cable-free autonomous underwater robot.
S4: distress
When the communication cable is wound around an underwater obstacle, the cable clamping mechanism of the connecting base can be remotely controlled through wireless communication to open the fixing buckle, the underwater fixing end of the communication cable is loosened, the communication cable is separated from the optical terminal port of the electric control module of the underwater robot, and the underwater robot is free from the restraint of the communication cable and enters an autonomous planning navigation state to separate from danger.
When the communication cable breaks away from with underwater robot organism, the cable jack is retrieved the communication cable to the shortest, and the buoyant raft on water sends self GPS locating information to the remote control platform of surface of water mother ship or bank through communication antenna this moment, and it controls the buoyant raft on water to get back to near surface of water mother ship or bank and retrieve alone according to its GPS locating information of control personnel in its long distance.
S5: float upward
In the floating process of the underwater robot, the on-water buoyant raft cable retracting mechanism retracts the communication cable according to water depth data measured by a depth meter on the underwater robot, so that the on-water buoyant raft and the underwater robot always keep a basically fixed water surface distance, and the winding of redundant communication cables is avoided.
S6: recovering
When underwater robot emerges the surface of water or breaks down unable come-up, except sending the position of floating raft GPS equipment on water to the mother ship of surface of water or bank surface of water control platform through wireless communication or defend logical module, two kinds of modes can signal underwater robot's position to control personnel at a short distance in addition:
a) And recycling in daytime. The smoke generator is installed at the top of the overwater buoyant raft and started by the electronic switch to emit colored smoke drifting upwards, so that an operator can find the position of the overwater buoyant raft in a long distance and further confirm the position of the underwater robot.
b) And (4) recovering at night. A plurality of high-brightness LED lamps are arranged on the communication antenna, so that an operator can find the position of the overwater floating raft in a long distance and further confirm the position of the underwater robot.
If the communication cable is disconnected from the underwater robot during navigation, the cable retracting mechanism of the overwater floating raft retracts the communication cable to the shortest. The floating raft of installation unpowered afterbody module on water floats in aqueous and waits to retrieve, and the floating raft of installation area power afterbody module on water then can rely on self power to sail to near the mother ship of surface of water or bank slowly and wait to retrieve.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. The utility model provides a no cable is from autonomous underwater vehicle communication positioner which characterized in that includes: the floating raft, the communication cable and the connecting base are arranged on the water surface;
the overwater buoyant raft is provided with an overwater corner measuring support, a cable retracting mechanism and a positioning module, the communication cable is a zero-buoyancy cable, and the first end of the communication cable penetrates through the overwater corner measuring support and is connected with the cable retracting mechanism; an inclination angle sensor is arranged on the water rotation angle measuring support, and the inclination angle and the azimuth angle of the communication cable in water are measured in real time;
the connecting base is connected with the underwater robot and provided with an underwater corner measuring support and a cable clamping mechanism, the second end of the communication cable penetrates through the underwater corner measuring support, is clamped by the cable clamping mechanism and is connected with a communication interface of the underwater robot, and the second end of the communication cable is made of floating body materials; an inclination angle sensor is arranged on the underwater corner measuring support, and the inclination angle and the azimuth angle of the communication cable in water are measured in real time.
2. The untethered autonomous underwater vehicle communication locating device of claim 1, wherein the outer hull of the aquatic raft is of a buoyant material;
or,
the top of the floating raft is provided with a smoke generator which can generate colored smoke;
or,
the water rotation angle measuring bracket is provided with an inclination angle sensor which is configured to measure the inclination angle and the azimuth angle of the communication cable in water in real time;
or,
the cable retracting mechanism is a cable winch used for retracting and tensioning the communication cable;
or,
the overwater buoyant raft is also provided with a satellite communication module;
or,
the detachable afterbody of buoyant raft on water is equipped with the afterbody module, and the afterbody module is unpowered afterbody module or takes power afterbody module, and steering wheel, rudder and stabilizer are equipped with to unpowered afterbody module, take power afterbody module to be equipped with steering wheel, rudder, stabilizer, propulsion motor, screw and group battery.
