CN103488175A - Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot - Google Patents
Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot Download PDFInfo
- Publication number
- CN103488175A CN103488175A CN201310443625.0A CN201310443625A CN103488175A CN 103488175 A CN103488175 A CN 103488175A CN 201310443625 A CN201310443625 A CN 201310443625A CN 103488175 A CN103488175 A CN 103488175A
- Authority
- CN
- China
- Prior art keywords
- underwater
- underwater robot
- pipeline
- signal
- embedded controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an underwater pipeline detection and tracking system and detection method of an automatic remote control underwater robot. The underwater pipeline detection and tracking system comprises a lower computer and an upper computer. The lower computer is arranged underwater, and the upper computer is arranged on a water surface mother ship. The lower computer comprises a sensor module, an optical visual module, an embedded controller and an underwater optical transceiver. The sensor module and the optical visual module are connected with the signal input end of the embedded controller respectively. The signal output end of the embedded controller is connected with the signal input end of the underwater optical transceiver. The upper computer comprises an overwater optical transceiver, a water surface monitoring module and a manual operator. The manual operator is in circuit connection with the water surface monitoring module which is in circuit connection with the overwater optical transceiver. The underwater optical transceiver is connected with the overwater optical transceiver through optical fibers. The automatic remote control underwater robot can transmit images in real time, the water surface mother ship can monitor the underwater environment in real time, safety of the complex underwater operation condition is guaranteed, and detection and tracking tasks of an underwater pipeline are finished.
Description
Technical field
The present invention relates to the underwater robot detection field, be specifically related to a kind of autonomous remote underwater robot (Autonomous Remotely-operated Vehicle is called for short ARV) underwater pipeline and detect tracking and device.
Background technology
Ocean is the frontier of human survival and social sustainable development, the exploitation of ocean with by becoming one of Fundamentals that determine the national ups and downs.According to the interrelated data introduction, since the formal exploiting ocean oil of China, rock gas, nowadays at submarine laying oil transportation, the gas pipe line of tens of, several thousand kilometers long.Because submarine pipeline bears marine corrosion for a long time under high pressure, and the reason such as quality of materials, fatigue, crustal disturbance, anchor chain towing, a lot of submarine pipeline breakages have occurred in the world, and oil, the rock gas accident that leaks, caused huge economic loss and to the severe contamination of ocean.In recent years, world industry developed country has carried out in succession by cable control underwater robot (Remotely operated Vehicle, abbreviation ROV) research work submarine pipeline outside checked, a few countries has started by without cable autonomous underwater robot (Autonomous Underwater Vehicle is called for short AUV), submarine pipeline being carried out to the method research from motion tracking.
Carry out the underwater pipeline tracking owing to being limited to umbilical cables length reason by ROV, can only operation in less scope, under water during circumstance complication, cable winding, fracture easily occur again and cause underwater vehicle to be lost.Need repeated multiple times recovery ROV mobile surface mother ship for the detection than long pipeline, how to stablize along pipeline and follow the tracks of and detect the skill level that depends on the operator fully simultaneously.And detect tracking for the underwater pipeline of AUV, and it has the restriction of umbilical cable unlike ROV, interior work in a big way under water, longevity of service is low to supporting that lash ship requires.Shortcoming is due to the underwater sound communication restriction, can't realize realtime graphic transmission, AUV its capacity of will that places one's entire reliance upon, surface mother ship can't the concrete underwater environment of Real-Time Monitoring, there is insecurity for complicated underwater operation situation, the situations such as AUV loss easily occur.
Summary of the invention
The object of the present invention is to provide a kind of autonomous remote underwater robot underwater pipeline to detect tracker and detection method, this ARV system and detection method thereof have been taken into account the characteristics without cable autonomous underwater robot AUV and cable control underwater robot ROV, thereby make autonomous remote underwater robot realize the realtime graphic transmission, surface mother ship can the concrete underwater environment of Real-Time Monitoring, guarantee the security of complicated underwater operation situation, complete the detection tracing task of underwater pipeline.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
A kind of autonomous remote underwater robot underwater pipeline detects tracker, wherein, comprise: slave computer and host computer, above-mentioned slave computer is arranged on undersurface underwater robot, above-mentioned host computer is arranged on surface mother ship, and this slave computer is connected by optical fiber with this host computer; Above-mentioned slave computer comprises: sensor assembly, light vision module, embedded controller and Underwater Optical terminal; Above-mentioned host computer comprises: optical transmitter and receiver waterborne, monitor surface module and manual operator; Above-mentioned sensor assembly, above-mentioned light vision module are connected with the signal input part of above-mentioned embedded controller respectively, and the signal output part of this embedded controller is connected with above-mentioned Underwater Optical terminal signal input part; Above-mentioned manual operator is connected with above-mentioned monitor surface modular circuit, and this monitor surface module is connected with above-mentioned optical transmitter and receiver circuit waterborne; Above-mentioned Underwater Optical terminal is connected by optical fiber with above-mentioned optical transmitter and receiver waterborne, by serial communication, realizes data transmission.
A kind of autonomous remote underwater robot underwater pipeline detects tracker, and wherein, above-mentioned light vision module comprises: optical imaging sensor, The Cloud Terrace and assist illuminator; Above-mentioned optical imaging sensor, above-mentioned assist illuminator are separately positioned on above-mentioned The Cloud Terrace.The signal output part of this optical imaging sensor is connected with the signal input part of above-mentioned embedded controller.
A kind of autonomous remote underwater robot underwater pipeline detects tracker, and wherein, above-mentioned sensor assembly comprises: depth transducer, speed pickup, attitude sensor, sonar sensor, battery cell monitoring sensor and thruster monitoring sensor; The signal output part of the signal output part of the signal output part of above-mentioned depth transducer, the signal output part of speed pickup, attitude sensor, the signal output part of sonar sensor, battery cell monitoring sensor and the signal output part of thruster monitoring sensor are connected with the signal input part of above-mentioned embedded controller respectively.
