CN110017431A - Base station and its method for inspecting based on underwater cruising inspection system - Google Patents

Base station and its method for inspecting based on underwater cruising inspection system Download PDF

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Publication number
CN110017431A
CN110017431A CN201910319743.8A CN201910319743A CN110017431A CN 110017431 A CN110017431 A CN 110017431A CN 201910319743 A CN201910319743 A CN 201910319743A CN 110017431 A CN110017431 A CN 110017431A
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China
Prior art keywords
energy
inspection device
controller
base station
sent
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CN201910319743.8A
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CN110017431B (en
Inventor
黄河
生祥
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American Drilling Deep Sea Energy Technology Research and Development Shanghai Co Ltd
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American Drilling Deep Sea Energy Technology Research and Development Shanghai Co Ltd
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Priority to CN201910319743.8A priority Critical patent/CN110017431B/en
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    • 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
    • F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means

Abstract

The embodiment of the invention discloses a kind of base station based on underwater cruising inspection system and its method for inspecting, the base station includes: master controller, orientation and communication module and energy control module；Master controller is electrically connected with orientation and communication module, and the acoustic signals of the request positioning for being sent according to inspection device or the acoustic signals of request charging generate the first positioning instruction or the second positioning instruction, and be sent to orientation and communication module；Orientation and communication module, for sending positioning acoustic signals or infrared signal to inspection device based on the first positioning instruction or the second positioning instruction；Energy control module is electrically connected with master controller, when being powered for the electromagnet on inspection device, by generating the active force to attract each other between the permanent magnet and electromagnet at charging port, so that inspection device is docked and charged with charging port completion.The technical solution of the embodiment of the present invention can reduce the loss of pipeline transmission medium rapidly and accurately to the detection of real time leak point is carried out along pipeline.

Description

Base station and its method for inspecting based on underwater cruising inspection system
Technical field
The present embodiments relate to inspection technology more particularly to a kind of base stations and its inspection side based on underwater cruising inspection system Method.
Background technique
Since the fifties, submarine pipeline laying amount constantly increases, and is laid with by past across rivers, till now It is laid with across deep-sea, realizes the transport net of underwater oil gas.
Since underwater pipe-line impregnates the corrosion that will receive in water from chemistry with biology, if things go on like this manage Road wall thickness is gradually reduced, and will lead to the leakage of pumped (conveying) medium in pipeline.The prior art is mainly detected by installing on pipeline Device, to detect the pressure and flow of pipeline, so that it is determined that the leakage point position of pipeline.
But at pipe leakage initial stage, since the scale of leakage point is smaller, the prior art by detection device due to being installed The limitation of position and installation number is difficult rapidly and accurately to carry out leakage point detection to each position on pipeline, to leakage point When developing to certain scale and being found, the loss of pipeline transmission medium is had resulted in, or even cause to the water quality of pipeline Certain pollution.Moreover, detection device generally requires to be equipped with energy-storage battery, once electricity exhausts, it is necessary to by artificial Mode replaces battery, is more unfavorable for carrying out the detection of real time leak point to pipeline.
Summary of the invention
The embodiment of the present invention provides a kind of base station based on underwater cruising inspection system and its method for inspecting, with rapidly and accurately right The detection of real time leak point is carried out along pipeline, reduces the loss of pipeline transmission medium.
In a first aspect, being set on pipeline the embodiment of the invention provides a kind of base station based on underwater cruising inspection system, wrap It includes: master controller, orientation and communication module and energy control module；
The master controller is electrically connected with the orientation and communication module, for receiving inspection by the orientation and communication module The acoustic signals for the request positioning that device is sent, and according to the acoustic signals of the request positioning, the first positioning instruction is generated, it will First positioning instruction is sent to the orientation and communication module；
The orientation and communication module, for sending positioning sound wave letter to the inspection device based on first positioning instruction Number, when so that the inspection device being exceeded except pre-determined distance at a distance from the base station, institute is determined according to the positioning signal State the relative position of inspection device Yu the base station；
The master controller is also used to receive the request charging that the inspection device is sent by the orientation and communication module Acoustic signals, and according to it is described request charging acoustic signals, generate the second positioning instruction, will second positioning instruction hair Send to the orientation and communication module, wherein when the inspection device at a distance from the base station within the scope of pre-determined distance when, hair Send the acoustic signals of the request charging；
The orientation and communication module is also used to send infrared letter to the inspection device based on second positioning instruction Number so that imaging of the inspection device based on the infrared signal on the inspection device, determine the inspection device to The moving direction of the charging port of the base station, and based on the luminous intensity of the infrared signal determine the inspection device with it is described The relative distance of charging port, according to moving direction data and moving distance data, the charging port of the base station Xiang Suoshu is mobile；
The energy control module is electrically connected with the master controller, is powered for the electromagnet on the inspection device When, by generating the active force to attract each other between the permanent magnet and the electromagnet at the charging port, so that described patrol Checking device is docked with charging port completion to charge to the inspection device.
Second aspect, the embodiment of the invention provides a kind of method for inspecting of base station based on underwater cruising inspection system, applications In base station described in first aspect, the base station is set on pipeline, including master controller, orientation and communication module and the energy Control module, which comprises
By the acoustic signals for the request positioning that the master controller is sent according to inspection device, generates the first positioning and refer to It enables, first positioning instruction is sent to the orientation and communication module；
First positioning instruction, which is based on, by the orientation and communication module sends positioning sound wave letter to the inspection device Number, when so that the inspection device being exceeded except pre-determined distance at a distance from the base station, institute is determined according to the positioning signal State the relative position of inspection device Yu the base station；
By the acoustic signals for the request charging that the master controller is sent according to the inspection device, the second positioning is generated Instruction, is sent to the orientation and communication module for second positioning instruction, wherein when the inspection device and the base station When distance is within the scope of pre-determined distance, the acoustic signals of the request charging are sent；
Second positioning instruction, which is based on, by the orientation and communication module sends infrared signal to the inspection device, with Make imaging of the inspection device based on the infrared signal on the inspection device, determines the inspection device to the base The moving direction for the charging port stood, and the inspection device and the charging end are determined based on the luminous intensity of the infrared signal The relative distance of mouth, according to moving direction data and moving distance data, the charging port of the base station Xiang Suoshu is mobile；
When the electromagnet on the inspection device is powered, pass through the permanent magnetism at the charging port of the energy control module The active force to attract each other is generated between iron and the electromagnet, so that the inspection device is docked with charging port completion To charge to the inspection device.
The acoustic signals for the request positioning that the embodiment of the present invention is sent by master controller according to inspection device or request are filled The acoustic signals of electricity generate the first positioning instruction or the second positioning instruction, and the first positioning instruction or the second positioning instruction are sent To orientation and communication module, so that orientation and communication module is sent according to the first positioning instruction or the second positioning instruction to inspection device Acoustic signals or infrared signal are positioned, inspection device is realized along pipeline and carries out leakage point detection and inspection device in internal electricity When pond group needs to charge, the mobile function of the charging port of Xiang Jizhan, moreover, leading to when the electromagnet on inspection device is powered The active force for generating and attracting each other between permanent magnet and electromagnet at the charging port of energy control module is crossed, inspection is realized Device is completed to dock the function to charge to inspection device with charging port.The prior art is solved by being fixed on pipeline On pressure and flow apparatus when determining the position of pipe leakage point, due to being influenced by device installation site and quantity, Not can be carried out the problem of flexibly detecting along pipeline and leakage point is accurately positioned, at the same also solve pressure in the prior art and When the energy-storage battery electricity of the detection devices such as flow exhausts, need to replace battery by artificial mode, be unfavorable for pipeline into The problem of row real time leak point detects realizes rapidly and accurately to the detection of real time leak point is carried out along pipeline, reduces pipeline The effect of the loss of transmission medium.