3. The untethered autonomous underwater vehicle communication positioning apparatus of claim 1, wherein the electrical control module of the water raft comprises a control circuit board, a wireless transceiver and a battery, the control circuit board having a six-axis motion sensor thereon configured to measure real-time navigation angles and motion attitude of the water raft in real-time.
4. The untethered autonomous underwater vehicle communication positioning apparatus of claim 3, wherein the top of the water raft is provided with a communication antenna connected to the wireless transceiver of the electrical control module and to the wireless transceiver of the surface mother ship or the shore remote control platform.
5. The untethered autonomous underwater vehicle communication positioning device of claim 1, wherein the cable clamping mechanism comprises a fixed buckle, the fixed buckle is controlled by the electromagnetic coil, when the electromagnetic coil is powered off, the buckle is pushed out by the spring to clamp the communication cable, after the electromagnetic coil is powered on, the buckle structure is pulled out, and the communication cable is pulled out.
6. A communication positioning method for an untethered autonomous underwater robot, characterized in that the positioning device of any one of claims 1-5 is used, and the method comprises the following steps:
after the underwater robot submerges, the cable retracting and releasing mechanism releases a communication cable with a proper length according to the navigation depth of the underwater robot and the relative flow velocity of the underwater robot and a water body;
the real-time position of the overwater buoyant raft is obtained through the positioning module, the real-time pose of the overwater buoyant raft is obtained through a six-axis motion sensor of an electrical control module of the overwater buoyant raft, and the extension length of the communication cable is obtained through a cable retraction mechanism;
the method comprises the steps of obtaining the linear distance and the included angle from a floating raft to an underwater robot according to the inclination angle and the azimuth angle of a communication cable on the water surface measured by an inclination angle sensor of an overwater rotation angle measuring support, the inclination angle and the azimuth angle of the communication cable in the water measured by an inclination angle sensor of an underwater rotation angle measuring support, the navigation depth and the relative water flow speed measured by a navigation system of the underwater robot, and obtaining the real-time position of the underwater robot under water by taking the GPS position of the floating raft on the water as the origin.
7. The untethered autonomous underwater vehicle communication localization method of claim 6, wherein the real-time bidirectional transmission of the underwater robot manipulation signals and subsea pipeline probe data is performed via a communication cable;
the navigation data of the underwater robot and the submarine pipeline detection data collected by the detection equipment are transmitted to the overwater buoyant raft, and are transmitted to a distant mother ship on the water surface or a shore-based control console through wireless communication equipment or a satellite module of a communication antenna of the overwater buoyant raft, and meanwhile, control signals of the mother ship on the water surface or the shore-based control console are received;
and the water surface mother ship or the shore-based control console changes the navigation track and the navigation task of the underwater robot in real time according to the detection data and the image of the detection equipment.
8. The communication positioning method for the untethered autonomous underwater robot of claim 6, wherein when the communication cable is twisted with an underwater obstacle, the cable clamping mechanism of the wireless communication remote control connection base opens the fixing buckle, the underwater fixed end of the communication cable is loosened, the communication cable is separated from the communication port of the underwater robot, and the underwater robot is enabled to enter an autonomous planning sailing state without the restriction of the communication cable.
9. The cableless autonomous underwater vehicle communication positioning method according to claim 8, wherein when the communication cable is disconnected from the underwater robot, the cable retraction/release mechanism retracts the communication cable to the shortest length, and the water floating raft transmits its own positioning information to the mother surface ship or the shore-based control station through the communication antenna, and is controlled to return to the mother surface ship or the shore for individual retraction according to the positioning information.
10. The communication positioning method for the untethered autonomous underwater robot of claim 6, wherein in the floating process of the underwater robot, the cable retracting and releasing mechanism retracts the communication cable according to the water depth data measured by the depth meter on the underwater robot, so that the floating raft and the underwater robot always keep a basically fixed distance from the water surface;
or,
when the underwater robot is recovered within a preset distance range in the daytime, a smoke generator at the top of the overwater buoyant raft is started to generate colored smoke drifting upwards, and the position of the underwater robot is confirmed according to the smoke position;
or,
when the underwater robot is recovered within a preset distance range at night, the position of the underwater robot is confirmed according to the LED lamp installed on the communication antenna.
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| DE102012006565A1 (en) * | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Underwater work system and method of operating an underwater workstation |
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