CN108332058A - A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device - Google Patents
A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device Download PDFInfo
- Publication number
- CN108332058A CN108332058A CN201710038388.8A CN201710038388A CN108332058A CN 108332058 A CN108332058 A CN 108332058A CN 201710038388 A CN201710038388 A CN 201710038388A CN 108332058 A CN108332058 A CN 108332058A
- Authority
- CN
- China
- Prior art keywords
- underwater
- submarine pipeline
- receiver
- optical transmitter
- controlled vehicle
- 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
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
Abstract
The present invention discloses a kind of autonomous remote-controlled vehicle submarine pipeline detecting and tracking device, including slave computer and host computer, slave computer setting is arranged in underwater, host computer on surface mother ship.Slave computer includes sensor assembly, light vision module, embedded controller and underwater optical transmitter and receiver；Sensor assembly, light vision module are connected with the signal input part of embedded controller respectively, and the signal output end of embedded controller is connected with underwater optical transmitter and receiver signal input part；Host computer includes：Optical transmitter and receiver, monitor surface module and manual operator waterborne；Manual operator is connect with monitor surface modular circuit, and monitor surface module is connect with optical transmitter and receiver circuit waterborne；Underwater optical transmitter and receiver is connected with optical transmitter and receiver waterborne by optical fiber.The autonomous remote-controlled vehicle of the present invention can realize that realtime graphic transmits, and surface mother ship can monitor underwater environment in real time, it is ensured that the detecting and tracking task of submarine pipeline is completed in the safety of complicated underwater operation situation.
Description
Technical field
The present invention relates to submersible detection fields, and in particular to a kind of autonomy remote-controlled vehicle（Autonomous
Remotely-operated Vehicle, abbreviation ARV）Submarine pipeline detecting and tracking method and device.
Background technology
Ocean is the frontier of human survival and social sustainable development, and the exploitation of ocean determines country with by having become
One of Fundamentals of the ups and downs.According to the relevant information, since the formal exploiting ocean oil in China, natural gas, nowadays exist
The long oil transportation of tens of of submarine laying, thousands of kilometers, gas pipeline.Since submarine pipeline bears seawater at elevated pressures for a long time
The reasons such as corrosion and quality of materials, fatigue, diastrophism, anchor chain towing, have occurred a lot of submarine pipelines breakages in the world,
Oil, natural gas leak accident, cause huge economic loss and the serious pollution to ocean.In recent years, world industry
Developed country has carried out in succession through cable control submersible (Remotely operated Vehicle, abbreviation ROV) to Submarine Pipeline
The research work checked outside road, a few countries have begun through untethered autonomy submersible (Autonomous
Underwater Vehicle, abbreviation AUV) technique study from motion tracking is carried out to submarine pipeline.
Submarine pipeline tracking is carried out due to being limited to umbilical cables length by ROV, can only be made in smaller range
Industry under water when environment complexity, and is easy to happen cable winding, is broken and submersible is caused to be lost.Inspection for long pipe road
It surveys and needs repeated multiple times recycling ROV and mobile surface mother ship, while how to stablize and depend entirely on work along pipeline tracing detection
The qualification of dealer.And for the submarine pipeline detecting and tracking of AUV, it has the limit of umbilical cable unlike ROV
System, can work in wide range under water, longevity of service, to supporting that it is low that lash ship requires.The disadvantage is that since underwater sound communication limits,
Realtime graphic transmission is cannot achieve, AUV places one's entire reliance upon its capacity of will, and surface mother ship can not monitor specific underwater ring in real time
Border, for complicated underwater operation situation, there are insecurity, are easy to happen situations such as AUV loses.
Invention content
The purpose of the present invention is to provide a kind of autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device and detection sides
Method, the ARV systems and its detection method have taken into account the characteristics of untethered autonomy submersible AUV and cable control submersible ROV, to make certainly
It controls remote-controlled vehicle and realizes that completing realtime graphic transmits, surface mother ship can monitor specific underwater environment in real time, it is ensured that complicated
Underwater operation situation safety, complete the detecting and tracking task of submarine pipeline.