Detailed description of the invention
Fig. 1 a is a kind of structural schematic diagram for base station based on underwater cruising inspection system that the embodiment of the present invention one provides；
Fig. 1 b is the position view of a kind of base station and inspection device that the embodiment of the present invention one provides；
Fig. 1 c is a kind of structural schematic diagram for base station based on underwater cruising inspection system that the embodiment of the present invention one provides；
Fig. 1 d is a kind of signal acquisition module for base station based on underwater cruising inspection system that the embodiment of the present invention one provides Structural schematic diagram；
Fig. 1 e is a kind of structure of the dredging module for base station based on underwater cruising inspection system that the embodiment of the present invention one provides Schematic diagram；
Fig. 2 a is a kind of orientation and communication module of base station based on underwater cruising inspection system provided by Embodiment 2 of the present invention Structural schematic diagram；
Fig. 2 b is a kind of orientation and communication module of base station based on underwater cruising inspection system provided by Embodiment 2 of the present invention The structural schematic diagram of acousto-optic positioning unit；
Fig. 2 c is a kind of orientation and communication module of base station based on underwater cruising inspection system provided by Embodiment 2 of the present invention The structural schematic diagram of communication unit；
Fig. 3 is a kind of energy control module structure for base station based on underwater cruising inspection system that the embodiment of the present invention three provides Schematic diagram；
Fig. 4 a is a kind of energy control module for base station based on underwater cruising inspection system that the embodiment of the present invention four provides The structural schematic diagram of energy conversion unit；
Fig. 4 b is a kind of energy control module for base station based on underwater cruising inspection system that the embodiment of the present invention four provides The structural schematic diagram of energy monitoring unit；
Fig. 4 c is a kind of energy control module for base station based on underwater cruising inspection system that the embodiment of the present invention four provides The structural schematic diagram of energy output unit；
Fig. 5 is a kind of process of the method for inspecting for base station based on underwater cruising inspection system that the embodiment of the present invention five provides Figure.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 a is a kind of structural schematic diagram for base station based on underwater cruising inspection system that the embodiment of the present invention one provides, this reality It applies example and is applicable to the case where leakage point detection is carried out to submarine pipeline.The underwater cruising inspection system can be used as submarine pipeline transmission The subsystem of system, auxiliary completes the transmission of pipeline internal medium, typically, described to patrol under water in marine oil and gas production system Check system can be used for detecting the leakage point of submarine pipeline, and auxiliary completes oil gas by the transmission work in seabed to land.Based on underwater The base station of cruising inspection system is set on submarine pipeline, is implemented as moving inspection device offer navigation under water and the energy is mended The device given, under water during inspection, base station can in real time with move under water inspection device carry out data exchange, Fig. 1 b provide A kind of position view of base station and inspection device.
It should be noted that in the present embodiment, unit under module and module or circuit in base station are logical It crosses electrical connection and realizes data communication, preferred electric connection mode, but the electrical connection side in the present embodiment are provided only in attached drawing Formula is not limited to controller local area network's (Controller Area Network, CAN) bus connecting mode and serial peripheral Interface (Serial Peripheral Interface, SPI) agreement connection type etc..Also, in this embodiment, in base station Unit or circuit under module and module need the electric energy of preset kind to provide the energy for it, provide only in attached drawing excellent The power supply mode of choosing, the power supply mode in the present embodiment are not limited to direct current (Direct Current, DC) 24V and DC 5V and supply Electricity.
As shown in Figure 1a, it based on the base station 2 of underwater cruising inspection system, is set on pipeline, comprising: master controller 21, positioning Communication module 22 and energy control module 23.
Wherein, base station 2 is set on pipeline, for sending positioning signal to inspection device 1 and providing energy recharge Device, in general, base station 2 be set on submarine pipeline with preset interval length or according to submarine pipeline Node distribution, Rationally it is set on submarine pipeline node, it should be noted that base station 2 and the relative position of pipeline are not limited to upper and lower position, Base station 2 can be bonded setting with pipeline with any angle.
Inspection device 1 can move under water, implement the device detected to pipe leakage point, typical , the inspection device 1 is intelligent inspection robot, and pipeline management platform timing transfers intelligent inspection robot to subaqueous pipe Around road, make intelligent inspection robot along pipeline inspection, and will acquire data after inspection and be sent to pipeline management platform, is patrolling During 1 inspection of checking device, data exchange can be carried out with the base station 2 on submarine pipeline in real time.
In the present embodiment, the master controller 21 of base station 2 is the processing end of other modules in scheduling and management base station 2, fixed Position communication module 22 includes the device for sending and receiving signal, is to realize base station 2 and the extraneous module linked up, energy control module 23 include internal battery, energy conversion structure and energy export structure, is to 2 inside electric quantity monitoring of base station and outwardly Convey the module of the energy.
The master controller 21 is electrically connected with the orientation and communication module 22, for being connect by the orientation and communication module 22 The acoustic signals for the request positioning that inspection device 1 is sent are received, and according to the acoustic signals of the request positioning, generate the first positioning Instruction, is sent to the orientation and communication module 22 for first positioning instruction.
The orientation and communication module 22, for sending positioning sound to the inspection device 1 based on first positioning instruction Wave signal, when so that the inspection device 1 being exceeded except pre-determined distance at a distance from the base station 2, according to the positioning signal Determine the relative position of the inspection device 1 and the base station 2.
It can be communicated by positioning acoustic signals between base station 2 and inspection device 1, positioning acoustic signals are by base station 2 Active sonar utilize the underwater propagation characteristic of sound wave, by electroacoustic conversion and information processing generate acoustic signals, be used for Inspection device 1 remote (distance is at 100 meters or more) is assisted to determine the relative position of inspection device 1 Yu base station 2.Typically, when When base station 2 informs that inspection device 1 has navigator fix demand by pipeline management platform or inspection device 1, base station 2 can be to inspection Device 1 sends positioning acoustic signals.
In the present embodiment, it realizes that base station 2 is sent to inspection device 1 by orientation and communication module 22 and master controller 21 to determine The function of position acoustic signals.Wherein, the acoustic signals for requesting positioning are in inspection device 1 from pipeline platform, or are reached A certain base station 2 when will go to next base station 2, with the acoustic signals that the forms of broadcasting are sent, requests to take in the acoustic signals of positioning The identification information for the base station 2 that band will be gone to, base station 2 are receiving the acoustic signals of request positioning, and parse request positioning Acoustic signals in comprising this base station 2 identification information after, can just issue positioning acoustic signals.First positioning instruction is by base station What 2 master controller 21 generated, notice orientation and communication module 22 sends the instruction of positioning acoustic signals.
It should be noted that the frequency for not sending positioning acoustic signals to base station 2 is specifically limited in the present embodiment, That is inspection device 1 can be the phase for determining inspection device 1 with base station 2 according to the primary positioning acoustic signals that base station 2 is sent To position, it is also possible to determine the relative position of inspection device 1 Yu base station 2 according to the multiple bearing acoustic signals that base station 2 is sent.
