CN102944233A - Navigation system of underwater robot for nuclear power station - Google Patents

Navigation system of underwater robot for nuclear power station Download PDF

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Publication number
CN102944233A
CN102944233A CN2012104429549A CN201210442954A CN102944233A CN 102944233 A CN102944233 A CN 102944233A CN 2012104429549 A CN2012104429549 A CN 2012104429549A CN 201210442954 A CN201210442954 A CN 201210442954A CN 102944233 A CN102944233 A CN 102944233A
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CN
China
Prior art keywords
underwater robot
power station
nuclear power
unit
data
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CN2012104429549A
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Chinese (zh)
Inventor
丑武胜
方斌
马鑫
郭晓旗
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北京航空航天大学
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Application filed by 北京航空航天大学 filed Critical 北京航空航天大学
Priority to CN2012104429549A priority Critical patent/CN102944233A/en
Publication of CN102944233A publication Critical patent/CN102944233A/en

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Abstract

The invention discloses a navigation system of an underwater robot for a nuclear power station. The navigation system comprises a navigation sensor unit consisting of a scanning sonar, a depth gauge and an embedded attitude system, a unit for transmitting the data of a sensor and carrying out real-time reception ashore, a unit for processing the data of a plurality of sensors, a working environment unit of a micro-miniature underwater robot for the nuclear power station, and a unit for displaying the navigation information of a micro-miniature working submarine for the nuclear power station in real time. By using the navigation system, the working position and the state of the underwater robot are provided by utilizing the information of the sensors and the information of the underwater robot in a working environment of a reactor core pool and a component pool of the nuclear power station.