In order to achieve the above object, the invention is realized by the following technical scheme：
A kind of autonomy remote-controlled vehicle submarine pipeline inspection detecting and tracking device comprising：Slave computer and host computer, it is above-mentioned
Slave computer is arranged on the submersible of underwater, and above-mentioned host computer is arranged on surface mother ship, the slave computer and the host computer
It is connected by optical fiber；Above-mentioned slave computer includes：Sensor assembly, light vision module, embedded controller and Underwater Optical end
Machine；Above-mentioned host computer includes：Optical transmitter and receiver, monitor surface module and manual operator waterborne；Above-mentioned sensor assembly, above-mentioned light
Vision module is connected with the signal input part of above-mentioned embedded controller respectively, the signal output end of the embedded controller
It is connected with above-mentioned underwater optical transmitter and receiver signal input part；Above-mentioned manual operator is connect with above-mentioned monitor surface modular circuit,
The monitor surface module is connect with above-mentioned optical transmitter and receiver circuit waterborne；Above-mentioned underwater optical transmitter and receiver is logical with above-mentioned optical transmitter and receiver waterborne
It crosses optical fiber to be connected, data transmission is realized by serial communication.
A kind of autonomy remote-controlled vehicle submarine pipeline examines detecting and tracking device, wherein above-mentioned light vision module includes：Light
Learn imaging sensor, holder and assist illuminator；Above-mentioned optical imaging sensor, above-mentioned assist illuminator are separately positioned on
On above-mentioned holder.The signal output end of the optical imaging sensor is connected with the signal input part of above-mentioned embedded controller
It connects.
A kind of autonomy remote-controlled vehicle submarine pipeline examines detecting and tracking device, wherein above-mentioned sensor assembly includes：It is deep
Spend sensor, velocity sensor, attitude transducer, sonar sensor, battery cell monitoring sensor and propeller monitoring sensor；On
The signal output end for the depth transducer stated, the signal output end of velocity sensor, the signal output end of attitude transducer, sonar
The signal output end of the signal output end of sensor, the signal output end of battery cell monitoring sensor and propeller monitoring sensor point
It is not connected with the signal input part of above-mentioned embedded controller.
A kind of autonomy remote-controlled vehicle submarine pipeline examines detecting and tracking device, wherein above-mentioned monitor surface module includes：
Primary processor, image pick-up card, programmable logic controller (PLC), Ethernet switch, monitor surface panel and CAN bus communicate mould
Block；Above-mentioned primary processor is connect with above-mentioned image pick-up card, above-mentioned CAN bus communication module circuit respectively, the main place
Reason device is connect with above-mentioned ethernet switch circuitry；The Ethernet switch connects with above-mentioned programmable logic controller (PLC) circuit
It connects；The Ethernet switch is connect by above-mentioned optical transmitter and receiver waterborne with above-mentioned slave computer circuit；The programmable logic control
Device processed is connect with above-mentioned manual operator by above-mentioned monitor surface panel circuit.
A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking method, this method include the following steps：
Step 1, autonomous remote-controlled vehicle in the manual operating mode, is directed to the upper of submarine pipeline starting point by manual operator setting
Side.
Step 2, the optical imaging sensor of the light vision module of slave computer scheme around acquisition submarine pipeline in real time
As information；By the sensor assembly of slave computer carry out the depth information of submersible in acquisition submarine pipeline in real time, velocity information,
Posture information, image information in front, battery status information and propeller status information.
Step 2.1, depth transducer measures the depth of submersible in water, will measure depth data and is converted into depth voltage
Signal passes to embedded controller；
Step 2.2, velocity sensor measures the headway of submersible in water, will measure headway data and is converted into speed
Voltage signal passes to embedded controller；
Step 2.3, attitude transducer measures the underwater posture of submersible, measures bearing data and is converted into voltage signal and passes to insertion
Formula controller；
Step 2.4, sonar sensor measure submersible forward sight environment, measure image data be converted into voltage signal pass to it is embedded
Controller；
Step 2.5, battery cell monitoring sensor measurement submersible battery state measures battery state data and is converted into voltage letter
Number pass to embedded controller；
Step 2.6, propeller monitoring sensor measures submersible propeller rotating speed, measures propeller tach signal and is converted to voltage
Letter signal passes to embedded controller.