The master controller 21 is also used to receive asking for the transmission of inspection device 1 by the orientation and communication module 22 The acoustic signals of charging are sought, and according to the acoustic signals of the request charging, generates the second positioning instruction, described second is positioned Instruction be sent to the orientation and communication module 22, wherein when the inspection device 1 at a distance from the base station 2 in pre-determined distance When in range, the acoustic signals of the request charging are sent.
The orientation and communication module 22 is also used to send based on second positioning instruction to the inspection device 1 infrared Signal, so that imaging of the inspection device 1 based on the infrared signal on the inspection device 1, determines the inspection dress Set 1 to the base station 2 charging port moving direction, and the inspection device is determined based on the luminous intensity of the infrared signal 1 with the relative distance of the charging port, according to moving direction data and moving distance data, the charging end of the base station Xiang Suoshu 2 Mouth is mobile.
In the present embodiment, realize that inspection device 1 is having charge requirement by orientation and communication module 22 and master controller 21 When, the mobile function of the charging port of Xiang Jizhan 2.Wherein, the acoustic signals for requesting charging are to fill in inspection device 1 with inside Electricity demanding, and when at a distance from base station 2 within the scope of pre-determined distance, what Xiang Jizhan 2 was issued, comprising specific charge information (for example, Request 2 information of powered base station, institute's electricity demand and the electrical demand etc. embodied with cruise duration) acoustic signals.Second positioning Instruction is generated by the master controller 21 of base station 2, and notice orientation and communication module 22 sends the instruction of infrared signal.
Typically, the emitter of infrared signal is located at the charging port of base station 2, persistently sends in an array manner red External signal.The effect of infrared signal is that guidance inspection device 1 is mobile to the charging port of base station 2, sets offer energy to fill 1 to inspection Source.In general, being positioned for closely (distance is at 100 meters or less) determining filling for inspection device 1 and base station 2 using infrared signal The relative position of electric port, imaging of the inspection device 1 based on infrared signal on the infrared remote receiver of inspection device 1, determination are patrolled Charging port from checking device 1 to base station 2 moving direction, and based on the luminous intensity of infrared signal determine inspection device 1 and charging The relative distance of port, according to moving direction data and moving distance data, the charging port of Xiang Jizhan 2 is mobile.
The energy control module 23 is electrically connected with the master controller 21, for the electromagnetism on the inspection device 1 When Tie Tong electricity, by generating the active force to attract each other between the permanent magnet and the electromagnet at the charging port, so that The inspection device 1 is docked with charging port completion to charge to the inspection device 1.
In the present embodiment, under the guidance of infrared signal, the charging port of inspection device 1 and base station 2 it is opposite away from From the charging port for when reaching a certain setting value (for example, 20 centimetres), recycling infrared signal guidance inspection device 1 and base station 2 It is accurately docked, generally requires position adjustment repeatedly, will cause docking low efficiency and power consumption consumes big problem, in order to Overcome the problems, such as this, inspection device 1 can detect reach the setting value with the relative distance of the charging port of base station 2 when, stop Driving force is only generated, makes itself to be in static suspended state (in the case where not considering ocean currents), meanwhile, to inspection device Electromagnet on 1 is powered, and generates and attracts each other between the permanent magnet that the charging port of the electromagnet meeting after the energization and base station 2 goes out Active force, under the action of the active force that this attracts each other, inspection device 1 can accurately be docked with the charging port of base station 2.
Further, the master controller 21 is also used to detect that the inspection device 1 is docked with the charging port When completion, the energy control module 23 is controlled by the electrical energy transportation obtained from power generator to the inspection device 1, In, the power generator, the thermal convection formed for the temperature difference by water outside the medium and pipeline in the pipeline generates electricity Can, and by the electrical energy transportation of generation to the energy control module 23.
After information is completed in the docking that master controller 21 receives the transmission of energy control module 23, master controller 21 can be controlled Energy control module 23 conveys electric energy to inspection device 1, wherein the electric energy conveyed is generated by power generator.
The principle of power generator power generation is: due to water outside the temperature of medium and pipeline transmitted in submarine pipeline temperature not Together, due to the effect of heat transmitting, lead to the temperature of tube circumference water and there is temperature between temperature of the pipeline compared with distant positions water It is poor to spend, which can form thermal convection under water, i.e., heat transfer process caused by relative displacement occurs for the particle in water, The higher particle of temperature is opposite to be moved up, and the lower particle of temperature is opposite to be moved down, and the movement of particle can push power generator in water In wheel rotation, be delivered to energy control module 23 to produce electricl energy.
The acoustic signals for the request positioning that the present embodiment is sent by master controller 21 according to inspection device 1 or request are charged Acoustic signals, generate the first positioning instruction or the second positioning instruction, the first positioning instruction or the second positioning instruction be sent to Orientation and communication module 22, so that orientation and communication module 22 is sent out according to the first positioning instruction or the second positioning instruction to inspection device 1 Positioning acoustic signals or infrared signal are sent, realizes inspection device 1 including pipeline progress leakage point detection and inspection device 1 When portion's battery pack needs to charge, the mobile function of the charging port of Xiang Jizhan 2, moreover, the electromagnet on inspection device 1 is powered When, it is real by generating the active force to attract each other between the permanent magnet and electromagnet at the charging port of energy control module 23 Show inspection device 1 to complete to dock the function to charge to inspection device 1 with charging port.It solves the prior art to pass through When the pressure and flow apparatus being fixed on pipeline determine the position of pipe leakage point, due to by device installation site and number The influence of amount not can be carried out the problem of flexibly detecting along pipeline and leakage point is accurately positioned, while also solve the prior art When the energy-storage battery electricity of the detection devices such as middle pressure and flow exhausts, need to replace battery by artificial mode, it is unfavorable In carrying out the problem of real time leak point detects to pipeline, realize rapidly and accurately to progress real time leak point inspection along pipeline It surveys, reduces the effect of the loss of pipeline transmission medium.
As illustrated in figure 1 c, optionally, the base station 2 further include: signal acquisition module 24 and dredging module 25；
The signal acquisition module 24 is electrically connected with the master controller 21, for acquiring the hydrology during underwater operation Data, and the hydrographic data is sent to the master controller 21；
The dredging module 25 is electrically connected with the master controller 21, for detecting the coverage extent of dredging probe, according to The coverage extent of dredging probe carries out dredging to the siltation for blocking dredging probe, and at the beginning of dredging and the end time Dredging status information, the dredging status information, for marking the dredging module 25 are sent to the master controller 21 respectively Whether dredging state is in；
The master controller 21 is also used to receive the hydrographic data and the dredging status information, and according to described clear Silt status information judges whether the hydrographic data is effective.
Wherein, hydrographic data is the waters attribute information around base station 2, typically, when waters is maritime waters, the hydrology Data may include: density of sea water, seawater pressure and ocean current flow velocity etc..
In this optional technical solution, signal acquisition module 24 and dredging module 25 are increased in base station 2.Signal Acquisition module 24 is used to acquire the hydrographic data around base station 2 by sensor, and hydrographic data can be used near base station 2 Waters carries out system administration, prevents the variation of water environment from impacting to pipe-line system.Dredging module 25 is right by Jet Dredging Siltation around base station 2 is cleared up, and is understood with end time, dredging module 25 to master controller 21 at the beginning of dredging Dredging status information is sent, when dredging status information indicates that current dredging module 25 is in dredging state, master controller 21 is sentenced The hydrographic data that settled front signal acquisition module 24 obtains is invalid data.