A kind of autonomous remote underwater robot underwater pipeline detects tracker, and wherein, above-mentioned monitor surface module comprises: primary processor, image pick-up card, programmable logic controller (PLC), Ethernet switch, monitor surface panel and CAN bus communication module; Above-mentioned primary processor is connected with above-mentioned image pick-up card, above-mentioned CAN bus communication module circuit respectively, and this primary processor is connected with above-mentioned ethernet switch circuitry; This Ethernet switch is connected with above-mentioned programmable logic controller (PLC) circuit; This Ethernet switch is connected with above-mentioned slave computer circuit by above-mentioned optical transmitter and receiver waterborne; This programmable logic controller (PLC) is connected by above-mentioned monitor surface panel circuit with above-mentioned manual operator.
A kind of autonomous remote underwater robot underwater pipeline detects tracking, and the method comprises following several step:
Step 2, the optical imaging sensor of the light vision module of slave computer, carry out the Real-time Collection underwater pipeline around image information; Carry out depth information, velocity information, attitude information, image information in front, battery status information and the thruster status information of underwater robot in the Real-time Collection underwater pipeline by the sensor assembly of slave computer.
Step 2.1, depth transducer is measured the degree of depth of underwater robot in water, will record depth data and be converted into degree of depth voltage signal and pass to embedded controller;
Step 2.2, speed pickup is measured the headway of underwater robot in water, will record the headway data and be converted into the velocity voltage signal and pass to embedded controller;
Step 2.3, attitude sensor is measured the attitude under water of underwater robot, records directional data and is converted into voltage signal and passes to embedded controller;
Step 2.4, sonar sensor is measured underwater robot forward sight environment, records view data and is converted into voltage signal and passes to embedded controller;
Step 2.5, battery cell monitoring sensor measurement underwater robot electric battery state, record the electric battery status data and be converted into voltage signal and pass to embedded controller;
Step 2.6, the thruster monitoring sensor is measured the underwater robot propeller rotating speed, records the thruster tach signal and is converted to voltage letter signal and passes to embedded controller.
Step 3, the embedded controller of slave computer receives respectively and processes the transducing signal of image information, sensor assembly on every side of the real-time underwater pipeline of described smooth vision module, by the Underwater Optical terminal, is transferred to host computer;
Step 3.1, the Underwater Optical terminal of slave computer receives the processing signals of embedded controller and, by optical fiber, adopts RS485 serial communication mode to be transferred to the optical transmitter and receiver waterborne of host computer.
Step 4, the monitor surface module of host computer receives duct size information under Real-time Water by Underwater Optical terminal optical transmitter and receiver waterborne and is identified, processes, and is converted into actual navigation information;
Step 4.1, the monitor surface module of host computer receives duct size information under Real-time Water by optical transmitter and receiver waterborne;
Step 4.2, the image pick-up card of the monitor surface module of host computer receives the simulating signal of the image information of treated underwater pipeline, by this image pick-up card, to above-mentioned analog signal sampling, quantification, be digital signal by analog signal conversion and be sent to primary processor; The transducing signal that the Ethernet switch of the monitor surface module of host computer receives slave computer is sent to primary processor after treatment, by primary processor, above-mentioned signal is processed and is converted into actual navigation information.
Step 5, the identification of the monitor surface module of host computer to autonomous remote underwater robot circumstance complication degree of living in, by the actual navigation information of autonomous remote underwater robot formed, determine and control autonomous remote underwater robot is implemented to automatic control mode or manual control mode, making autonomous remote underwater robot complete the detection of underwater pipeline.
The present invention compared with prior art has the following advantages:
The use that autonomous remote underwater robot ARV underwater pipeline detects tracking and device has solved the pipe detection of traditional underwater robot for complicated underwater environment, is mainly reflected in:
1. ARV can realize limit cable laying limit operation, avoids dragging of ROV umbilical cables, makes the underwater manoeuvre raising.
2. ARV, from charged pool, can, with the AUV mode operation, expand the sub aqua sport scope.
3. ARV carries out communication by optical fiber, and the transmission information amount is large, particularly is conducive to image transmitting.
4. ARV underwater pipeline detection tracking carries out image acquisition and pre-service by optical imaging sensor (CCD camera under water) and image pick-up card for underwater pipeline, the poor situation for the underwater visual situation particularly, by image calculation, process, obtain underwater pipeline information, by highly controlling for underwater pipeline automatically fixed, self-orientation is controlled, automatically sidesway control three automatic control loops carry out pipeline from motion tracking; With ROV, compare, the ARV intellectuality is higher, can realize that under semi-automatic water, pipe detection is followed the tracks of operation with pre-programmed AUV pattern, the image of with AUV, comparing simultaneously and can the real-time monitored sensing equipment uploading, be conducive to the damaged condition of real-time assessment judgement pipeline, under complicated underwater environment or in emergency circumstances, can transfer as required manual operation to again.
The accompanying drawing explanation
Fig. 1 is the structured flowchart that a kind of autonomous remote underwater robot underwater pipeline of the present invention detects tracker.
Fig. 2 is the circuit theory diagrams that a kind of autonomous remote underwater robot underwater pipeline of the present invention detects the monitor surface module of tracker.
Fig. 3 is the schematic flow sheet that a kind of autonomous remote underwater robot underwater pipeline of the present invention detects tracking.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
A kind of autonomous remote underwater robot underwater pipeline as shown in Figure 1 detects tracker, comprises: slave computer 10 and host computer 20, and slave computer 10 is arranged on underwater, and host computer 20 is arranged on surface mother ship; This slave computer 10 is connected by optical fiber with this host computer 20.Slave computer 10 comprises: sensor assembly 11, light vision module 12, embedded controller 13 and Underwater Optical terminal 14.Sensor assembly 11, light vision module 12 are connected with the signal input part of embedded controller 13 respectively, and the signal output part of this embedded controller 13 is connected with Underwater Optical terminal 14 signal input parts.