Step 3, the embedded controller of slave computer receives and processes the real-time submarine pipeline of light vision module respectively
Surrounding's image information, sensor assembly transducing signal, host computer is transferred to by underwater optical transmitter and receiver；
Step 3.1, the underwater optical transmitter and receiver of slave computer receives the processing signal of embedded controller and by optical fiber, using RS485
Serial communication mode is transferred to the optical transmitter and receiver waterborne of host computer.
Step 4, the monitor surface module of host computer receives real-time submarine pipeline by underwater optical transmitter and receiver optical transmitter and receiver waterborne and believes
Breath is identified, handles, and is converted into practical navigation information；
Step 4.1, the monitor surface module of host computer receives real-time submarine pipeline information by optical transmitter and receiver waterborne；
Step 4.2, the image pick-up card of the monitor surface module of host computer receives the image information of processed submarine pipeline
Analog signal samples above-mentioned analog signal, is quantified by the image pick-up card, converts analog signals into digital letter
Number and be sent to primary processor；The Ethernet switch of the monitor surface module of host computer receives the transducing signal of slave computer through place
Primary processor is sent to after reason, carrying out processing to above-mentioned signal by primary processor is converted into practical navigation information.
Step 5, identification of the monitor surface module of host computer to autonomous remote-controlled vehicle local environment complexity, passes through
The practical navigation information of autonomous remote-controlled vehicle of formation, determine and control to autonomous remote-controlled vehicle implement automatic control mode or
It is manual control mode, autonomous remote-controlled vehicle is made to complete the detection of submarine pipeline.
Compared with the prior art, the present invention has the following advantages：
The use of autonomous remote-controlled vehicle ARV submarine pipelines detecting and tracking method and apparatus solves traditional submersible and is used for complexity
Pipe detection in underwater environment, is mainly reflected in：
1.ARV can realize the operation in cable laying, avoid the dragging of ROV umbilical cables, and underwater manoeuvre is made to improve.
2.ARV can extend sub-aqua sport range from charged pool with AUV mode operations.
3.ARV is communicated by optical fiber, and transmission contains much information, it is particularly advantageous to image transmitting.
4.ARV submarine pipeline detecting and tracking methods pass through optical imaging sensor（Underwater CCD camera）With Image Acquisition
Card carries out Image Acquisition and pretreatment for submarine pipeline, especially for the situation that underwater visual situation is poor, passes through image
Calculation processing obtains submarine pipeline information, by for the automatic fixed high control of submarine pipeline, automatic orientation control, automatic side
Move control three automatic control loops carry out pipelines from motion tracking；Compared with ROV, ARV intelligences are higher, can be with pre-programmed
AUV patterns realize semi-automatic submarine pipeline detecting and tracking operation, while can observe sensing equipment upload in real time again compared with AUV
Image is conducive to assess the damaged condition for judging pipeline in real time, or in emergency circumstances again can basis under complicated underwater environment
It needs to switch to be manually operated.
Description of the drawings
Fig. 1 is the structure diagram that a kind of autonomous remote-controlled vehicle submarine pipeline of the present invention examines detecting and tracking device.
Fig. 2 is the electricity for the monitor surface module that a kind of autonomous remote-controlled vehicle submarine pipeline of the present invention examines detecting and tracking device
Road schematic diagram.
Fig. 3 is a kind of flow diagram of autonomous remote-controlled vehicle submarine pipeline detecting and tracking method of the present invention.
Specific implementation mode
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
A kind of autonomous remote-controlled vehicle submarine pipeline as shown in Figure 1 examines detecting and tracking device, including：Slave computer 10 and upper
Position machine 20, the setting of slave computer 10 are arranged in underwater, host computer 20 on surface mother ship；The slave computer 10 is logical with the host computer 20
Optical fiber is crossed to be connected.Slave computer 10 includes：Sensor assembly 11, light vision module 12, embedded controller 13 and Underwater Optical end
Machine 14.Sensor assembly 11, light vision module 12 are connected with the signal input part of embedded controller 13 respectively, this is embedded
The signal output end of controller 13 is connected with 14 signal input part of underwater optical transmitter and receiver.