Specifically, as shown in Figure 1 d, signal acquisition module 24 may include: signal acquisition controller 241, linear isolation electricity Road 242, acquisition signal amplification circuit 243, D/A converting circuit 244 and signal acquisition transmission circuit 245.Pacify outside base station 2 Equipped with multiple sensors (for example, density sensor, pressure sensor and ocean current flow sensor etc.), circuit linearity insulating circuit 242 The analog signals of sensor output are subjected to linear isolation, prevent high voltage from penetrating burning apparatus in low-voltage system；It adopts Collection signal amplification circuit 243 amplifies after the signal after isolation is carried out second-order active filter, to reduce seabed interference signal Influence；D/A converting circuit 244 will be corresponding by the instruction that SPI protocol transmits according to signal acquisition controller 241 Analog signals are converted to the digital quantity of sixteen bit precision, and return to signal acquisition controller 241；Signal acquisition controller 241 after having obtained whole signals, encode signal, and are sent the data to by signal acquisition transmission circuit 245 Master controller 21.
Specifically, as shown in fig. le, dredging module 25 may include: dredging controller 251, siltation detection circuit 252, electricity Electromagnetic valve driving circuit 253, removing sludge driving circuit 254 and dredging transmission circuit 255.When the dredging of siltation detection circuit 252 When probe is blocked by mud, siltation detection circuit 252 issues detection signal；Dredging controller 251 receive detection signal after, It controls removing sludge driving circuit 254 and starts dredging pump work；Dredging controller 251 is penetrated by the opening of driving circuit for electromagnetic valve 253 Mouth of a river solenoid valve carries out Jet Dredging work to the mud near base station 2 with the water that removing sludge projects；Due to Jet Dredging process It influences whether the acquisition of the 2 pairs of surrounding hydrographic datas in base station, therefore master control is informed by dredging transmission circuit 255 and CAN bus Device 21 processed is currently carrying out dredging work, collected hydrographic data inaccuracy.
This optional technical solution is realized by signal acquisition module 24 and dredging module 25 to 2 surrounding water of base station The detection in domain and clearing function ensure that base station 2 is in normal underwater environment, and auxiliary ensures the normal work of base station 2.
Embodiment two
Second embodiment of the present invention provides a kind of base stations 2 based on underwater cruising inspection system, and the present embodiment is in above-described embodiment On the basis of further illustrate, the specific structure of orientation and communication module 22 in base station 2 is provided, below with reference to Fig. 2 a to this implementation A kind of base station 2 based on underwater cruising inspection system that example two provides is illustrated.
It should be noted that in the present embodiment, unit or controller in module are to realize number by electrical connection According to communication, the attached drawing in the present embodiment provides only preferred electric connection mode.Also, in the present embodiment, unit or Controller needs the electric energy of preset kind to provide the energy for it, and the attached drawing in the present embodiment provides only preferred power supply mode.
As shown in Figure 2 a, the orientation and communication module 22, comprising: acousto-optic positioning unit 221, orientation and communication controller 222, First data transceiving unit 223 and communication unit 224；
The communication unit 224 is electrically connected with the orientation and communication controller 222, for being received by passively communication sonar The acoustic signals for the request positioning that the inspection device 1 is sent, and convert the acoustic signals of the request positioning to and ask The digital signal of positioning is sought, sends the digital signal of the request positioning to the orientation and communication controller 222, so that described fixed Position communication controller 222 verifies the digital signal of the request positioning, the number that the request being verified is positioned Word signal is sent to first data transceiving unit 223；
First data transceiving unit 223 is electrically connected with the master controller 21, for receive be verified described in The digital signal of positioning is requested, and the digital signal that the request being verified positions is sent to the master controller 21, So that digital signal of the master controller 21 based on the request positioning, generates first positioning instruction, by described first Positioning instruction is sent to first data transceiving unit 223；
First data transceiving unit 223 is also used to first positioning instruction being sent to the orientation and communication control Device 222 processed, so that first positioning instruction is sent to the acousto-optic positioning unit 221 by the orientation and communication controller 222, So that the acousto-optic positioning unit 221 is based on first positioning instruction, pass through positive location sonar, Xiang Suoshu inspection device 1 Send the positioning acoustic signals.
In the present embodiment, by acousto-optic positioning unit 221 in orientation and communication module 22, orientation and communication controller 222, First data transceiving unit 223 and communication unit 224 realize the sound wave letter for receiving the request positioning that inspection device 1 is sent Number, and the acoustic signals based on request positioning, the function of positioning acoustic signals is sent to inspection device 1.
The communication unit 224 is also used to receive by the passive communication sonar described in the transmission of inspection device 1 The acoustic signals of charging are requested, and convert the acoustic signals of the request charging to the digital signal of request charging, send institute The digital signal of request charging is stated to the orientation and communication controller 222, so that the orientation and communication controller 222 is asked to described It asks the digital signal of charging to be verified, the digital signal that the request being verified is charged is sent to first data Transmit-Receive Unit 223；
First data transceiving unit 223 is also used to receive the digital signal for the request charging being verified, and The digital signal that the request being verified is charged is sent to the master controller 21, so that the master controller 21 is based on The digital signal of the request charging, generates second positioning instruction, second positioning instruction is sent to described first Data transceiving unit 223；
First data transceiving unit 223 is also used to second positioning instruction being sent to the orientation and communication control Device 222 processed, so that second positioning instruction is sent to the acousto-optic positioning unit 221 by the orientation and communication controller 222；
The acousto-optic positioning unit 221 is also used to pass through infrared transmitter, Xiang Suoshu based on second positioning instruction Inspection device 1 sends the infrared signal, so that charging of the inspection device 1 based on the infrared signal to the base station 2 Port is mobile.
In the present embodiment, by acousto-optic positioning unit 221 in orientation and communication module 22, orientation and communication controller 222, First data transceiving unit 223 and communication unit 224 also achieve the sound wave letter for receiving the request charging that inspection device 1 is sent Number, and the acoustic signals based on request charging, the function of infrared signal is sent to inspection device 1.
Effect based on acousto-optic positioning unit 221 in the present embodiment, specifically, as shown in Figure 2 b, acousto-optic positioning unit 221 may include: positive location sonar circuit 2211, infrared transmitting circuit 2212, signal amplification circuit 2213 and positioning control Device 2214 processed.The first positioning instruction or second that register control 2214 is transmitted according to master controller 21 by SPI protocol are determined Bit instruction generates corresponding digital signal output, to drive positive location sonar to generate sound-source signal or the infrared hair of driving Transmit-receive radio road 2212 generates infrared signal；The digital signal that signal amplification circuit 2213 is used to improve the generation of register control 2214 is defeated Driving capability out；Pulse of the positive location sonar circuit 2211 to electromagnet input predeterminated frequency, makes the magnetic field generated to gold Belong to film and generate active force, when metal film is shaken with identical frequency, the sound wave that a frequency is predeterminated frequency can be issued；Infrared hair It penetrates module and infrared waves is generated by the array being made of infrared photodiode, draw the charging port of inspection device 1 Yu base station 2 It is docked.
Effect based on communication unit 224 in the present embodiment, specifically, as shown in Figure 2 c, communication unit 224 can wrap Include: communication controller 2241, communication receive circuit 2243, communication transmitting line 2242 and filter circuit 2244.
