CN107843899B - Method, device and system for positioning return direction of underwater vehicle - Google Patents
Method, device and system for positioning return direction of underwater vehicle Download PDFInfo
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- CN107843899B CN107843899B CN201710934652.6A CN201710934652A CN107843899B CN 107843899 B CN107843899 B CN 107843899B CN 201710934652 A CN201710934652 A CN 201710934652A CN 107843899 B CN107843899 B CN 107843899B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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Abstract
The embodiment of the disclosure provides a method for positioning the return direction of a submarine vehicle, which comprises the following steps: when a return command is detected, controlling the underwater vehicle to rotate so as to receive a signal which is sent by a return destination and used for indicating the return direction through a sonar receiving line array; when a signal which is sent by a return destination and used for indicating the return direction is received, controlling the underwater vehicle to stop rotating; and the direction pointed by the ship head when the underwater vehicle stops rotating is positioned as the return direction. The embodiment of the disclosure uses the sonar receiving linear array to perform directional receiving, that is, only signals sent from a certain direction relative to the sonar receiving linear array can be received, and signals cannot be received from any directions except the certain direction, so when signals which are sent from a return destination and used for indicating the return direction are received, the direction of the bow of the underwater vehicle is the direction of the return destination. At the moment, the underwater vehicle is controlled to stop rotating and to advance to the return destination along the direction of the bow. And repeating the process when the signal is lost in the process of traveling.
Description
Technical Field
The embodiment of the disclosure relates to the field of an underwater vehicle, in particular to a method, a device and a system for positioning the return direction of the underwater vehicle.
Background
An Unmanned underwater vehicle, which is an instrument that is Unmanned and navigated underwater by remote control or automatic control, mainly refers to an intelligent system that replaces divers or manned small-sized submarines to carry out high-risk underwater operations such as deep sea detection, lifesaving, and mine removal. Thus, unmanned vehicles are also referred to as "submersible robots" or "underwater robots".
At present, a remote controller can be used for sending a signal transmission information instruction through a sonar to remotely control the underwater vehicle. However, when the underwater vehicle needs to return, the scheme is not available, and the return direction of the underwater vehicle can be accurately positioned.
Therefore, how to accurately position the return direction of the underwater vehicle becomes a demand to be solved urgently.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device and a system for positioning the return direction of a submarine vehicle, so as to accurately position the return direction of the submarine vehicle.
In a first aspect, the present disclosure provides a method for positioning the return direction of an underwater vehicle, which is applied to an underwater vehicle provided with a sonar receiving line array, wherein the sonar receiving line array is horizontally arranged on the bow of the underwater vehicle relative to the hull of the underwater vehicle, and the method comprises the following steps:
when a return command is detected, controlling the underwater vehicle to rotate so as to receive a signal which is sent by a return destination and used for indicating a return direction through the sonar receiving line array;
when a signal which is sent by a return destination and used for indicating the return direction is received, controlling the underwater vehicle to stop rotating;
and positioning the direction pointed by the bow of the underwater vehicle when the underwater vehicle stops rotating as a return direction.
In a second aspect, the present disclosure provides a device for positioning the return direction of an underwater vehicle, which is applied to an underwater vehicle with a sonar receiving line array, wherein the sonar receiving line array is horizontally arranged on the bow of the underwater vehicle relative to the hull of the underwater vehicle, and comprises:
the control module is used for controlling the underwater vehicle to rotate when a return command is detected so as to receive a signal which is sent by a return destination and used for indicating a return direction through the sonar receiving line array;
the control module is further used for controlling the underwater vehicle to stop rotating when receiving a signal which is sent by a return destination and used for indicating a return direction;
and the positioning module is used for positioning the direction pointed by the ship head when the underwater vehicle stops rotating as a return direction.
In a third aspect, the invention provides a system for positioning the return direction of an underwater vehicle, which comprises a return destination signal transmitting device and the underwater vehicle, wherein the underwater vehicle is provided with a sonar receiving line array which is horizontally arranged at the bow of the underwater vehicle relative to the hull of the underwater vehicle;
the return destination signal transmitting device is used for transmitting a signal for indicating a return direction;
the underwater vehicle is used for controlling the underwater vehicle to rotate when a return command is detected so as to receive a signal for indicating a return direction through the sonar receiving line array; when a signal for indicating the return direction is received, controlling the underwater vehicle to stop rotating; and positioning the direction pointed by the bow of the underwater vehicle when the underwater vehicle stops rotating as a return direction.