Light vision module 12 includes：Optical imaging sensor 121（Underwater CCD camera）, holder 122 and assist illuminator
123；Optical imaging sensor 121, assist illuminator 123 are separately positioned on holder 122.The optical imaging sensor 121
Signal output end is connected with the signal input part of embedded controller 13.
Sensor assembly 11 includes：Depth transducer 111, velocity sensor 112, attitude transducer 113, sonar sensor
114, battery cell monitoring sensor 115 and propeller monitoring sensor 116；Signal output end, the velocity pick-up of depth transducer 111
The signal output end of device 112, the signal output end of attitude transducer 113, the signal output end of sonar sensor 114, battery prison
Control sensor 115 signal output end and propeller monitoring sensor 116 signal output end respectively with the embedded controller
13 signal input part is connected.
Depth in water of the depth transducer 111 being set on submersible to measure submersible, and the depth that will be measured
Data are changed into depth voltage signal.The velocity sensor 112 being set on submersible to measure the headway of submersible,
And the headway data measured are changed into velocity voltage signal.The attitude transducer 113 being set on submersible is surveying
That measures submersible turns first, trim and rolling direction, and the bearing data measured is changed into relevant voltage signal.It is set to diving
The image data measured is changed into relevant voltage by the sonar sensor 114 on device to measure the forward image of submersible
Signal.The optical imaging sensor 121 being set on submersible（Underwater CCD camera）To measure the figure around submersible
Picture, and the image data measured is changed into relevant voltage signal.Be set to the battery cell monitoring sensor 115 on submersible to
Submersible battery pack working condition is measured, and the status data measured is changed into relevant voltage signal.It is set on submersible
Propulsion monitoring sensor 116 to measure the working condition of submersible propeller, and the status data measured is changed into phase
Answer voltage signal.
The signal input part for the embedded controller 13 being arranged on submersible and depth transducer 111, velocity sensor
112, attitude transducer 113, sonar sensor 114, optical imaging sensor 121（Underwater CCD camera）, battery cell monitoring sensing
Device 115, propeller monitoring sensor 116 signal output end connection, with receive depth transducer 111, velocity sensor 112,
Attitude transducer 113, optical imaging sensor 121, battery cell monitoring sensor 115, promotes monitoring sensing at sonar sensor 114
Depth voltage signal that device 116 is sent, velocity voltage signal, posture voltage signal, sonar voltage signal, optical voltage letter
Number, battery status voltage signal, propeller state voltage signal.
Embedded controller 13 is sealed in submersible carrier, includes signal amplification filter module, A/D converter, more
Way switch module, RS485 serial communication ports and microprocessor.The input terminal of variable connector module is connect with each signal transducer,
The output end of the variable connector module is connect with signal amplification filter module circuit input end, the input terminal of A/D converter signal
The output end for amplifying filter module circuit with signal is connect, and above-mentioned microprocessor is connect with A/D converter signal output end, and with
RS485 serial communication ports connect.
Embedded controller 13 is internally provided with the communication module for driving sensor signal transformation task, embedded Control
Device connects the flash card of pre-programmed AUV search patterns.Above-mentioned embedded controller 13 is used based on the more of PC/104 buses
Version inlay card embedded system, totally four laminate.It is respectively from top to bottom：PMI-6D-N master controllers, MSP-8-N Multi-serial ports plate, DMM-
32X-AT data acquisition boards, HE104 power panels, master controller is mainly responsible for be communicated with water surface control unit, and above-mentioned is embedded
Transmitted by optical fiber using RS485 and Ethernet between controller 13 and machine waterborne 20, Multi-serial port plate is main and peripheral equipment into
Row RS485 and RS232 communication obtains peripheral device information, such as depth transducer 111, velocity sensor 112, attitude transducer
113, sonar sensor 114, battery cell monitoring sensor 115 and propulsion monitoring sensor 116.
Host computer 20 includes：Optical transmitter and receiver 21, monitor surface module 22 and manual operator 23 waterborne；Manual operator 23 and monitor surface
22 circuit of module connects, which connect with 21 circuit of optical transmitter and receiver waterborne.Underwater optical transmitter and receiver 14 and light end waterborne
Machine 21 is connected by optical fiber, and data transmission is realized by RS485 serial communications.