Communication controller 2241 mainly includes the communication to sending and receiving for handling the communication data sended and received Conversion, the verifying of data format and the parsing of data content of data progress transmission form；Communication receives circuit 2243 and also wraps Two channels A and B are included, installation one passive communication sonar (for example, sound pick-up) on each channel, wherein channel A is for receiving The enable signal of predeterminated frequency, channel B are used to receive the data-signal of predeterminated frequency.When signal receives, channel A receives enabled Just start the signal of reading channel B after signal, otherwise the signal of channel B is considered as invalid data.The valid data signal of channel B connects After the completion of receipts, communication receives circuit 2243 and converts analog signal for received channel A and B acoustic signals, is sent to filtered electrical Road 2244 is handled；The two-way analog signals received are carried out second-order active filter by filter circuit 2244 respectively, by required frequency The data-signal of rate retains, and the data-signal of remaining frequency filters out.Data-signal is converted to digital letter by trigger circuit again Number, it is sent to communication controller 2241；Communicating transmitting line 2242 also includes two channels A and B, installs one on each channel Sonar (for example, loudspeaker) are actively communicated, wherein channel A is used to issue the enable signal of predeterminated frequency, and channel B is default for issuing The data-signal of frequency.Signal first allows channel A to generate lasting acoustic signals before sending, then send data-signal by channel B. Data-signal is transmitted with binary coded form, and channel B has acoustic signals to represent binary " 1 ", is represented without acoustic signals Binary " 0 ", channel B transmit data-signal with scheduled rate, and channel A stops issuing enabled after the completion of data signal transmission Signal.
The technical solution of the present embodiment ensure that base station by providing the specific structure of orientation and communication module 22 in base station 2 2 can accurately and timely receive the acoustic signals of the transmission of inspection device 1, and acoustic signals based on the received, feed back to inspection device 1 Information, so that inspection device 1 completes the task along pipe detection leakage point.
Embodiment three
The embodiment of the present invention three provides a kind of base station 2 based on underwater cruising inspection system, and the present embodiment is in above-described embodiment On the basis of further illustrate, the specific structure of energy control module 23 in base station 2 is provided, below with reference to Fig. 3 to this implementation A kind of base station 2 based on underwater cruising inspection system that example three provides is illustrated.
It should be noted that in the present embodiment, unit or controller in module are to realize number by electrical connection According to communication, the attached drawing in the present embodiment provides only preferred electric connection mode.Also, in the present embodiment, unit or Controller needs the electric energy of preset kind to provide the energy for it, and the attached drawing in the present embodiment provides only preferred power supply mode.
As shown in figure 3, the energy control module 23, comprising: energy conversion unit 231, energy monitoring unit 232, energy Source controller 233, the second data transceiving unit 234 and energy output unit 235；
The energy conversion unit 231 is electrically connected with the energy monitoring unit 232, for generating the power generator Electric energy be converted into the electric energy of preset kind, and by the electrical energy transportation of the preset kind to the energy monitoring unit 232.
In the present embodiment, it is possible to the electric energy that source conversion unit 231 generates power generator is handled, by boosting and The operation such as pressure stabilizing can convert the electric energy that power generator generates to the electric energy of preset kind, be stored in energy monitoring unit 232, and when inspection device 1 has charge requirement, it is conveyed to inspection device 1.
The energy monitoring unit 232 is electrically connected with the energy controller 233, for receiving the electricity of the preset kind Can, it is charged by the electric energy of the preset kind to the battery pack of the base station 2, and detect the battery pack of the base station 2 Electricity, the battery pack testing result of the base station 2 is sent to the energy controller 233, so that the energy controller The battery pack testing result of 233 pairs of base stations 2 is managed.
In the present embodiment, it is possible to include battery pack in source monitoring unit 232, exported for storing energy conversion unit 231 Preset kind electric energy, typically, energy monitoring unit 232 includes two battery packs, battery pack for storing electric energy, It powers for the modules of base station 2, another battery pack is for storing electric energy, is inspection when inspection device 1 has charge requirement Device 1 conveys electric energy.Energy monitoring unit 232 further includes observation circuit, for each economize on electricity in battery pack and battery pack Pond carries out real-time monitoring, guarantees to the energy supply inside and outside base station 2.
The energy output unit 235 is electrically connected with the energy controller 233, on the inspection device 1 When electromagnet is powered, by generating the active force to attract each other between the permanent magnet and the electromagnet at the charging port, So that the inspection device 1 is docked with charging port completion, and in the charging end of the inspection device 1 and the base station 2 After the completion of mouthful docking, Xiang Suoshu energy controller 233 sends docking and completes information, so that the energy controller 233 will be described Docking completes information and is sent to second data transceiving unit 234.
In the present embodiment, it is possible to which source output unit 235 may be implemented to dock with inspection device 1, wherein energy output is single Member 235 includes charging port, is provided with permanent magnet at charging port, when the electromagnet on inspection device 1 is powered, charging port The active force to attract each other is generated between the permanent magnet and electromagnet at place, the charging port pair of inspection device 1 Yu base station 2 can be made It connects.
Second data transceiving unit 234 is electrically connected with the master controller 21, completes letter for receiving the docking Breath, and docking completion information is sent to the master controller 21, so that the master controller 21 generates energy supply and refers to It enables, and energy supply instruction is sent to second data transceiving unit 234；
Second data transceiving unit 234 is also used to energy supply instruction being sent to the energy controller 233, so that energy supply instruction is sent to the energy output unit 235 by the energy controller 233, so that described Energy output unit 235 is instructed based on the energy supply, and Xiang Suoshu inspection device 1 provides the energy.
In the present embodiment, it is possible to which source output unit 235 can also convert electromagnetism for the electric energy in energy monitoring unit 232 Wave is delivered to inspection device 1 by charging port, to realize base station 2 to the underwater wireless charging function of inspection device 1.
Optionally, energy control module 23 can also include DC decompression unit 236, for using transformer by default class The electric energy of type is further converted into other electric energy types for adapting to base station 2.
The technical solution of the present embodiment provides the specific structure of energy control module 23, ensure that base station 2 can be with fast Fast simple mode charges to inspection device 1, avoids influence of the artificial replacement battery pack to underwater detection work, improves and let out Leak source detection efficiency simultaneously reduces artificial charging cost.
Example IV
The embodiment of the present invention four provides a kind of base station 2 based on underwater cruising inspection system, and the present embodiment is in above-described embodiment On the basis of further illustrate, provide energy conversion unit 231, energy monitoring unit 232 and energy output unit 235 Specific structure says a kind of base station 2 based on underwater cruising inspection system that the present embodiment four provides below with reference to Fig. 4 a-4c It is bright.
It should be noted that in the present embodiment, the circuit in unit is to realize data communication, this reality by electrical connection It applies the attached drawing in example and provides only preferred electric connection mode.Also, in the present embodiment, circuit needs the electric energy of preset kind The energy is provided for it, the attached drawing in the present embodiment provides only preferred power supply mode.
As shown in fig. 4 a, the energy conversion unit 231 include: current rectifying and wave filtering circuit 2311, energy storage booster circuit 2316, Electric energy converts controller 2315, voltage regulator circuit 2312, input sampling circuit 2313 and output sample circuit 2314；
The current rectifying and wave filtering circuit 2311 is electrically connected with the energy storage booster circuit 2316, for producing the power generator Raw electric energy is converted into direct current, and the direct current is delivered to the energy monitoring list by the energy storage booster circuit 2316 Member 232；
The current rectifying and wave filtering circuit 2311 is also electrically connected with the voltage regulator circuit 2312, is also used to work as the interior of the base station 2 It is by the voltage regulator circuit 2312 that the direct current is defeated when portion's battery pack cannot convert the power supply of controller 2315 for the electric energy It send to the electric energy and converts controller 2315, convert controller 2315 for the electric energy and power；
The input sampling circuit 2313 is electrically connected with electric energy conversion controller 2315, for obtaining the rectification filter The direct current that wave circuit 2311 exports, and the direct current of the current rectifying and wave filtering circuit 2311 output is sampled, first is adopted Sample result is sent to the electric energy conversion controller 2315, so that the electric energy converts controller 2315 to the rectifying and wave-filtering electricity The direct current that road 2311 exports is monitored；
The output sample circuit 2314 is electrically connected with electric energy conversion controller 2315, for obtaining the energy storage liter The direct current energy that volt circuit 2316 exports, and the direct current energy of the energy storage booster circuit 2316 output is sampled, by the Two sampled results are sent to the electric energy conversion controller 2315, so that the electric energy converts controller 2315 to the energy storage liter The direct current energy that volt circuit 2316 exports is monitored.