Light vision module 12 comprises: optical imaging sensor 121(is the CCD camera under water), The Cloud Terrace 122 and assist illuminator 123; Optical imaging sensor 121, assist illuminator 123 are separately positioned on The Cloud Terrace 122.The signal output part of this optical imaging sensor 121 is connected with the signal input part of embedded controller 13.
Sensor assembly 11 comprises: depth transducer 111, speed pickup 112, attitude sensor 113, sonar sensor 114, battery cell monitoring sensor 115 and thruster monitoring sensor 116; The signal output part of the signal output part of the signal output part of the signal output part of the signal output part of the signal output part of depth transducer 111, speed pickup 112, attitude sensor 113, sonar sensor 114, battery cell monitoring sensor 115 and thruster monitoring sensor 116 is connected with the signal input part of this embedded controller 13 respectively.
Be arranged at depth transducer 111 on underwater robot in order to the degree of depth in the water of measuring underwater robot, and change the depth data recorded into degree of depth voltage signal.Be arranged at speed pickup 112 on underwater robot in order to measure the headway of underwater robot, and change the headway data that record into the velocity voltage signal.Be arranged at attitude sensor 113 on underwater robot turning of underwater robot be first in order to measure, trim and rolling direction, and change the directional data recorded into the relevant voltage signal.Be arranged at sonar sensor 114 on underwater robot in order to measure the place ahead image of underwater robot, and change the view data recorded into the relevant voltage signal.Be arranged at optical imaging sensor 121(on underwater robot CCD camera under water) in order to measure underwater robot around image, and change the view data recorded into the relevant voltage signal.Be arranged at battery cell monitoring sensor 115 on underwater robot in order to measure underwater robot electric battery duty, and change the status data recorded into the relevant voltage signal.Be arranged at propelling monitoring sensor 116 on underwater robot in order to measure the duty of underwater robot propeller, and change the status data recorded into the relevant voltage signal.
Be arranged on signal input part and the depth transducer 111 of the embedded controller 13 on underwater robot, speed pickup 112, attitude sensor 113, sonar sensor 114, optical imaging sensor 121(is the CCD camera under water), battery cell monitoring sensor 115, the signal output part of thruster monitoring sensor 116 connects, to receive depth transducer 111, speed pickup 112, attitude sensor 113, sonar sensor 114, optical imaging sensor 121, battery cell monitoring sensor 115, the degree of depth voltage signal that advances monitoring sensor 116 to send, the velocity voltage signal, the attitude voltage signal, the sonar voltage signal, the optical voltage signal, the battery status voltage signal, thruster of-state voltage signal.
Embedded controller 13 is sealed in the underwater robot carrier, includes signal amplification filtering module, A/D converter, multi-way switch module, RS485 serial communication port and microprocessor.The input end of multi-way switch module is connected with each signal transducer, the output terminal of this multi-way switch module is connected with signal amplification filtering modular circuit input end, the input end of A/D converter signal is connected with the output terminal of signal amplification filtering modular circuit, above-mentioned microprocessor is connected with the A/D converter signal output part, and is connected with the RS485 serial communication port.
Embedded controller 13 inside are provided with the communication module for driving sensor signal transformation task, and embedded controller connects the flash card of pre-programmed AUV search pattern.Above-mentioned embedded controller 13 has adopted the many editions inlay card embedded systems based on the PC/104 bus, totally four laminates.From top to bottom be respectively: PMI-6D-N master controller, many serial ports of MSP-8-N plate, DMM-32X-AT data acquisition board, HE104 power panel, master controller mainly is responsible for communicating by letter with water surface control module, between above-mentioned embedded controller 13 and machine waterborne 20, adopt RS485 and Ethernet to pass through Optical Fiber Transmission, main and the peripherals of many serial ports plate carries out RS485 communicates by letter with RS232 and obtains peripherals information, as depth transducer 111, speed pickup 112, attitude sensor 113, sonar sensor 114, battery cell monitoring sensor 115 and propelling monitoring sensor 116.
The optical transmitter and receiver 21 waterborne that passes through be arranged on surface mother ship is connected with Underwater Optical terminal 14 output terminals on underwater robot, in order to receive, various signals that embedded controller 13 sends over are located under water and image is processed, and then the underwater pipeline that is completed ARV detects and follows the tracks of.
A kind of autonomous remote underwater robot underwater pipeline as shown in Figure 2 detects the monitor surface module of tracker, wherein, monitor surface module 22 comprises: primary processor 221, image pick-up card 222, programmable logic controller (PLC) 223, Ethernet switch 224, CAN bus communication module 225 and monitor surface panel 226; Primary processor 221 is connected with image pick-up card 222, CAN bus communication module 225 circuit respectively, and this primary processor 221 is connected with Ethernet switch 224 circuit; This Ethernet switch 224 is connected with programmable logic controller (PLC) 223 circuit; This Ethernet switch 224 is connected with above-mentioned slave computer 10 circuit by above-mentioned optical transmitter and receiver waterborne 21; This programmable logic controller (PLC) 223 is connected with above-mentioned manual operator 23 circuit by monitor surface panel 226.Programmable logic controller (PLC) 223 is for simulation and the switch data of acquisition operations panel and send primary processor 221, and this primary processor 221 carries out real-time synchronous communication with slave computer 10 again.Wherein battery cell monitoring the data CAN bus communication module 225 is turned to the USB interface transmission.
The top layer of monitor surface module 22 mainly carrys out design system by VB6.0, by ACCESS, preserves the real-time communication data with slave computer, and software systems partly run under windows xp environment.In the present invention, host computer 20 receives the data of programmable logic controller (PLC) 223 and the data of slave computer 10 are all the UDP communication mode adopted and the port that has shared same primary processor 221, what host computer 20 adopted to slave computer 10 transmission data is the RS485 communication mode, thereby can realize the communication of full duplex.In receiving data, primary processor 221 is connected by Ethernet switch 224 with programmable logic controller (PLC) 223 and slave computer 20, shares a network interface simultaneously.