What is be arranged on surface mother ship is connect by optical transmitter and receiver 21 waterborne with 14 output end of underwater optical transmitter and receiver on submersible,
Underwater Navigation and image procossing are carried out to receive the various signals that embedded controller 13 sends over, and then is completed
The submarine pipeline detecting and tracking of ARV.
Manual operator 23 is connected by monitor surface panel 226 with programmable logic controller (PLC) PLC223, programmable logic
The control signal transmission that controller PLC223 exports manual operator 23 passes through the water on surface mother ship to Ethernet switch 224
Upper optical transmitter and receiver 21 is communicated with slave computer 10, realizes data transmission.
A kind of monitor surface module of autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device as shown in Figure 2,
In, monitor surface module 22 includes：Primary processor 221, image pick-up card 222, programmable logic controller (PLC) 223, Ethernet are handed over
It changes planes 224, CAN bus communication module 225 and monitor surface panel 226；Primary processor 221 respectively with image pick-up card 222,
225 circuit of CAN bus communication module connects, which connect with 224 circuit of Ethernet switch；The Ethernet is handed over
It changes planes and 224 is connect with 223 circuit of programmable logic controller (PLC)；The Ethernet switch 224 passes through above-mentioned optical transmitter and receiver waterborne 21
It is connect with above-mentioned 10 circuit of slave computer；The programmable logic controller (PLC) 223 is grasped by monitor surface panel 226 and above-mentioned hand
23 circuit of device connects.Programmable logic controller (PLC) 223 for acquisition operations panel simulation and switch data and send main process task
Device 221, the primary processor 221 carry out real-time synchronous communication with slave computer 10 again.It is wherein total using CAN to battery cell monitoring data
The 225 turns of USB interface transmission of line communication module.
The top layer of monitor surface module 22 is preserved and slave computer mainly by VB6.0 come design system by ACCESS
Real-time communication data, software systems part are run under windows xp environment.In the present invention, host computer 20 receives programmable
The data of logic controller 223 and the data of slave computer 10 are all the UDP communication modes used and have shared the same main place
Manage device 221 port, and host computer 20 to 10 transmission data of slave computer then using RS485 communication modes, so as to reality
The communication of existing full duplex.In receiving data, primary processor 221 and programmable logic controller (PLC) 223 and slave computer 20 by with
Too network switch 224 connects, while sharing a network interface.
In the present embodiment, primary processor selects grinding for model GEN-E9455 to raise mainboard, and programmable logic controller (PLC) is selected
Model 750-841PLC, image pick-up card select model DH-VT123, Ethernet switch to select model TL-SF1005.
A kind of autonomous remote-controlled vehicle submarine pipeline detecting and tracking method as shown in Figure 3, this method include following several
Step：
Step 1, autonomous remote-controlled vehicle in the manual operating mode, is directed to submarine pipeline starting point by the setting of manual operator 23
Top.
Step 2, the optical imaging sensor 121 of the light vision module 12 of slave computer 10 carries out acquisition submarine pipeline in real time
Surrounding's image information；By the sensor assembly 11 of slave computer 10 acquire the depth letter of submersible in submarine pipeline in real time
Breath, velocity information, posture information, image information in front, battery status information and propeller status information.
Step 2.1, depth transducer 111 measures the depth of submersible in water, will measure depth data and is converted into depth
Voltage signal passes to embedded controller 13；
Step 2.2, velocity sensor 112 measures the headway of submersible in water, will measure headway data and is converted into
Velocity voltage signal passes to embedded controller 13；
Step 2.3, attitude transducer 113 measures the underwater posture of submersible, measures bearing data and is converted into voltage signal and passes to
Embedded controller 13；
Step 2.4, sonar sensor 114 measure submersible forward sight environment, measure image data be converted into voltage signal pass to it is embedding
Enter formula controller 13；
Step 2.5, battery cell monitoring sensor 115 measures submersible battery state, measures battery state data and is converted into electricity
Pressure signal passes to embedded controller 13；
Step 2.6, propeller monitoring sensor 116 measures submersible propeller rotating speed, measures propeller tach signal and is converted to
Voltage letter signal passes to embedded controller 13.