In the present embodiment, become direct current through over commutation filter circuit 2311 after power generator produces electricl energy, at this time Electric energy converts controller 2315 and works not yet, therefore electric energy can not become outwardly to supply by energy storage booster circuit 2316 High-tension pulse stamp direct current, for example, DC 600V.In addition, due to the power supply quality that generates at this time with load characteristic is very poor cannot be straight It being connected in electric energy conversion controller 2315 and work electricity consumption is provided, it is therefore desirable to voltage regulator circuit 2312 carries out pressure stabilizing control to direct current, It makes stable and has the electric energy of the preset kind of certain load capacity, for example, DC 5V；Power conversion controller exists After normal work, proportional integral derivative can be carried out according to input sampling circuit 2313 and the output collected voltage of sample circuit 2314 After operation, by constant-current control signal and pulse-modulated signal to the insulated gate bipolar crystal inside energy storage booster circuit 2316 Pipe is controlled with field-effect tube, final to realize the function of stablizing output high-tension pulse stamp direct current.
As shown in Figure 4 b, the energy monitoring unit 232 includes: energy monitoring controller 2321, the first battery management system The 2322, second battery management system 2323 of system, reduction voltage circuit 2324 and the first data transmit-receive circuit 2325；
The energy monitoring controller 2321 respectively with first battery management system 2322 and the second battery management system 2323 electrical connection of system, for respectively to the battery in first battery management system 2322 and the second battery management system 2323 Group is monitored, and monitoring result is sent to the energy controller 233 by the first data transmit-receive circuit 2325；
First battery management system 2322 is electrically connected with the energy output unit 235, for receiving the energy The direct current that conversion unit 231 conveys, and the direct current that the energy conversion unit 231 conveys is stored in first battery It, will after the completion of the inspection device 1 is docked with the charging port of the base station 2 in the internal battery of management system 2322 Direct current in the internal battery of first battery management system 2322 is delivered to the energy output unit 235；
The reduction voltage circuit 2324 is electrically connected with second battery management system 2323, for receiving the energy conversion The direct current that unit 231 conveys carries out decompression processing to the direct current of the energy conversion unit 231 conveying, and will be after decompression Direct current be delivered to second battery management system 2323 so that the internal cell of second battery management system 2323 Group stores the direct current after the decompression, for the base station 2 power supply.
In the present embodiment, it is possible to which source monitor controller 2321 obtains each economize on electricity in battery management system by SPI protocol Balance route is carried out according to the current value of each economize on electricity cell voltage after cell voltage；First battery management system 2322 and reduction voltage circuit 2324, for the obtained high-tension pulse stamp direct current (DC 600V) of the processing of energy conversion unit 231 to be divided into two-way, all the way into Enter reduction voltage circuit 2324, the electric energy (DC for adapting to base station 2 for self-starting is converted to by internal transformer and voltage-stablizer 5V), another way is stored in the battery pack of the first battery management system 2322 after being filtered, and the first battery management system 2322 is also According to the instruction feedback battery energy storage state of energy monitoring controller 2321 and Balance route can be carried out to battery pack；Second electricity Pond management system exports electricity in the battery pack in portion stored within electric energy (DC 5V) for adapting to base station 2 of self-starting Energy (DC 5V) is that other control equipment are powered.Second battery management system 2323 can also be according to energy management controller Instruction feedback battery energy storage state and to battery pack carry out Balance route.
As illustrated in fig. 4 c, the energy output unit 235, comprising: energy o controller 2351, energy pulse-triggered electricity Road 2352, anchoring charging circuit 2353 and the second data transmit-receive circuit 2354；
The anchoring charging circuit 2353 is electrically connected with the energy o controller 2351, in the inspection device When electromagnet on 1 is powered, by being generated between the electromagnet on the permanent magnet and the inspection device 1 at the charging port The active force to attract each other so that the completion of the inspection device 1 and the charging port dock, and in the inspection device 1 and After the completion of the charging port docking of the base station 2, Xiang Suoshu energy o controller 2351 sends the docking and completes information, with Make the energy o controller 2351 that docking completion information is sent to the second data transmit-receive circuit 2354；
The two data transmit-receives circuit is electrically connected with the energy controller 233, for information hair to be completed in the docking It send and receives the energy supply instruction that the energy controller 233 is sent to the energy controller 233, and by the energy Source supply instruction is sent to the energy o controller 2351, so that the energy o controller 2351 is based on the energy Supply instruction, sends the first energy conversion to the energy pulsed triggering circuit 2352 and the anchoring charging circuit 2353 respectively Instruction and the instruction of the second energy conversion；
The energy pulsed triggering circuit 2352, for after receiving first energy conversion instruction, by described the DC conversion in the internal battery of one battery management system 2322 is pulse direct current, and by the pulse direct current electric energy It is sent to the anchoring charging circuit 2353, so that the anchoring charging circuit 2353 refers to receiving second energy conversion After order, electromagnetic wave is converted by the pulse direct current electric energy, is sent to the inspection device 1, to be filled to the inspection device 1 Electricity.
In the present embodiment, anchoring charging circuit 2353 passes through permanent magnet pair when the electromagnet on inspection device 1 is powered Inspection device 1 is anchored, and inspection device 1 and the charging port of base station 2 are docked, after the completion of docking, anchoring charging Docking is completed information and is sent to energy by energy o controller 2351 and the second data transmit-receive circuit 2354 by circuit 2353 Source controller 233.Energy o controller 2351 passes through after receiving the energy supply instruction of the transmission of energy controller 233 Pulse-modulated signal starts energy pulsed triggering circuit 2352, makes energy pulsed triggering circuit 2352 by energy monitoring unit 232 In DC conversion be pulse direct current, by anchoring charging circuit 2353 be inspection device 1 carry out wireless charging.
The technical solution of the present embodiment provides energy conversion unit 231, energy monitoring unit 232 and energy output The specific structure of unit 235 ensure that the energy supply of energy supply and base station 2 to inspection device 1 in base station 2, overcome In the prior art underwater monitoring device can not automatic charging the problem of.
Embodiment five
Fig. 5 is a kind of flow chart of the method for inspecting for base station based on underwater cruising inspection system that embodiment five provides, described Method is applicable to the case where carrying out leakage point detection to submarine pipeline, can be by being provided in any of the above-described embodiment based on water The base station of lower cruising inspection system executes.
The method specifically comprises the following steps:
Step 510, the acoustic signals positioned by the master controller according to the request that inspection device is sent, generate first First positioning instruction is sent to the orientation and communication module by positioning instruction.
Step 520 is sent to the inspection device based on first positioning instruction by the orientation and communication module and is determined Position acoustic signals when so that the inspection device being exceeded except pre-determined distance at a distance from the base station, are believed according to the positioning Number determine the relative position of the inspection device and the base station.