The embodiment of the disclosure uses the sonar receiving linear array to perform directional receiving, that is, only signals sent from a certain direction relative to the sonar receiving linear array can be received, and signals cannot be received from any directions except the certain direction, so when signals which are sent from a return destination and used for indicating the return direction are received, the direction of the bow of the underwater vehicle is the direction of the return destination. At the moment, the underwater vehicle is controlled to stop rotating and to advance to the return destination along the direction of the bow.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
FIG. 1 is a schematic diagram of a method for positioning a return direction of a submersible vehicle according to certain embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a method for locating a return direction of a submersible vehicle according to certain embodiments of the present disclosure;
FIG. 3 is a schematic view of a submersible rotating mode according to an alternative embodiment of the present disclosure;
FIG. 4 is a schematic plan view of a preset angle threshold provided in some embodiments of the present disclosure;
FIG. 5 is a schematic view of a device for positioning the return direction of a submersible vehicle according to certain embodiments of the present disclosure;
fig. 6 is a schematic diagram of a device for positioning the return direction of the underwater vehicle according to some other embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1, some embodiments of the present disclosure provide a method for positioning the return direction of a submarine vehicle, which is applied to a submarine vehicle with sonar receiving line arrays horizontally arranged at the bow of the submarine vehicle relative to the hull of the submarine vehicle. The horizontal arrangement refers to horizontal and linear arrangement at the bow of the underwater vehicle relative to the hull of the underwater vehicle. The method for positioning the return direction of the underwater vehicle shown in FIG. 1 can comprise the following steps:
in step 102, when a return command is detected, the underwater vehicle is controlled to rotate so as to receive a signal which is sent by a return destination and used for indicating a return direction through the sonar receiving line array.
In step 104, when a signal for indicating a return direction sent by a return destination is received, the underwater vehicle is controlled to stop rotating.
In step 106, the direction in which the bow points when the submersible stops rotating is positioned as the return direction.
By the method, the directional reception is performed by using the sonar receiving linear array, that is, only signals transmitted in a certain direction relative to the sonar receiving linear array can be received, and signals cannot be received in any direction except the certain direction, so that when signals for indicating the return direction transmitted by the return destination are received, the direction of the bow of the underwater vehicle is the direction of the return destination. At the moment, the underwater vehicle is controlled to stop rotating and to advance to the return destination along the direction of the bow.
Referring to fig. 2, some embodiments of the present disclosure provide a method for positioning the return direction of a submarine vehicle, which is applied to a submarine vehicle with sonar receiving line arrays horizontally arranged at the bow of the submarine vehicle relative to the hull of the submarine vehicle. The horizontal arrangement refers to horizontal and linear arrangement at the bow of the underwater vehicle relative to the hull of the underwater vehicle. The method for positioning the return direction of the underwater vehicle shown in FIG. 2 can comprise the following steps:
in step 102, when a return command is detected, the underwater vehicle is controlled to rotate so as to receive a signal which is sent by a return destination and used for indicating a return direction through the sonar receiving line array.
Optionally, the control system of the vehicle itself may control the vehicle to rotate horizontally counterclockwise (or clockwise) about the Z-axis of the geographic coordinate system, centered at the origin of coordinates, as shown in fig. 3. Optionally, the control system of the submersible vehicle realizes multi-degree-of-freedom control (usually, a 6-degree-of-freedom motion mode can be realized) through the arrangement of multiple propellers, so as to control the rotation of the submersible vehicle. For example: the six-degree-of-freedom motion can be realized by arranging a 6-motor mode, and the six-degree-of-freedom motion can also be realized by a main propeller and a plurality of steering engines (controlling ducted blades); when the underwater vehicle body navigates horizontally, the control system of the underwater vehicle controls the power difference of the main thrusters (usually 2) to realize the rotation of the body in the horizontal direction (around the Z axis). The origin of the geographic coordinate system is fixed to a point on the earth surface, the origin can be the center of the submarine or a point on the left or right side of the submarine, the X axis refers to the east direction, the Y axis refers to the north direction, and the Z axis and the X, Y axis form a right-hand rectangular coordinate system along the local geographic vertical line.