Description

The navigational system of nuclear power station underwater robot
Technical field
The present invention relates to the navigational system of nuclear power station underwater robot, mainly is the nuclear power station working environment information of utilizing multiple sensors and microminiature underwater robot, and working position and the state of underwater robot is provided.
Background technology
Now, the safety of nuclear power station comes into one's own day by day.Nuclear power station need to monitor, overhaul place, many places in the nuclear power station during overhaul.Because there is the environment of nuclear radiation in the nuclear power station, so robot becomes the executor of task.Wherein the nuclear power station microminiature underwater robot is exactly the task of finishing observation and simple operation in reactor core pond, member pond.Underwater robot is finished the work and just need to be known in real time working position and the state of underwater robot, namely need possess navigational system.
The navigational system that present underwater robot is commonly used has length/short baseline fixed sonar, GPS, inertial navigation system etc.Wherein, the position basic matrix that length/weak point baseline fixed sonar system need to install and fix, cost is higher, and is not suitable for installing in nuclear power station; GPS can't receive signal in nuclear power station, can not use; High-precision inertial navigation system is expensive, and also is not suitable for the use of microminiature underwater robot on the volume.For the navigational system of nuclear power station microminiature underwater robot in the job requirement in nuclear power station reactor core pond and member pond invention, the safety guarantee that provides in nuclear power station work for microminiature underwater robot.
Summary of the invention
Navigation information is provided when the objective of the invention is to work in the reactor core pond of nuclear power station and member pond for the nuclear power station underwater robot.
The object of the present invention is achieved like this: the nuclear power station underwater vehicles navigation system comprises navigation sensor unit, unit of transmission and reception, data processing unit, working environment unit, display unit.
Described navigation sensor unit comprises embedded boat appearance system, depthometer and scanning sonar; Embedded boat appearance system is comprised of 3 axis MEMS accelerometer, 3 axis MEMS gyroscope, three axis magnetometer and DSP process chip, measures angular velocity and the acceleration of underwater robot, and the 3 d pose information of robot under can the real-time resolving water outlet; Depthometer is measured the degree of depth of underwater robot; Scanning sonar is measured the distance of underwater robot and pool wall.Wherein the measurement range of depthometer is 0-40 rice, measuring accuracy 4cm.Scanning sonar can carry out the scanning of 360 ° of scopes, and the resolution of identification has 10cm.
Unit of transmission and reception, the attitude information that embedded boat appearance system is resolved is transferred to the control module of underwater robot, then by control module the measurement data of embedded boat appearance system and the measurement data of depthometer is transmitted by one road RS485.The data volume of scanning sonar is large, by a road independent RS485 communication transfer data processing unit ashore.
Data processing unit, the measurement data of navigation sensor unit is carried out filtering method to be processed, comprise as follows: the depthometer data are carried out mean filter, the scanning sonar data are carried out image process position and the course angle that obtains two dimensional surface, acceleration information, the attitude data of right reprocessed two sensing datas and boat appearance system are processed by Federated Kalman Filtering, calculate microminiature underwater robot in the position data of working environment.
The working environment unit comprises the virtual environment in reactor core pond and the member pond of the work of nuclear power station underwater robot.By the dimensional measurement to actual reactor core pond in the nuclear power station and member pond, utilize software to draw the virtual environment in two ponds.Tectonic setting grid and coordinate system utilize the result of data processing unit the position of underwater robot can be shown in environment simultaneously.And, the operation route of underwater robot also can be presented in virtual environment.
Display unit shows the working position of nuclear power station underwater robot and state in real time by the interface.Show to possess zoom function, can amplify the location situation of underwater robot, so that show state more clearly.
Advantage of the present invention comprises:
(1) be applied to the nuclear power station underwater robot, based on navigation sensor small volume, cost lower, realize simpler;
(2) based on data pre-service and the Federated Kalman Filtering of multisensor, so that the result of navigational system is reliable and stable, and can reach degree of precision;
(3) the present invention can provide position and the state that the nuclear power station underwater robot is worked in real time in reactor core pond and member pond, and shows that underwater robot is at operating path.
Description of drawings
Fig. 1 is the schematic diagram of nuclear power station underwater vehicles navigation system;
Fig. 2 is the synoptic diagram of navigation sensor unit;
Fig. 3 is the algorithm flow chart of data processing unit;
Fig. 4 is the working environment cell schematics;
Embodiment
Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:
The schematic diagram of Fig. 1 nuclear power station underwater vehicles navigation system.Whole system comprises navigation sensor unit, unit of transmission and reception, data processing unit, working environment unit, display unit.At first the sonar by the navigation sensor unit, depthometer and embedded boat appearance system are measured the state of nuclear power station microminiature underwater robot, as shown in Figure 2, obtain the acceleration, angular velocity, attitude information, depth information of underwater robot with this and apart from the distance of pool wall.
Then utilize unit of transmission and reception with the data of various kinds of sensors from being transferred to data processing unit under water.The information exchange of navigation sensor is crossed two-way RS485 and is carried out communication transfer.The sensor information of depthometer and embedded boat appearance system is by one road RS485 communication, and the sonar sensor information exchange is crossed independent one road RS485 and transmitted.
Data processing unit is by the information of each sensor being processed to obtain position and the attitude of underwater robot.Processing procedure can be divided into pre-service and two steps of information fusion.Pre-service comprises the pre-service of depthometer measurement information, the pre-service of sonar information by using, the pre-service of acceleration information.Concrete process is as follows.
The pre-service of depthometer measurement information can be processed by mean filter.There is noise in depthometer measuring value when measuring, for obtaining mild data, processes according to following formula:
D k=(d k-2+d k-1+d k)/3(1)
D kBe pretreated depth value, d kData for the depthometer measurement.
The pre-service of sonar information by using is to be converted into sonar image in order to transmit the sonar data of coming, and carries out image again and processes planimetric position and the course angle information that obtains underwater robot.The sound wave of the each emission of sonar all is that the zone on the current angle that is fan shooting is scanned, and the ultimate range of scanning is 30m, comprehensive scanning.By the analysis to the parameters of the echo that receives, can be correct upwards draw the image of single pass the party.By continuous scanning, just obtained the image of 360 ° of scopes.It is larger wherein to return intensity level, is exactly that the pool wall that obtains is measured in representative.Then by grey scale change, extract the range information of pool wall.By the computing of plane geometry, obtain underwater robot position and course angle planar with this.
The pre-service of accelerometer improves the precision of accekeration by the gyroscope information fusion, and detailed process can be processed by Kalman filter, and following formula is state equation and measurement equation:
x · ( t ) = Φ ( t ) · x ( t ) z ( t ) = H · x ( t ) + w - - - ( 2 )
X=[a in the formula] be the acceleration evaluation after processing; Z=[a m] be the accekeration of accelerometer measures; Φ (t)=-S[ω m(t)] be the transition matrix that is formed by the gyroscope measuring value; H (t)=I is the unit battle array.
Pretreated accekeration can obtain the speed of underwater robot through integration, represents such as following formula,
v k=v k-1+a kΔt????(3)
Δ t is computation period in the formula.
Calculate speed can obtain underwater robot again through integration position, represent such as following formula,
p k=p k-1+v kΔt????(4)
And the position that obtains by integrated acceleration is the relative position of underwater robot, and it needs the absolute position of known eve.By the mode of such recursion, obtain in real time the absolute position of underwater robot.Such mode can obtain larger error.And the positional information that is calculated by depthometer and sonar is the absolute position of underwater robot in the pond.
Therefore, realize optimum navigation information by information fusion.Data after two kinds of processing are processed by Federated Kalman Filter together, resolved the position and the state that obtain underwater robot, as shown in Figure 3.
Then the construction work environment unit as shown in Figure 4, carries out the modeling of virtual environment to reactor core pond and the member pond of nuclear power station reality.Set up simultaneously absolute coordinate system and grid in virtual environment, position and attitude information by data processing unit just can show in virtual environment.
By the VC development interface, with model and the combination of working environment unit of underwater robot, utilize display unit with working position and real-time the showing of state of nuclear power station microminiature underwater robot at last.
This system develops for the nuclear power station underwater robot system.It can be for the nuclear power station underwater robot provides reliable navigation information, for microminiature underwater robot provides guarantee in nuclear plant safety work.