In the present embodiment, it is that grinding of GEN-E9455 raised mainboard that primary processor is selected model, and programmable logic controller (PLC) is selected model 750-841PLC, and image pick-up card is selected model DH-VT123, and Ethernet switch is selected model TL-SF1005.
A kind of autonomous remote underwater robot underwater pipeline as shown in Figure 3 detects tracking, and the method comprises following several step:
Step 2, the optical imaging sensor 121 of the light vision module 12 of slave computer 10, carry out the Real-time Collection underwater pipeline around image information; Carry out depth information, velocity information, attitude information, image information in front, battery status information and the thruster status information of underwater robot in the Real-time Collection underwater pipeline by the sensor assembly 11 of slave computer 10.
Step 2.1, depth transducer 111 is measured the degree of depth of underwater robots in water, will record depth data and be converted into degree of depth voltage signal and pass to embedded controller 13;
Step 2.2, speed pickup 112 is measured the headway of underwater robots in water, will record the headway data and be converted into the velocity voltage signal and pass to embedded controller 13;
Step 2.3, attitude sensor 113 is measured the attitude under water of underwater robots, records directional data and is converted into voltage signal and passes to embedded controller 13;
Step 2.4, sonar sensor 114 is measured underwater robot forward sight environment, records view data and is converted into voltage signal and passes to embedded controller 13;
Step 2.5, battery cell monitoring sensor 115 is measured underwater robot electric battery states, records the electric battery status data and is converted into voltage signal and passes to embedded controller 13;
Step 2.6, thruster monitoring sensor 116 is measured the underwater robot propeller rotating speeds, records the thruster tach signal and is converted to voltage letter signal and passes to embedded controller 13.
Step 3, the embedded controller 13 of slave computer 10 receives respectively and processes the transducing signal of image information, sensor assembly 11 on every side of described smooth vision module 12 real-time underwater pipelines, by Underwater Optical terminal 14, is transferred to host computer 20;
Step 3.1, the Underwater Optical terminal 14 of slave computer 10 receives the processing signals of embedded controller 13 and, by optical fiber, adopts RS485 serial communication mode to be transferred to the optical transmitter and receiver waterborne 21 of host computer 20.
Step 4, the monitor surface module 22 of host computer 20 receives duct size information under Real-time Water by Underwater Optical terminal 14 and optical transmitter and receiver waterborne 21 and is processed, and slave computer 10 is realized controlling;
Step 4.1, the monitor surface module 22 of host computer 20 receives duct size information under Real-time Water by optical transmitter and receiver 21 waterborne;
Step 4.2, the image pick-up card 222 of the monitor surface module 22 of host computer 20 receives the simulating signal of the image information of treated underwater pipeline, by this image pick-up card 222, to above-mentioned analog signal sampling, quantification, be digital signal by analog signal conversion and be sent to primary processor; The transducing signal that the Ethernet switch 224 of the monitor surface module 22 of host computer 20 receives slave computer 10 is sent to primary processor after treatment, by primary processor, above-mentioned signal is processed and is converted into actual navigation information, and slave computer 10 is realized controlling.
Step 5, the identification of 22 pairs of autonomous remote underwater robot circumstance complication degree of living in of the monitor surface module of host computer 20, by the actual navigation information of autonomous remote underwater robot formed, determine and autonomous remote underwater robot is implemented to automatic control mode or manual control mode, making autonomous remote underwater robot complete the detection of underwater pipeline.The control procedure that autonomous remote underwater robot underwater pipeline detects tracker is divided into artificial semi-automatic guiding and, from two steps of motion tracking, comprises following steps:
Step 5.1, be difficult to automatic obstacle-avoiding or disengaging when the Underwater Pipeline Environment peripheral obstacle causes underwater robot more, or the image of the Underwater Pipeline Environment obtained completes detection by manual operation mode while making underwater robot be difficult to automatic targeted duct;
Step 5.2, when Underwater Pipeline Environment is simple, by the sensor acquired information, automatic fixed high control function, self-orientation control function, automatic sidesway that underwater robot passes through with respect to underwater pipeline are controlled function, send advancement commands by monitor surface module 22 again, underwater robot above tracked pipeline with given speed and the height, from the motion tracking underwater pipeline, advance.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. an autonomous remote underwater robot underwater pipeline detects tracker, it is characterized in that, this detection tracker comprises: slave computer (10) and host computer (20), described slave computer (10) is arranged on undersurface underwater robot, described host computer (20) is arranged on surface mother ship, and this slave computer (10) is connected by optical fiber with this host computer (20);
Described slave computer (10) comprises: sensor assembly (11), light vision module (12), embedded controller (13) and Underwater Optical terminal (14); Described sensor assembly (11), described smooth vision module (12) are connected with the signal input part of described embedded controller (13) respectively, and the signal output part of this embedded controller (13) is connected with described Underwater Optical terminal (14) signal input part;
Described host computer (20) comprises: optical transmitter and receiver waterborne (21), monitor surface module (22) and manual operator (23); Described manual operator (23) is connected with described monitor surface module (22) circuit, and this monitor surface module (22) is connected with described optical transmitter and receiver waterborne (21) circuit;
Described Underwater Optical terminal (14) is connected by optical fiber with described optical transmitter and receiver waterborne (21), by serial communication, realizes data transmission.
2. autonomous remote underwater robot underwater pipeline as claimed in claim 1 detects tracker, it is characterized in that, described smooth vision module (12) comprises: optical imaging sensor (121), The Cloud Terrace (122) and assist illuminator (123); Described optical imaging sensor (121), described assist illuminator (123) are separately positioned on described The Cloud Terrace (122); The signal output part of described optical imaging sensor (121) is connected with the signal input part of described embedded controller (13).