In step 104, when a signal for indicating a return direction sent by a return destination is received, the underwater vehicle is controlled to stop rotating.
In step 106, the direction in which the bow points when the submersible stops rotating is positioned as the return direction. The vehicle may then return in the return direction.
In step 107, during the course of traveling in the return direction, the underwater vehicle is controlled to rotate when it is determined that the direction in which the bow is directed is outside the preset range and the return direction is re-determined upon receiving the signal. The vehicle may then return in the return direction.
Optionally, the underwater vehicle monitors whether the direction pointed by the bow of the ship is outside the preset range in real time in the process of returning, and repeatedly executes the process of determining the returning direction when the direction pointed by the bow of the ship is outside the preset range: the method comprises the steps of controlling the underwater vehicle to rotate, controlling the underwater vehicle to stop rotating when a signal for indicating the return direction is received, and determining the direction pointed by the bow of the underwater vehicle as the return direction.
Through the method disclosed by the embodiment of the disclosure, the return direction determined based on the direction pointed by the foreship of the underwater vehicle can have a certain error range, namely a preset range, the preset range can be a preset signal intensity threshold value, can also be a preset angle threshold value, and can also be specifically set according to the actual situation, and the disclosure is not limited herein. No correction is required when the correct direction of return of the bow is within this predetermined range, and correction is required when the range is out of this predetermined range, via step 107. Through the embodiment of the disclosure, whether the return direction is correct or in a preset range can be monitored in real time in the return process of the underwater vehicle, and the return direction can be determined again when the return direction is out of the preset range or the return driving signal is lost, so that the underwater vehicle can smoothly return, and the positioning method of the return direction with better fault tolerance is provided.
In an alternative embodiment, when the preset range is the preset signal strength threshold, step 107 determines the return direction again by: and when the monitored received signal intensity is smaller than a preset signal intensity threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow when the underwater vehicle stops rotating as a return direction until the monitored received signal intensity is greater than or equal to the preset threshold value. The signal strength threshold may be actually set according to circumstances, and the disclosure is not limited herein. This embodiment may provide a fault tolerant scheme when the signal received is weak or no signal is received when the diver is returning.
In a further alternative embodiment, when the preset range is the preset angle threshold, step 107 re-determines the return direction by: and when the angle between the direction pointed by the ship bow and the correct return direction is judged to be larger than a preset angle threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow as the return direction when the rotation is stopped until the angle between the direction pointed by the ship bow and the correct return direction is judged to be not larger than the preset angle threshold value. The preset angle threshold may be set according to practical applications, and the disclosure is not limited thereto. This embodiment may provide a fault tolerant solution as the direction of travel of the vehicle as it returns increasingly deviates from the correct return direction. The correct return direction in the city can be the direction from the current position of the underwater vehicle to the return destination, i.e. the connecting line between the current position of the underwater vehicle and the two points of the return destination can be used as a return route.
In the above optional embodiment, when the preset range is the preset angle threshold, the preset angle threshold may be a directivity angle of the sonar receiving line array, and optionally, the directivity angle is an angle covered by a radian of an intersection portion of a solid line and a dotted line in fig. 4. Referring to fig. 4, a solid line in fig. 4 represents a directivity angle of the sonar receiving line array, where the most prominent direction is the direction with the largest energy, that is, the strongest signal can be received when the return signal is in this direction. The broken line in fig. 4 indicates a predetermined threshold value. When the normalization result of the received signal of the ship head of the underwater vehicle pointed in a certain direction is larger than the value of the dotted line in the direction, the direction is considered to be in the error range. Wherein, the (two) intersection points of the dotted line and the solid line are respectively connected with the original point, and the formed included angle is the preset angle threshold.
Referring to fig. 5, an embodiment of the present disclosure provides a device for positioning a return direction of an underwater vehicle, which is applied to an underwater vehicle with a sonar receiving line array, where the sonar receiving line array is horizontally arranged at a bow of the underwater vehicle relative to a hull of the underwater vehicle, and the device includes: a control module 400 and a positioning module 402. The operation principle of each module is as follows.
And the control module 400 is used for controlling the underwater vehicle to rotate when a return command is detected so as to receive a signal which is sent by a return destination and used for indicating the return direction through the sonar receiving line array.