Step 3, the embedded controller 13 of slave computer 10 receives and processes 12 Real-time Water of light vision module respectively
Surrounding's image information of lower pipeline, the transducing signal of sensor assembly 11, host computer 20 is transferred to by underwater optical transmitter and receiver 14；
Step 3.1, the underwater optical transmitter and receiver 14 of slave computer 10 receives the processing signal of embedded controller 13 and by optical fiber, uses
RS485 serial communication modes are transferred to the optical transmitter and receiver waterborne 21 of host computer 20.
Step 4, the monitor surface module 22 of host computer 20 is received in real time by underwater optical transmitter and receiver 14 and optical transmitter and receiver waterborne 21
Submarine pipeline information is handled, and is realized and controlled to slave computer 10；
Step 4.1, the monitor surface module 22 of host computer 20 receives real-time submarine pipeline information 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 image of processed submarine pipeline
The analog signal of information samples above-mentioned analog signal, is quantified, analog signal is converted by the image pick-up card 222
For digital signal and it is sent to primary processor；The Ethernet switch 224 of the monitor surface module 22 of host computer 20 receives bottom
The transducing signal of machine 10 is sent to primary processor after processing, and carrying out processing to above-mentioned signal by primary processor is converted into reality
Navigation information, and slave computer 10 is realized and is controlled.
Step 5, identification of the monitor surface module 22 of host computer 20 to autonomous remote-controlled vehicle local environment complexity,
By the practical navigation information of autonomous remote-controlled vehicle of formation, determine and to autonomous remote-controlled vehicle implement automatic control mode or
It is manual control mode, autonomous remote-controlled vehicle is made to complete the detection of submarine pipeline.Autonomous remote-controlled vehicle submarine pipeline inspection
The control process of detecting and tracking device is divided into artificial semi-automatic guiding and from two step of motion tracking, comprises the steps of：
Step 5.1, when Underwater Pipeline Environment peripheral obstacle causes submersible to be difficult to automatic obstacle-avoiding or disengaging more, or obtain
When the image of Underwater Pipeline Environment makes submersible be difficult to be automatically positioned pipeline, complete to detect by manual operation mode；
Step 5.2, when Underwater Pipeline Environment is simple, information is obtained by sensor, submersible passes through relative to submarine pipeline
Automatically fixed high control function, automatic orientation control function, automatic sidesway control function, then before being sent out by monitor surface module 22
Into instruction, submersible is to be advanced from motion tracking submarine pipeline with given speed and height in the top for being tracked pipeline.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of autonomy remote-controlled vehicle submarine pipeline examines detecting and tracking device, which is characterized in that the inspection detecting and tracking device packet
Contain：Slave computer（10）And host computer（20）, the slave computer（10）It is arranged on the submersible of underwater, the host computer
（20）It is arranged on surface mother ship, the slave computer（10）With the host computer（20）It is connected by optical fiber；
The slave computer（10）Including：Sensor assembly（11）, light vision module（12）, embedded controller（13）And it is underwater
Optical transmitter and receiver（14）；The sensor assembly（11）, described light vision module（12）Respectively with the embedded controller
（13）Signal input part be connected, the embedded controller（13）Signal output end and the underwater optical transmitter and receiver（14）Letter
Number input terminal is connected；
The host computer（20）Including：Optical transmitter and receiver waterborne（21）, monitor surface module（22）And manual operator（23）；The hand
Grasp device（23）With the monitor surface module（22）Circuit connects, the monitor surface module（22）With the optical transmitter and receiver waterborne
（21）Circuit connects；
The underwater optical transmitter and receiver（14）With the optical transmitter and receiver waterborne（21）It is connected by optical fiber, is realized by serial communication
Data transmission.
2. autonomy remote-controlled vehicle submarine pipeline as described in claim 1 examines detecting and tracking device, which is characterized in that described
Light vision module（12）Including：Optical imaging sensor（121）, holder（122）And assist illuminator（123）；The optics
Imaging sensor（121）, described assist illuminator（123）It is separately positioned on the holder（122）On；The optics at
As sensor（121）Signal output end and the embedded controller（13）Signal input part be connected.