Step 530, the acoustic signals to be charged by the master controller according to the request that the inspection device is sent, generate Second positioning instruction is sent to the orientation and communication module, wherein when the inspection device and institute by the second positioning instruction When stating the distance of base station within the scope of pre-determined distance, the acoustic signals of the request charging are sent.
Step 540, by the orientation and communication module be based on second positioning instruction to the inspection device send it is red External signal, so that imaging of the inspection device based on the infrared signal on the inspection device, determines the inspection dress Set the moving direction of the charging port to the base station, and based on the luminous intensity of the infrared signal determine the inspection device with The relative distance of the charging port, according to moving direction data and moving distance data, the charging port of the base station Xiang Suoshu is moved It is dynamic.
Step 550, on the inspection device electromagnet be powered when, pass through the charging port of the energy control module The active force to attract each other is generated between the permanent magnet at place and the electromagnet, so that the inspection device and the charging port Docking is completed to charge to the inspection device.
What the acoustic signals for the request positioning that the present embodiment is sent by master controller according to inspection device or request were charged Acoustic signals generate the first positioning instruction or the second positioning instruction, and it is fixed that the first positioning instruction or the second positioning instruction are sent to Position communication module, so that orientation and communication module sends to inspection device and positions according to the first positioning instruction or the second positioning instruction Acoustic signals or infrared signal realize inspection device along pipeline and carry out leakage point detection and inspection device in internal battery When needing to charge, the mobile function of the charging port of Xiang Jizhan, moreover, passing through energy when the electromagnet on inspection device is powered The active force to attract each other is generated between permanent magnet and electromagnet at the charging port of source control module, realizes inspection device It completes to dock the function to charge to inspection device with charging port.The prior art is solved by being fixed on pipeline It, cannot due to being influenced by device installation site and quantity when pressure and flow apparatus determine the position of pipe leakage point The problem of progress flexibly detects along pipeline and leakage point is accurately positioned, while also solving pressure in the prior art and flow Etc. the energy-storage battery electricity of detection devices when exhausting, need to replace battery by artificial mode, be unfavorable for carrying out pipeline real When leakage point the problem of detecting, realize rapidly and accurately to the detection of real time leak point is carried out along pipeline, reduce pipeline transmission The effect of the loss of medium.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims (9)

1. a kind of base station based on underwater cruising inspection system, is set on pipeline characterized by comprising master controller, positioning are logical Interrogate module and energy control module；
The master controller is electrically connected with the orientation and communication module, for receiving inspection device by the orientation and communication module The acoustic signals of the request positioning of transmission, and according to the acoustic signals of the request positioning, the first positioning instruction is generated, it will be described First positioning instruction is sent to the orientation and communication module；
The orientation and communication module, for sending positioning acoustic signals to the inspection device based on first positioning instruction, When so that the inspection device being exceeded except pre-determined distance at a distance from the base station, patrolled according to positioning signal determination The relative position of checking device and the base station；
The master controller is also used to receive the sound for the request charging that the inspection device is sent by the orientation and communication module Wave signal, and according to the acoustic signals of the request charging, the second positioning instruction is generated, second positioning instruction is sent to The orientation and communication module, wherein when the inspection device at a distance from the base station within the scope of pre-determined distance when, send institute State the acoustic signals of request charging；
The orientation and communication module is also used to send infrared signal to the inspection device based on second positioning instruction, with Make imaging of the inspection device based on the infrared signal on the inspection device, determines the inspection device to the base The moving direction for the charging port stood, and the inspection device and the charging end are determined based on the luminous intensity of the infrared signal The relative distance of mouth, according to moving direction data and moving distance data, the charging port of the base station Xiang Suoshu is mobile；
The energy control module is electrically connected with the master controller, when being powered for the electromagnet on the inspection device, By generating the active force to attract each other between the permanent magnet and the electromagnet at the charging port, so that the inspection fills It sets and docks with charging port completion to charge to the inspection device.
2. base station according to claim 1, which is characterized in that
The master controller is also used to when detecting the inspection device with the charging port and docking completion, described in control Energy control module is by the electrical energy transportation obtained from power generator to the inspection device, wherein the power generator is used for It is produced electricl energy by the thermal convection that the temperature difference of water outside the medium and pipeline in the pipeline is formed, and by the electrical energy transportation of generation To the energy control module.
3. base station according to claim 1 or 2, which is characterized in that further include: signal acquisition module and dredging module；
The signal acquisition module is electrically connected with the master controller, for acquiring the hydrographic data during underwater operation, and The hydrographic data is sent to the master controller；
The dredging module is electrically connected with the master controller, for detecting the coverage extent of dredging probe, is popped one's head according to dredging Coverage extent, dredging is carried out to the siltation for blocking dredging probe, and at the beginning of dredging and the end time is respectively to institute It states master controller and sends dredging status information, the dredging status information, for marking whether the dredging module is in dredging State；
The master controller is also used to receive the hydrographic data and the dredging status information, and according to the dredging state Information judges whether the hydrographic data is effective.
4. base station according to claim 1 or 2, which is characterized in that the orientation and communication module, comprising: acousto-optic positioning is single Member, orientation and communication controller, the first data transceiving unit and communication unit；
The communication unit is electrically connected with the orientation and communication controller, for receiving the inspection dress by passively communication sonar The acoustic signals of the request positioning of transmission are set, and convert the acoustic signals of the request positioning to the number of request positioning Signal sends the digital signal of the request positioning to the orientation and communication controller, so that the orientation and communication controller pair The digital signal of the request positioning is verified, and the digital signal that the request being verified positions is sent to described the One data transceiving unit；
First data transceiving unit is electrically connected with the master controller, for receiving the request being verified positioning Digital signal, and the digital signal that the request being verified positions is sent to the master controller, so that the master control Digital signal of the device processed based on the request positioning, generates first positioning instruction, first positioning instruction is sent to First data transceiving unit；
First data transceiving unit is also used to first positioning instruction being sent to the orientation and communication controller, with Make the orientation and communication controller that first positioning instruction is sent to the acousto-optic positioning unit, so that the acousto-optic positions Unit is based on first positioning instruction, and by positive location sonar, Xiang Suoshu inspection device sends the positioning acoustic signals；
The communication unit is also used to receive the request charging that the inspection device is sent by the passive communication sonar Acoustic signals, and by it is described request charging acoustic signals be converted into request charging digital signal, send it is described request fill The digital signal of electricity is to the orientation and communication controller, so that the orientation and communication controller believes the number of the request charging It number is verified, the digital signal that the request being verified is charged is sent to first data transceiving unit；
First data transceiving unit is also used to receive the digital signal for the request charging being verified, and will verifying By the request charging digital signal be sent to the master controller so that the master controller be based on it is described request fill The digital signal of electricity generates second positioning instruction, second positioning instruction is sent to the first data transmit-receive list Member；
First data receipt unit is also used to second positioning instruction being sent to the orientation and communication controller, with Make the orientation and communication controller that second positioning instruction is sent to the acousto-optic positioning unit；
The acousto-optic positioning unit is also used to pass through infrared transmitter, Xiang Suoshu inspection device based on second positioning instruction The infrared signal is sent, so that the inspection device is mobile to the charging port of the base station based on the infrared signal.