3. autonomous remote underwater robot underwater pipeline as claimed in claim 1 detects tracker, it is characterized in that, described sensor assembly (11) comprises: depth transducer (111), speed pickup (112), attitude sensor (113), sonar sensor (114), battery cell monitoring sensor (115) and thruster monitoring sensor (116); The signal output part of the signal output part of the signal output part of the signal output part of the signal output part of the signal output part of described depth transducer (111), speed pickup (112), attitude sensor (113), sonar sensor (114), battery cell monitoring sensor (115) and thruster monitoring sensor (116) is connected with the signal input part of described embedded controller (13) respectively.
4. autonomous remote underwater robot underwater pipeline as claimed in claim 1 detects tracker, it is characterized in that, described monitor surface module (22) comprises: primary processor (221), image pick-up card (222), programmable logic controller (PLC) PLC(223), Ethernet switch (224), CAN bus communication module (225) and monitor surface panel (226); Described primary processor (221) is connected with the output terminal of described image pick-up card (222), the output terminal of described CAN bus communication module (225) respectively, and this primary processor (221) is connected with described Ethernet switch (224) circuit; This Ethernet switch (224) is connected with described programmable logic controller (PLC) (223) circuit; This Ethernet switch (224) is connected with described slave computer (10) circuit by described optical transmitter and receiver waterborne (21); This programmable logic controller (PLC) (223) is connected by described monitor surface panel (226) circuit with described manual operator (23).
5. one kind for detect the detection method of tracker as any one described autonomous remote underwater robot underwater pipeline of claim 1-6, it is characterized in that, the method comprises following several step:
Step 1, described manual operator (23) is arranged under manual operation mode, autonomous remote underwater robot is directed to the top of underwater pipeline starting point;
Step 2, the optical imaging sensor (121) of the light vision module (12) of described slave computer (10), carry out the Real-time Collection underwater pipeline around image information; Carry out depth information, velocity information, attitude information, image information in front, battery status information and the thruster status information of underwater robot in the Real-time Collection underwater pipeline by the sensor assembly (11) of described slave computer (10);
Step 3, the embedded controller (13) of described slave computer (10) receives respectively and processes described smooth vision module (12) transducing signal of image information, described sensor assembly (11) on every side of underwater pipeline in real time, by described Underwater Optical terminal (14), is transferred to described host computer (20);
Step 4, the monitor surface module (22) of described host computer (20) receives duct size information under Real-time Water by described Underwater Optical terminal (14) and described optical transmitter and receiver waterborne (21) and is identified, processes, and is converted into actual navigation information;
Step 5, the identification of the monitor surface module (22) of described host computer (20) to autonomous remote underwater robot circumstance complication degree of living in, by the actual navigation information of autonomous remote underwater robot formed, determine and control autonomous remote underwater robot is implemented to automatic control mode or manual control mode, making autonomous remote underwater robot complete the detection of underwater pipeline.
6. a kind of detection method that detects tracker for above-mentioned autonomous remote underwater robot underwater pipeline as claimed in claim 5, in described step 2, comprises following steps:
Step 2.1, described depth transducer (111) is measured the degree of depth of underwater robot in water, will record depth data and be converted into degree of depth voltage signal and pass to described embedded controller (13);
Step 2.2, described speed pickup (112) is measured the headway of underwater robot in water, will record the headway data and be converted into the velocity voltage signal and pass to described embedded controller (13);
Step 2.3, described attitude sensor (113) is measured the attitude under water of underwater robot, records directional data and is converted into voltage signal and passes to described embedded controller (13);
Step 2.4, described sonar sensor (114) is measured underwater robot forward sight environment, records view data and is converted into voltage signal and passes to described embedded controller (13);
Step 2.5, described battery cell monitoring sensor (115) is measured underwater robot electric battery state, records the electric battery status data and is converted into voltage signal and passes to described embedded controller (13);
Step 2.6, described thruster monitoring sensor (116) is measured the underwater robot propeller rotating speed, records the thruster tach signal and is converted to voltage letter signal and passes to described embedded controller (13).
7. a kind of detection method that detects tracker for above-mentioned autonomous remote underwater robot underwater pipeline as claimed in claim 5, in described step 3, comprises following steps:
Step 3.1, the Underwater Optical terminal (14) of described slave computer (10) receives the processing signals of described embedded controller (13) and, by optical fiber, adopts RS485 serial communication mode to be transferred to the optical transmitter and receiver waterborne (21) of described host computer (20).
8. a kind of detection method that detects tracker for above-mentioned autonomous remote underwater robot underwater pipeline as claimed in claim 5, in described step 4, comprises following steps:
Step 4.1, the monitor surface module (22) of described host computer (20) receives duct size information under Real-time Water by described optical transmitter and receiver waterborne (21);
Step 4.2, the image pick-up card (222) of the monitor surface module (22) of described host computer (20) receives the simulating signal of the image information of treated underwater pipeline, by this image pick-up card (222), to above-mentioned analog signal sampling, quantification, be digital signal by analog signal conversion and be sent to primary processor (221); The transducing signal that the Ethernet switch (224) of described host computer (20) monitor surface module (22) receives described slave computer (10) is sent to primary processor (221) after treatment, by primary processor, above-mentioned signal is identified, is processed and be converted into actual navigation information.