3. autonomy remote-controlled vehicle submarine pipeline as described in claim 1 examines detecting and tracking device, which is characterized in that described
Sensor assembly（11）Including：Depth transducer（111）, velocity sensor（112）, attitude transducer（113）, sonar sensor
（114）, battery cell monitoring sensor（115）And propeller monitoring sensor（116）；The depth transducer（111）Signal
Output end, velocity sensor（112）Signal output end, attitude transducer（113）Signal output end, sonar sensor
（114）Signal output end, battery cell monitoring sensor（115）Signal output end and propeller monitoring sensor（116）Letter
Number output end respectively with the embedded controller（13）Signal input part be connected.
4. autonomy remote-controlled vehicle submarine pipeline as described in claim 1 examines detecting and tracking device, which is characterized in that described
Monitor surface module（22）Including：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）；The primary processor（221）
Respectively with the image pick-up card（222）Output end, the CAN bus communication module（225）Output end be connected,
The primary processor（221）With the Ethernet switch（224）Circuit connects；The Ethernet switch（224）With it is described
Programmable logic controller (PLC)（223）Circuit connects；The Ethernet switch（224）Pass through the optical transmitter and receiver waterborne（21）With institute
The slave computer stated（10）Circuit connects；The programmable logic controller (PLC)（223）With the manual operator（23）Pass through the water
Face monitors panel（226）Circuit connects.
5. a kind of for such as autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking dress any one of in claim 1-6
The detection method set, which is characterized in that this method includes the following steps：
Step 1, the manual operator（23）Autonomous remote-controlled vehicle in the manual operating mode, is directed to submarine pipeline by setting
The top of starting point；
Step 2, the slave computer（10）Light vision module（12）Optical imaging sensor（121）, carry out acquisition water in real time
Surrounding's image information of lower pipeline；Pass through the slave computer（10）Sensor assembly（11）It carries out in acquisition submarine pipeline in real time
Depth information, velocity information, posture information, image information in front, battery status information and the propeller status information of submersible；
Step 3, the slave computer（10）Embedded controller（13）The light vision module is received and processed respectively
（12）Surrounding's image information of real-time submarine pipeline, the sensor assembly（11）Transducing signal, by described underwater
Optical transmitter and receiver（14）It is transferred to the host computer（20）；
Step 4, the host computer（20）Monitor surface module（22）Pass through the underwater optical transmitter and receiver（14）And it is described
Optical transmitter and receiver waterborne（21）It receives real-time submarine pipeline information to be identified, handle, and is converted into practical navigation information；
Step 5, the host computer（20）Monitor surface module（22）To autonomous remote-controlled vehicle local environment complexity
Identification, by the practical navigation information of autonomous remote-controlled vehicle of formation, determine simultaneously control to autonomous remote-controlled vehicle implement from
Dynamic control mode or manual control mode, make autonomous remote-controlled vehicle complete the detection of submarine pipeline.
6. a kind of detection for above-mentioned autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device as claimed in claim 5
Method comprises the steps of in the step 2：
Step 2.1, the depth transducer（111）The depth of submersible in water is measured, depth data will be measured and be converted into
Depth voltage signal passes to the embedded controller（13）；
Step 2.2, the velocity sensor（112）The headway of submersible in water is measured, headway number will be measured
The embedded controller is passed to according to velocity voltage signal is converted into（13）；
Step 2.3, the attitude transducer（113）The underwater posture for measuring submersible, measures bearing data and is converted into voltage
Signal passes to the embedded controller（13）；
Step 2.4, the sonar sensor（114）Submersible forward sight environment is measured, image data is measured and is converted into voltage letter
Number pass to the embedded controller（13）；
Step 2.5, the battery cell monitoring sensor（115）Submersible battery state is measured, battery state data are measured
It is converted into voltage signal and passes to the embedded controller（13）；
Step 2.6, the propeller monitoring sensor（116）Submersible propeller rotating speed is measured, propeller rotating speed letter is measured
It number is converted to voltage letter signal and passes to the embedded controller（13）.
7. a kind of detection for above-mentioned autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device as claimed in claim 5
Method comprises the steps of in the step 3：
Step 3.1, the slave computer（10）Underwater optical transmitter and receiver（14）Receive the embedded controller（13）Processing letter
Number and by optical fiber, the host computer is transferred to using RS485 serial communication modes（20）Optical transmitter and receiver waterborne（21）.