5. base station according to claim 2, which is characterized in that the energy control module, comprising: energy conversion unit, Energy monitoring unit, energy controller, the second data transceiving unit and energy output unit；
The energy conversion unit is electrically connected with the energy monitoring unit, the electric energy conversion for generating the power generator For the electric energy of preset kind, and by the electrical energy transportation of the preset kind to the energy monitoring unit；
The energy monitoring unit is electrically connected with the energy controller, for receiving the electric energy of the preset kind, passes through institute The electric energy for stating preset kind charges to the battery pack of the base station, and detects the electricity of the battery pack of the base station, by institute The battery pack testing result for stating base station is sent to the energy controller, so that battery of the energy controller to the base station Group testing result is managed；
The energy output unit is electrically connected with the energy controller, is powered for the electromagnet on the inspection device When, by generating the active force to attract each other between the permanent magnet and the electromagnet at the charging port, so that described patrol Checking device is docked with charging port completion, and after the completion of the inspection device is docked with the charging port of the base station, Docking is sent to the energy controller and completes information, so that docking completion information is sent to institute by the energy controller State the second data transceiving unit；
Second data transceiving unit is electrically connected with the master controller, completes information for receiving the docking, and by institute It states docking and completes information and be sent to the master controller, so that the master controller generates energy supply instruction, and by the energy Source supply instruction is sent to second data transceiving unit；
Second data transceiving unit is also used to energy supply instruction being sent to the energy controller, so that institute It states energy controller and energy supply instruction is sent to the energy output unit, so that the energy output unit is based on The energy supply instruction, Xiang Suoshu inspection device provide the energy.
6. base station according to claim 5, which is characterized in that the energy conversion unit includes: current rectifying and wave filtering circuit, storage It can booster circuit, electric energy conversion controller, voltage regulator circuit, input sampling circuit and output sample circuit；
The current rectifying and wave filtering circuit is electrically connected with the energy storage booster circuit, the electric energy conversion for generating the power generator For direct current, the direct current is delivered to by the energy monitoring unit by the energy storage booster circuit；
The current rectifying and wave filtering circuit is also electrically connected with the voltage regulator circuit, and the internal battery for being also used to work as the base station cannot be When the electric energy conversion controller power supply, the direct current is delivered to by the electric energy conversion control by the voltage regulator circuit Device converts controller power supply for the electric energy；
The input sampling circuit is electrically connected with electric energy conversion controller, for obtaining the current rectifying and wave filtering circuit output Direct current, and the direct current of current rectifying and wave filtering circuit output is sampled, the first sampled result is sent to the electric energy Controller is converted, so that the direct current that electric energy conversion controller exports the current rectifying and wave filtering circuit is monitored；
The output sample circuit is electrically connected with electric energy conversion controller, for obtaining the energy storage booster circuit output Direct current energy, and the direct current energy of energy storage booster circuit output is sampled, the second sampled result is sent to described Electric energy converts controller, so that the direct current energy that electric energy conversion controller exports the energy storage booster circuit is supervised Control.
7. base station according to claim 6, which is characterized in that the energy monitoring unit include: energy monitoring controller, First battery management system, the second battery management system, reduction voltage circuit and the first data transmit-receive circuit；
The energy monitoring controller is electrically connected with first battery management system and the second battery management system respectively, is used for The battery pack in first battery management system and the second battery management system is monitored respectively, and monitoring result is led to It crosses the first data transmit-receive circuit and is sent to the energy controller；
First battery management system is electrically connected with the energy output unit, for receiving the energy conversion unit transportation Direct current, and the direct current of the energy conversion unit transportation is stored in the internal cell of first battery management system It, will be in first battery management system after the completion of inspection device is docked with the charging port of the base station in group Direct current in portion's battery pack is delivered to the energy output unit；
The reduction voltage circuit is electrically connected with second battery management system, for receiving the straight of the energy conversion unit transportation Galvanic electricity carries out decompression processing to the direct current of the energy conversion unit transportation, and the direct current after decompression is delivered to described Second battery management system, so that the internal battery of second battery management system stores the direct current after the decompression, Think the base station power supply.
8. base station according to claim 7, which is characterized in that the energy output unit, comprising: energy output control Device, energy pulsed triggering circuit, anchoring charging circuit and the second data transmit-receive circuit；
The anchoring charging circuit is electrically connected with the energy o controller, for the electromagnetism Tie Tong on the inspection device When electric, by generating the effect to attract each other between the electromagnet on the permanent magnet and the inspection device at the charging port Power, so that the inspection device is docked with charging port completion, and in the charging end of the inspection device and the base station After the completion of mouth docking, Xiang Suoshu energy o controller sends the docking and completes information, so that the energy o controller Docking completion information is sent to the second data transmit-receive circuit；
The two data transmit-receives circuit is electrically connected with the energy controller, described for docking completion information to be sent to Energy controller receives the energy supply instruction that the energy controller is sent, and the energy supply is instructed and is sent To the energy o controller, so that the energy o controller is instructed based on the energy supply, respectively to the energy Source pulsed triggering circuit and the anchoring charging circuit send the instruction of the first energy conversion and the instruction of the second energy conversion；
The energy pulsed triggering circuit, for after receiving first energy conversion instruction, by first cell tube DC conversion in the internal battery of reason system is pulse direct current, and the pulse direct current electric energy is sent to the anchor Gu charging circuit, so that the anchoring charging circuit is after receiving second energy conversion instruction, by the pulse direct current Electric energy is converted into electromagnetic wave, is sent to the inspection device, to charge to the inspection device.
9. a kind of method for inspecting of the base station based on underwater cruising inspection system is applied to as of any of claims 1-8 In base station, the base station is set on pipeline, including master controller, orientation and communication module and energy control module, the side Method includes:
By the acoustic signals for the request positioning that the master controller is sent according to inspection device, the first positioning instruction is generated, it will First positioning instruction is sent to the orientation and communication module；
First positioning instruction, which is based on, by the orientation and communication module sends positioning acoustic signals to the inspection device, with When making the inspection device at a distance from the base station beyond except pre-determined distance, the inspection is determined according to the positioning signal The relative position of device and the base station；
By the acoustic signals for the request charging that the master controller is sent according to the inspection device, generates the second positioning and refer to Enable, second positioning instruction be sent to the orientation and communication module, wherein when the inspection device and the base station away from When within the scope of pre-determined distance, the acoustic signals of the request charging are sent；
Second positioning instruction is based on by the orientation and communication module and sends infrared signal to the inspection device, so that institute Imaging of the inspection device based on the infrared signal on the inspection device is stated, determines the inspection device to the base station The moving direction of charging port, and the inspection device and the charging port are determined based on the luminous intensity of the infrared signal Relative distance, according to moving direction data and moving distance data, the charging port of the base station Xiang Suoshu is mobile；
When the electromagnet on the inspection device is powered, by permanent magnet at the charging port of the energy control module with The active force to attract each other is generated between the electromagnet, so that the inspection device is docked with charging port completion with right The inspection device charges.
CN201910319743.8A 2019-04-19 2019-04-19 Base station based on underwater inspection system and inspection method thereof Active CN110017431B (en)

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CN112167734A (en) * 2020-09-23 2021-01-05 邵阳学院 Temperature difference prompting instrument for coat of old people
CN112821495A (en) * 2021-01-20 2021-05-18 中科长城海洋信息系统有限公司 Underwater wireless charging method, device, system, device and storage medium
CN114460949A (en) * 2022-02-17 2022-05-10 浙江省海洋水产养殖研究所 Underwater inspection system of bionic robot fish

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CN114460949A (en) * 2022-02-17 2022-05-10 浙江省海洋水产养殖研究所 Underwater inspection system of bionic robot fish

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