9. a kind of detection method that detects tracker for above-mentioned autonomous remote underwater robot underwater pipeline as claimed in claim 5, in described step 5, the control procedure that autonomous remote underwater robot underwater pipeline detects tracker is divided into artificial semi-automatic guiding and, from two steps of motion tracking, comprises following steps:
Step 5.1, when the peripheral obstacle of Underwater Pipeline Environment causes underwater robot to be difficult to automatic obstacle-avoiding, disengaging more, or the image of the Underwater Pipeline Environment obtained completes detection by manual operation mode while making underwater robot be difficult to automatic targeted duct;
Step 5.2, when above-mentioned situation does not occur Underwater Pipeline Environment, send advancement commands by described monitor surface module (22), underwater robot above tracked pipeline with given speed and the height, from the motion tracking underwater pipeline, advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310443625.0A CN103488175A (en) | 2013-09-26 | 2013-09-26 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310443625.0A CN103488175A (en) | 2013-09-26 | 2013-09-26 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103488175A true CN103488175A (en) | 2014-01-01 |
Family
ID=49828485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310443625.0A Pending CN103488175A (en) | 2013-09-26 | 2013-09-26 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103488175A (en) |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN103926448A (en) * | 2014-04-24 | 2014-07-16 | 青岛远创机器人自动化有限公司 | Efficient intelligent tracking pipeline detecting system |
| CN104251381A (en) * | 2014-09-19 | 2014-12-31 | 中国船舶重工集团公司第七一九研究所 | Submarine oil pipeline leakage system and method based on unmanned underwater vehicle |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
| CN105197207A (en) * | 2015-10-29 | 2015-12-30 | 上海海事大学 | Searching and rescuing underwater robot apparatus with binocular vision |
| CN105460186A (en) * | 2016-01-08 | 2016-04-06 | 何惠威 | Portable underwater robot |
| CN105676869A (en) * | 2016-01-16 | 2016-06-15 | 上海大学 | Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot |
| CN105700412A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible |
| CN105700100A (en) * | 2014-11-28 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Myriameter ARV optical fiber system |
| CN106094829A (en) * | 2016-07-11 | 2016-11-09 | 中国农业大学 | A kind of autonomous type Stichopus japonicus fishes for robot system and method |
| CN106155121A (en) * | 2015-03-12 | 2016-11-23 | 常熟海量声学设备科技有限公司 | A kind of underwater robot water surface controls device |
| CN106182017A (en) * | 2016-07-20 | 2016-12-07 | 上海交通大学 | The method and system of robot are controlled based on RS485 serial bus host computer IPC |
| CN106781371A (en) * | 2016-12-06 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of communication system of unmanned boat under water |
| CN106774355A (en) * | 2016-12-14 | 2017-05-31 | 上海理工大学 | Unmanned remotely controlled submersible vehicle system based on moving camera |
| CN106774391A (en) * | 2016-12-12 | 2017-05-31 | 河北工业大学 | A kind of control system of underwater cavitating cleaning robot |
| CN106813707A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of parameter measurement system of external force powered motion body |
| CN106878127A (en) * | 2017-01-09 | 2017-06-20 | 浙江大学 | The wired control system of underwater robot with novel video monitoring |
| CN107014566A (en) * | 2017-03-23 | 2017-08-04 | 中海石油环保服务（天津）有限公司 | A kind of crude oil leakage point detection device under water |
| CN107235132A (en) * | 2017-06-06 | 2017-10-10 | 淮阴师范学院 | A kind of underwater robot water surface actuation means |
| CN107310697A (en) * | 2016-04-27 | 2017-11-03 | 付斌 | Portable underwater robot |
| CN107329488A (en) * | 2016-04-30 | 2017-11-07 | 付斌 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
| CN107499476A (en) * | 2017-08-21 | 2017-12-22 | 江苏科技大学 | Underwater robot control system and motion control method |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN107612621A (en) * | 2017-10-20 | 2018-01-19 | 海口超图科技有限公司 | A kind of underwater monitoring system |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN108189040A (en) * | 2018-03-09 | 2018-06-22 | 成都圭目机器人有限公司 | A kind of sewage pipeline detects robot system |
| CN108332058A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN109062228A (en) * | 2018-07-11 | 2018-12-21 | 山东省科学院自动化研究所 | A kind of control system for ROV underwater robot |
| CN109058650A (en) * | 2018-09-28 | 2018-12-21 | 厦门理工学院 | A kind of submarine pipeline crusing robot and method for inspecting |
| EP3315949A4 (en) * | 2015-06-23 | 2019-01-30 | Nec Corporation | Detection system, detection method, and program |
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN109533235A (en) * | 2018-12-09 | 2019-03-29 | 大连海事大学 | A kind of under-water body detection robot and its working method |
| CN109632265A (en) * | 2019-01-28 | 2019-04-16 | 上海大学 | A kind of the unmanned boat water sampling device mated condition detection system and method for view-based access control model |
| CN109682428A (en) * | 2019-01-31 | 2019-04-26 | 武汉连海装备技术有限公司 | A kind of underwater multifunction measuring set and its application method |
| CN110133100A (en) * | 2019-05-14 | 2019-08-16 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device based on sonar |
| CN110139085A (en) * | 2019-05-14 | 2019-08-16 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device based on optical fiber transmission |
| CN110186454A (en) * | 2019-06-12 | 2019-08-30 | 海南大学 | A kind of filtering method of underwater inspection device and its attitude transducer |
| CN110261393A (en) * | 2019-06-20 | 2019-09-20 | 珠海格力智能装备有限公司 | Method and device for determining quality of manual operator |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN110572471A (en) * | 2019-09-18 | 2019-12-13 | 株洲中车时代电气股份有限公司 | data acquisition and monitoring system of underwater remote-controlled robot |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