The control module 400 is further configured to control the submersible to stop rotating when receiving a signal indicating a return direction sent by a return destination.
And a positioning module 402, configured to position a direction pointed by the bow of the submersible vehicle when the submersible vehicle stops rotating as a return direction.
Referring to fig. 6, the apparatus provided in the embodiment of the present disclosure further includes a calibration module 404 for: and in the process of driving along the determined return direction, when the direction pointed by the ship bow is determined to be out of the preset range, the underwater vehicle is controlled to rotate, and the return direction with the correct return direction is determined again when the signal is received.
In some optional embodiments, the correction module 404 is specifically configured to: and when the monitored received signal intensity is smaller than a preset signal intensity threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow when the underwater vehicle stops rotating as a return direction until the monitored received signal intensity is greater than or equal to the preset threshold value.
In some alternative embodiments, the correction module 404 is specifically configured to: when the angle between the direction pointed by the ship bow and the correct return direction is judged to be larger than a preset angle threshold value, the underwater vehicle is controlled to rotate, and until the angle between the direction pointed by the ship bow and the correct return direction is judged to be not larger than the preset angle threshold value, the underwater vehicle is controlled to stop rotating and the direction pointed by the ship bow when the rotation is stopped is positioned as the return direction
The embodiment of the disclosure uses the sonar receiving linear array to perform directional receiving, that is, only signals sent from a certain direction relative to the sonar receiving linear array can be received, and signals cannot be received from any directions except the certain direction, so when signals which are sent from a return destination and used for indicating the return direction are received, the direction of the bow of the underwater vehicle is the direction of the return destination. At the moment, the underwater vehicle is controlled to stop rotating and to advance to the return destination along the direction of the bow.
The embodiment of the disclosure also provides a system for positioning the return direction of the underwater vehicle, which comprises a return destination signal transmitting device and the underwater vehicle. The underwater vehicle is provided with a sonar receiving line array, and the sonar receiving line array is horizontally arranged at the bow of the underwater vehicle relative to the hull of the underwater vehicle.
And the return destination signal transmitting device is used for transmitting a signal for indicating the return direction.
The underwater vehicle is used for controlling the underwater vehicle to rotate when a return command is detected so as to receive a signal for indicating a return direction through the sonar receiving line array; when a signal for indicating the return direction is received, controlling the underwater vehicle to stop rotating; and positioning the direction pointed by the bow of the underwater vehicle when the underwater vehicle stops rotating as a return direction.
In summary, the beneficial effects of the embodiments of the present disclosure are as follows:
the embodiment of the disclosure uses the sonar receiving linear array to perform directional receiving, that is, only signals sent from a certain direction relative to the sonar receiving linear array can be received, and signals cannot be received from any directions except the certain direction, so when signals which are sent from a return destination and used for indicating the return direction are received, the direction of the bow of the underwater vehicle is the direction of the return destination. At the moment, the underwater vehicle is controlled to stop rotating and to advance to the return destination along the direction of the bow.
Through the embodiment of the disclosure, whether the return direction is correct or in a preset range can be monitored in real time in the return process of the underwater vehicle, and the return direction can be determined again when the return direction is out of the preset range or the return driving signal is lost, so that the underwater vehicle can smoothly return, and the positioning method of the return direction with better fault tolerance is provided.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort. Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (9)
1. The utility model provides a method of direction location is returned to ware of diving, its characterized in that is applied to the ware of diving that is equipped with sonar receiving wire array, sonar receiving wire array is arranged in the bow of ware of diving for the ware hull level, includes:
when a return command is detected, a control system of the underwater vehicle can control the underwater vehicle to horizontally rotate around a Z axis of a geographic coordinate system in a counterclockwise or clockwise mode by taking a coordinate origin as a center, so that a signal which is sent by a return destination and used for indicating the return direction is received through the sonar receiving line array;
when a signal which is sent by a return destination and used for indicating the return direction is received, controlling the underwater vehicle to stop rotating;
and positioning the direction pointed by the bow of the underwater vehicle when the underwater vehicle stops rotating as a return direction.
2. The method of claim 1, further comprising: and in the process of driving along the determined return direction, controlling the underwater vehicle to rotate when the direction pointed by the ship head is determined to be out of the preset range, and re-determining the return direction when a signal is received.