Claims (6)

1. the navigational system of nuclear power station underwater robot is characterized in that: comprise navigation sensor unit, unit of transmission and reception, data processing unit, working environment unit, display unit; Acceleration, attitude and the course of the embedded boat appearance of navigation sensor unit by using systematic survey underwater robot, depthometer is measured the degree of depth of underwater robot, and scanning sonar is measured the two dimensional surface position of underwater robot; Unit of transmission and reception the information of multiple sensors from being transferred to data processing unit on the bank under water; Data processing unit carries out filtering with the data of navigation sensor and merges, and obtains the working position of underwater robot; The working environment unit is that the actual working environment of nuclear power station underwater robot has been carried out the virtual emulation processing; Display unit is with the working position of nuclear power station underwater robot and the real-time demonstration of state.
2. the navigational system of nuclear power station underwater robot as claimed in claim 1 is characterized in that: described navigation sensor unit comprises embedded boat appearance system, depthometer and scanning sonar; Embedded boat appearance system is comprised of 3 axis MEMS accelerometer, 3 axis MEMS gyroscope, three axis magnetometer and DSP process chip, measures angular velocity and the acceleration of underwater robot, and the 3 d pose information of robot under can the real-time resolving water outlet; Depthometer is measured the degree of depth of underwater robot; Scanning sonar is measured the distance of underwater robot and pool wall.
3. the navigational system of nuclear power station underwater robot as claimed in claim 1, it is characterized in that: described unit of transmission and reception, the attitude information that embedded boat appearance system is resolved is transferred to the control module of underwater robot, with the measurement data of the measurement data of the measurement data of embedded boat appearance system, depthometer and scanning sonar by RS485 communication transfer data processing unit ashore.
4. the navigational system of nuclear power station underwater robot as claimed in claim 1, it is characterized in that: described data processing unit, the measurement data of navigation sensor unit is carried out filtering method to be processed, comprise as follows: the depthometer data are carried out mean filter, the scanning sonar data are carried out image process position and the course angle that obtains two dimensional surface, acceleration information, the attitude data of right reprocessed two sensing datas and boat appearance system are processed by Federated Kalman Filtering, calculate microminiature underwater robot in the position data of working environment.
5. the navigational system of nuclear power station underwater robot as claimed in claim 1 is characterized in that: described working environment unit comprises the virtual environment in reactor core pond and the member pond of the work of nuclear power station underwater robot.
6. the navigational system of nuclear power station underwater robot as claimed in claim 1, it is characterized in that: described display unit shows the working position of nuclear power station underwater robot and state in real time by the interface.
CN2012104429549A 2012-11-08 2012-11-08 Navigation system of underwater robot for nuclear power station CN102944233A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103770943A (en) * 2014-01-23 2014-05-07 南京模拟技术研究所 Intelligent pesticide delivery unmanned helicopter
CN105974456A (en) * 2016-05-20 2016-09-28 盐城工学院 Autonomous underwater robot combined navigation system
CN107065898A (en) * 2016-12-06 2017-08-18 北京臻迪科技股份有限公司 A kind of unmanned boat navigation control method and system under water
CN107194986A (en) * 2017-04-25 2017-09-22 中广核研究院有限公司 A kind of nuclear power station novel three-dimensional digital plant modeling method and system
CN108801260A (en) * 2018-05-07 2018-11-13 约肯机器人(上海)有限公司 Data processing method based on underwater robot and device
CN108801250A (en) * 2018-05-07 2018-11-13 约肯机器人(上海)有限公司 Real-time attitude acquisition methods based on underwater robot and device