| CN111123955A (en) * | 2020-01-20 | 2020-05-08 | 清华大学 | Amphibious operation pipeline detection equipment |
| CN111290413A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface monitoring system and method |
| CN112361123A (en) * | 2020-10-23 | 2021-02-12 | 武汉中仪物联技术股份有限公司 | Control system for pipeline detection robot |
| CN114615244A (en) * | 2020-12-09 | 2022-06-10 | 中国科学院沈阳自动化研究所 | Water surface display and control system for autonomous remote control underwater robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| US20080300742A1 (en) * | 2007-05-30 | 2008-12-04 | Oceaneering International, Inc. | Hybrid remotely/autonomously operated underwater vehicle |
| CN101353063A (en) * | 2008-07-07 | 2009-01-28 | 国营红峰机械厂 | Self-adapting intelligent walking method for pipe cleaning robot |
| CN201215999Y (en) * | 2008-05-23 | 2009-04-01 | 中国科学院沈阳自动化研究所 | Video transmission and monitoring device for remote control underwater robot |
| CN101825903A (en) * | 2010-04-29 | 2010-09-08 | 哈尔滨工程大学 | Water surface control method for remotely controlling underwater robot |
| CN202350833U (en) * | 2011-12-14 | 2012-07-25 | 上海海事大学 | Signal acquisition and displaying device of underwater robot sensor |
| US8265809B2 (en) * | 2009-01-22 | 2012-09-11 | Teledyne Instruments, Inc. | Autonomous underwater vehicle with current monitoring |
-
2013
- 2013-09-26 CN CN201310443625.0A patent/CN103488175A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| US20080300742A1 (en) * | 2007-05-30 | 2008-12-04 | Oceaneering International, Inc. | Hybrid remotely/autonomously operated underwater vehicle |
| CN201215999Y (en) * | 2008-05-23 | 2009-04-01 | 中国科学院沈阳自动化研究所 | Video transmission and monitoring device for remote control underwater robot |
| CN101353063A (en) * | 2008-07-07 | 2009-01-28 | 国营红峰机械厂 | Self-adapting intelligent walking method for pipe cleaning robot |
| US8265809B2 (en) * | 2009-01-22 | 2012-09-11 | Teledyne Instruments, Inc. | Autonomous underwater vehicle with current monitoring |
| CN101825903A (en) * | 2010-04-29 | 2010-09-08 | 哈尔滨工程大学 | Water surface control method for remotely controlling underwater robot |
| CN202350833U (en) * | 2011-12-14 | 2012-07-25 | 上海海事大学 | Signal acquisition and displaying device of underwater robot sensor |
Non-Patent Citations (4)
| Title |
|---|
| 唐旭东: "智能水下机器人水下管道检测与跟踪技术研究", 《中国博士学位论文全文数据库》, no. 6, 15 June 2012 (2012-06-15), pages 11 - 21 * |
| 徐鹏飞等: "遥控自治水下机器人控制系统", 《中国造船》, vol. 51, no. 4, 31 December 2010 (2010-12-31), pages 100 - 110 * |
| 燕奎臣等: "AUV自动跟踪水下管道的试验研究", 《机器人》, vol. 22, no. 1, 31 January 2000 (2000-01-31), pages 33 - 38 * |
| 白桦等: "基于VxWorks的自治-遥控水下机器人半双工通信设计和实现", 《船海工程》, vol. 42, no. 3, 30 June 2013 (2013-06-30), pages 136 - 140 * |
Cited By (59)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN103760909B (en) * | 2014-01-23 | 2018-01-02 | 河海大学常州校区 | A kind of control system of undersea detection device |
| CN103926448A (en) * | 2014-04-24 | 2014-07-16 | 青岛远创机器人自动化有限公司 | Efficient intelligent tracking pipeline detecting system |
| CN103926448B (en) * | 2014-04-24 | 2016-09-21 | 青岛远创机器人自动化有限公司 | A kind of high efficiency smart seeks pipeline inspection system |
| CN104251381A (en) * | 2014-09-19 | 2014-12-31 | 中国船舶重工集团公司第七一九研究所 | Submarine oil pipeline leakage system and method based on unmanned underwater vehicle |
| CN104251381B (en) * | 2014-09-19 | 2016-08-17 | 中国船舶重工集团公司第七一九研究所 | Pipeline under the ocean leak detection system based on underwater unmanned vehicle and method |
| CN105700412A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Supervision on-duty control system and supervision on-duty control method for time-sharing operation of underwater robot/submersible |
| CN105700412B (en) * | 2014-11-26 | 2019-04-09 | 中国科学院沈阳自动化研究所 | For underwater robot/submersible time-sharing supervision control system on duty and method |
| CN105700100A (en) * | 2014-11-28 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Myriameter ARV optical fiber system |
| CN105700100B (en) * | 2014-11-28 | 2018-12-07 | 中国科学院沈阳自动化研究所 | A kind of myriametre ARV fibre system |
| CN106155121A (en) * | 2015-03-12 | 2016-11-23 | 常熟海量声学设备科技有限公司 | A kind of underwater robot water surface controls device |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN104777845B (en) * | 2015-04-15 | 2018-04-03 | 上海海事大学 | The underwater body apparatus and automatic obstacle avoiding method of underwater robot |
| WO2016165316A1 (en) * | 2015-04-15 | 2016-10-20 | 上海海事大学 | Underwater body device of underwater robot and method for autonomous obstacle avoidance |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
| US11181923B2 (en) | 2015-06-23 | 2021-11-23 | Nec Corporation | Detection system, detection method, and program |
| EP3315949A4 (en) * | 2015-06-23 | 2019-01-30 | Nec Corporation | Detection system, detection method, and program |
| CN105197207A (en) * | 2015-10-29 | 2015-12-30 | 上海海事大学 | Searching and rescuing underwater robot apparatus with binocular vision |
| CN106813707A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of parameter measurement system of external force powered motion body |
| CN105460186A (en) * | 2016-01-08 | 2016-04-06 | 何惠威 | Portable underwater robot |
| CN105676869B (en) * | 2016-01-16 | 2018-10-23 | 上海大学 | A kind of six degree of freedom eyeball underwater robot real-time obstacle avoidance system |
| CN105676869A (en) * | 2016-01-16 | 2016-06-15 | 上海大学 | Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot |
| CN107310697A (en) * | 2016-04-27 | 2017-11-03 | 付斌 | Portable underwater robot |
| CN107329488A (en) * | 2016-04-30 | 2017-11-07 | 付斌 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
| CN106094829A (en) * | 2016-07-11 | 2016-11-09 | 中国农业大学 | A kind of autonomous type Stichopus japonicus fishes for robot system and method |
| CN106182017A (en) * | 2016-07-20 | 2016-12-07 | 上海交通大学 | The method and system of robot are controlled based on RS485 serial bus host computer IPC |