8. a kind of detection for above-mentioned autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device as claimed in claim 5
Method comprises the steps of in the step 4：
Step 4.1, the host computer（20）Monitor surface module（22）Pass through the optical transmitter and receiver waterborne（21）It receives real-time
Submarine pipeline information；
Step 4.2, the host computer（20）Monitor surface module（22）Image pick-up card（222）It receives processed underwater
The analog signal of the image information of pipeline passes through the image pick-up card（222）, above-mentioned analog signal is sampled, is quantified, it will
Analog signal is converted to digital signal and is sent to primary processor（221）；The host computer（20）Monitor surface module（22）'s
Ethernet switch（224）Receive the slave computer（10）Transducing signal be sent to primary processor after processing（221）, lead to
Primary processor is crossed above-mentioned signal is identified, handles and is converted into practical navigation information.
9. a kind of detection for above-mentioned autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device as claimed in claim 5
Method, in the step 5, the control process of autonomous remote-controlled vehicle submarine pipeline inspection detecting and tracking device is divided into artificial half
Homing guidance and from two steps of motion tracking, comprises the steps of：
Step 5.1, when the peripheral obstacle of Underwater Pipeline Environment causes submersible to be difficult to automatic obstacle-avoiding, disengaging, or acquisition more
The image of Underwater Pipeline Environment when submersible being made to be difficult to be automatically positioned pipeline, pass through manual operation mode and complete detection；
Step 5.2, when the above situation does not occur for Underwater Pipeline Environment, pass through the monitor surface module（22）Send out advance
Instruction, submersible are to be advanced from motion tracking submarine pipeline with given speed and height in the top for being tracked pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038388.8A CN108332058A (en) | 2017-01-19 | 2017-01-19 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038388.8A CN108332058A (en) | 2017-01-19 | 2017-01-19 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108332058A true CN108332058A (en) | 2018-07-27 |
Family
ID=62921714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710038388.8A Pending CN108332058A (en) | 2017-01-19 | 2017-01-19 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108332058A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
-
2017
- 2017-01-19 CN CN201710038388.8A patent/CN108332058A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 | |
| CN203786566U (en) | Submarine cable maintenance underwater robot system | |
| CN104369842B (en) | Water surface auxiliary robot based on autonomous underwater vehicle and use method | |
| CN206639376U (en) | A kind of unmanned boat group automatic monitoring system | |
| CN108332058A (en) | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device | |
| CN111638523A (en) | System and method for searching and positioning lost person by underwater robot | |
| CN108061577A (en) | A kind of pressure water conveyer tunnel intelligent detection device | |
| CN112644647B (en) | Method for carrying out investigation operation on deep Brillouin by adopting offshore flow laboratory system | |
| CN103454697A (en) | Complete-coverage underwater search and rescue device and search and rescue method thereof | |
| CN108189040A (en) | A kind of sewage pipeline detects robot system | |
| CN206871329U (en) | A kind of underwater system to charge online | |
| CN105544641A (en) | Deep sea two-way propulsion hydraulic grab monitoring system | |
| KR101760192B1 (en) | Underwater docking system based on underwater agent and the method of docking using thereof | |
| CN107839859A (en) | A kind of submarine optical fiber cable inspection submarine navigation device and method for inspecting | |
| CN211107934U (en) | Collaborative exploration system based on unmanned cableless submersible | |
| CN106882348A (en) | The system that wrecked boat is docked with salvor is completed under sea situation high | |
| CN113306686A (en) | Remote control type multi-joint deep sea inspection unmanned system | |
| CN110294090A (en) | A method of it is detected for underwater long range tunnel | |
| KR20190089647A (en) | Mission execution system capable of detachment between drones in underwater | |
| CN207622804U (en) | A kind of pressure water conveyer tunnel intelligent detection device | |
| CN204462385U (en) | A kind of acoustics seabed Range Measurement System | |
| CN206133912U (en) | A unmanned ship that is used for unmanned ship's wireless remote control system and has it | |
| CN103496437A (en) | Control device and method for automatic butt joint of underwater dragging carriers at sea |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180727 |
|
| WD01 | Invention patent application deemed withdrawn after publication |