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CN101900558A (en) * 2010-06-04 2010-12-01 浙江大学 Combined navigation method of integrated sonar micro navigation autonomous underwater robot
CN102042835A (en) * 2010-11-05 2011-05-04 中国海洋大学 Autonomous underwater vehicle combined navigation system
CN102052923A (en) * 2010-11-25 2011-05-11 哈尔滨工程大学 Small-sized underwater robot combined navigation system and navigation method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060008137A1 (en) * 2003-09-19 2006-01-12 Shahriar Nagahdaripour Multi-camera inspection of underwater structures
CN101290229A (en) * 2008-06-13 2008-10-22 哈尔滨工程大学 Silicon micro-navigation attitude system inertia/geomagnetism assembled method
CN101900558A (en) * 2010-06-04 2010-12-01 浙江大学 Combined navigation method of integrated sonar micro navigation autonomous underwater robot
CN102042835A (en) * 2010-11-05 2011-05-04 中国海洋大学 Autonomous underwater vehicle combined navigation system
CN102052923A (en) * 2010-11-25 2011-05-11 哈尔滨工程大学 Small-sized underwater robot combined navigation system and navigation method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103770943A (en) * 2014-01-23 2014-05-07 南京模拟技术研究所 Intelligent pesticide delivery unmanned helicopter
CN103770943B (en) * 2014-01-23 2016-04-13 南京模拟技术研究所 A kind of Intelligent pesticide application unmanned helicopter
CN105974456A (en) * 2016-05-20 2016-09-28 盐城工学院 Autonomous underwater robot combined navigation system
CN107065898A (en) * 2016-12-06 2017-08-18 北京臻迪科技股份有限公司 A kind of unmanned boat navigation control method and system under water
CN107194986A (en) * 2017-04-25 2017-09-22 中广核研究院有限公司 A kind of nuclear power station novel three-dimensional digital plant modeling method and system
CN108801260A (en) * 2018-05-07 2018-11-13 约肯机器人(上海)有限公司 Data processing method based on underwater robot and device
CN108801250A (en) * 2018-05-07 2018-11-13 约肯机器人(上海)有限公司 Real-time attitude acquisition methods based on underwater robot and device

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