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN106781371A (en) * | 2016-12-06 | 2017-05-31 | 北京臻迪科技股份有限公司 | A kind of communication system of unmanned boat under water |
| CN106774391A (en) * | 2016-12-12 | 2017-05-31 | 河北工业大学 | A kind of control system of underwater cavitating cleaning robot |
| CN106774355A (en) * | 2016-12-14 | 2017-05-31 | 上海理工大学 | Unmanned remotely controlled submersible vehicle system based on moving camera |
| CN106878127B (en) * | 2017-01-09 | 2019-12-31 | 浙江大学 | Underwater robot wired control system with novel video monitoring function |
| CN106878127A (en) * | 2017-01-09 | 2017-06-20 | 浙江大学 | The wired control system of underwater robot with novel video monitoring |
| CN108332058A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
| CN107014566A (en) * | 2017-03-23 | 2017-08-04 | 中海石油环保服务（天津）有限公司 | A kind of crude oil leakage point detection device under water |
| CN107235132A (en) * | 2017-06-06 | 2017-10-10 | 淮阴师范学院 | A kind of underwater robot water surface actuation means |
| CN107499476A (en) * | 2017-08-21 | 2017-12-22 | 江苏科技大学 | Underwater robot control system and motion control method |
| CN107528627A (en) * | 2017-10-09 | 2017-12-29 | 大连海事大学 | A kind of unmanned boat and principal and subordinate's cooperative system of the machine shoal of fish |
| CN107612621A (en) * | 2017-10-20 | 2018-01-19 | 海口超图科技有限公司 | A kind of underwater monitoring system |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN108189040A (en) * | 2018-03-09 | 2018-06-22 | 成都圭目机器人有限公司 | A kind of sewage pipeline detects robot system |
| CN108189040B (en) * | 2018-03-09 | 2023-06-27 | 成都圭目机器人有限公司 | Sewage pipeline detection robot system |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN109062228A (en) * | 2018-07-11 | 2018-12-21 | 山东省科学院自动化研究所 | A kind of control system for ROV underwater robot |
| CN109058650A (en) * | 2018-09-28 | 2018-12-21 | 厦门理工学院 | A kind of submarine pipeline crusing robot and method for inspecting |
| CN111290413A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface monitoring system and method |
| CN109533235A (en) * | 2018-12-09 | 2019-03-29 | 大连海事大学 | A kind of under-water body detection robot and its working method |
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN109632265A (en) * | 2019-01-28 | 2019-04-16 | 上海大学 | A kind of the unmanned boat water sampling device mated condition detection system and method for view-based access control model |
| CN109682428A (en) * | 2019-01-31 | 2019-04-26 | 武汉连海装备技术有限公司 | A kind of underwater multifunction measuring set and its application method |
| CN110139085A (en) * | 2019-05-14 | 2019-08-16 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device based on optical fiber transmission |
| CN110133100A (en) * | 2019-05-14 | 2019-08-16 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device based on sonar |
| CN110186454A (en) * | 2019-06-12 | 2019-08-30 | 海南大学 | A kind of filtering method of underwater inspection device and its attitude transducer |
| CN110261393A (en) * | 2019-06-20 | 2019-09-20 | 珠海格力智能装备有限公司 | Method and device for determining quality of manual operator |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN110572471A (en) * | 2019-09-18 | 2019-12-13 | 株洲中车时代电气股份有限公司 | data acquisition and monitoring system of underwater remote-controlled robot |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
| CN111123955A (en) * | 2020-01-20 | 2020-05-08 | 清华大学 | Amphibious operation pipeline detection equipment |
| CN112361123A (en) * | 2020-10-23 | 2021-02-12 | 武汉中仪物联技术股份有限公司 | Control system for pipeline detection robot |
| CN114615244A (en) * | 2020-12-09 | 2022-06-10 | 中国科学院沈阳自动化研究所 | Water surface display and control system for autonomous remote control underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103488175A (en) | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot | |
| US20170192439A1 (en) | An underwater body for remotely operated vehicle and an autonomous obstacle avoidance method thereof | |
| CN105775079B (en) | The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform | |
| CN103454697B (en) | A kind of all standing search and rescue device and rescue method thereof under water | |
| CN104369842B (en) | Water surface auxiliary robot based on autonomous underwater vehicle and use method | |
| US20150376851A1 (en) | Underwater Docking System and Docking Method Using the Same | |
| CN108008454B (en) | A kind of floating type seabed high-precision transient electromagnetic detecting system | |
| CN206639376U (en) | A kind of unmanned boat group automatic monitoring system | |
| CN108189040B (en) | Sewage pipeline detection robot system | |
| CN109460061A (en) | A kind of concurrent job method of autonomous underwater robot and geological sampling equipment | |
| CN104671140B (en) | PLC-based (programmable logic controller) cable laying ship hoisting and dragging control method | |
| CN105197207A (en) | Searching and rescuing underwater robot apparatus with binocular vision | |
| CN103439935A (en) | Underwater robot control system based on state machine model | |
| CN103926560A (en) | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system | |
| CN112644647B (en) | Method for carrying out investigation operation on deep Brillouin by adopting offshore flow laboratory system | |
| CN109080799A (en) | Underwater robot location and control system based on water surface trunking auxiliary | |
| KR101177839B1 (en) | System and method for underwater robot global positioning | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN108332058A (en) | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device | |
| Cruz et al. | A lightweight docking station for a hovering AUV | |
| CN105544641A (en) | Deep sea two-way propulsion hydraulic grab monitoring system | |
| CN103869807A (en) | Fault diagnosis device for small underwater robot | |
| CN115019412A (en) | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors | |
| CN113306686A (en) | Remote control type multi-joint deep sea inspection unmanned system | |
| CN104948916A (en) | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140101 |