3. The method of claim 2, wherein said controlling the rotation of the vehicle when it is determined that the direction in which the bow is pointing is outside a preset range and re-determining the return direction upon receiving a signal comprises:
and when the monitored received signal intensity is smaller than a preset signal intensity threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow when the underwater vehicle stops rotating as a return direction until the monitored received signal intensity is greater than or equal to the preset threshold value.
4. The method of claim 2, wherein said controlling the rotation of the vehicle when it is determined that the direction in which the bow is pointing is outside a preset range and re-determining the return direction upon receiving a signal comprises:
and when the angle between the direction pointed by the ship bow and the correct return direction is judged to be larger than a preset angle threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow as the return direction when the rotation is stopped until the angle between the direction pointed by the ship bow and the correct return direction is judged to be not larger than the preset angle threshold value.
5. The utility model provides a device that direction location was returned to ware of diving, its characterized in that is applied to the ware of diving that is equipped with sonar receiving wire array, sonar receiving wire array is for the horizontal bow of arranging in the ware of diving of ware hull, includes:
the control module is used for controlling the underwater vehicle to horizontally rotate anticlockwise or clockwise around a Z axis of a geographic coordinate system by taking a coordinate origin as a center through a control system of the underwater vehicle when a return command is detected, so as to receive a signal which is sent by a return destination and used for indicating the return direction through the sonar receiving line array;
the control module is further used for controlling the underwater vehicle to stop rotating when receiving a signal which is sent by a return destination and used for indicating a return direction;
and the positioning module is used for positioning the direction pointed by the ship head when the underwater vehicle stops rotating as a return direction.
6. The apparatus of claim 5, further comprising a correction module to: and in the process of driving along the determined return direction, controlling the underwater vehicle to rotate when the direction pointed by the ship head is determined to be out of the preset range, and re-determining the return direction when a signal is received.
7. The apparatus of claim 6, wherein the correction module is specifically configured to: and when the monitored received signal intensity is smaller than a preset signal intensity threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow when the underwater vehicle stops rotating as a return direction until the monitored received signal intensity is greater than or equal to the preset threshold value.
8. The apparatus of claim 6, wherein the correction module is specifically configured to: and when the angle between the direction pointed by the ship bow and the correct return direction is judged to be larger than a preset angle threshold value, controlling the underwater vehicle to rotate, and controlling the underwater vehicle to stop rotating and positioning the direction pointed by the ship bow as the return direction when the rotation is stopped until the angle between the direction pointed by the ship bow and the correct return direction is judged to be not larger than the preset angle threshold value.
9. A system for positioning the return direction of a submarine vehicle is characterized by comprising a return destination signal transmitting device and the submarine vehicle, wherein the submarine vehicle is provided with a sonar receiving line array which is horizontally arranged at the bow of the submarine vehicle relative to the hull of the submarine vehicle;
the return destination signal transmitting device is used for transmitting a signal for indicating a return direction;
the underwater vehicle is used for controlling the underwater vehicle to horizontally rotate anticlockwise or clockwise around a Z axis of a geographic coordinate system by taking a coordinate origin as a center through a control system of the underwater vehicle when a return command is detected, so as to receive a signal for indicating the return direction through the sonar receiving line array; when a signal for indicating the return direction is received, controlling the underwater vehicle to stop rotating; and positioning the direction pointed by the bow of the underwater vehicle when the underwater vehicle stops rotating as a return direction.
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| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机系统技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| CN102288170B (en) * | 2011-07-14 | 2013-06-05 | 浙江大学 | Correction method of electronic compass in underwater vehicle |
| CN104035065A (en) * | 2014-06-23 | 2014-09-10 | 河北工业大学 | Sound source orienting device on basis of active rotation and method for applying sound source orienting device |
| CN105157715A (en) * | 2015-09-02 | 2015-12-16 | 深圳市天工测控技术有限公司 | Self-adaptive return method and self-adaptive return system based on Beidou navigation system |
| CN106094819B (en) * | 2016-06-17 | 2019-02-26 | 江苏科技大学 | Underwater robot control system and course heading control method based on sonar image target identification |
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Address after: 264200 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Patentee after: Zhendi Technology Co., Ltd Address before: Unit 301, unit a, 9 Fulin Road, Chaoyang District, Beijing 100107 Patentee before: POWERVISION TECH Inc. |