WO2023124169A1

WO2023124169A1 - Method and system for positioning seabed metal device, and device and storage medium

Info

Publication number: WO2023124169A1
Application number: PCT/CN2022/115857
Authority: WO
Inventors: 张定华; 尚敬; 涂绍平; 严允; 宋俊辉; 朱迎谷; 胡斌炜; 王鸿飞
Original assignee: 上海中车艾森迪海洋装备有限公司
Priority date: 2021-12-30
Filing date: 2022-08-30
Publication date: 2023-07-06
Also published as: CN114325849A

Abstract

A method and system for positioning a seabed metal device, and a device and a storage medium. The method comprises: introducing an alternating current into a seabed metal device, and detecting, by using a three-dimensional magnetic field sensor, a variable magnetic field generated by the metal device (101); according to the variable magnetic field, outputting induced voltages of magnetic fields in three directions, i.e. an X axis, a Y axis and a Z axis; according to the induced voltages and a first height from the three-dimensional magnetic field sensor to the metal device, obtaining, by means of calculation, a lateral offset of an underwater control processing system to the metal device (103); acquiring the mounting height difference between the underwater control processing system and an altimeter, and acquiring, by means of the altimeter, a real-time height from the altimeter to the seabed (104); and calculating a burial depth of the metal device according to the real-time height and the first height, so as to complete the positioning of the metal device (105). The position of a detected object is calculated by using the method, which facilitates computer programming and has a strong practicability; and the effect of a background magnetic field is automatically eliminated, thereby improving the operation precision.

Description

A positioning method, system, device and storage medium for seabed metal equipment

technical field

The present application relates to the field of underwater robots, and in particular to a positioning method, system, equipment and storage medium for seabed metal equipment.

Background technique

At present, submarine cables and optical cables have working voltage and current during normal operation, but there is usually no power transmission before construction or when there is a fault; offshore wind power and inter-island cables usually use AC power, and submarine optical cables mostly use high-voltage DC power supply. Subsea metal pipelines are usually not powered through. In these activities, a submarine cable, optical cable and pipeline detection device is required for submarine cable and pipeline location. At present, there are mainly the following solutions: 1) Acoustic detection, which uses the principle of sound wave reflection to detect the position of the seabed and objects below the seabed, has the disadvantages of low accuracy and high emission energy. 2) Optical detection can only obtain objects on the surface of the seabed, but cannot obtain accurate positions; 3) Using a high-voltage test device causes the running cable to stop working and is likely to cause secondary damage; 4) Use the principle of electromagnetic induction to design the detection equipment for ground wires and pipelines , is not suitable for the ocean environment, and needs to meet the requirements of the ocean carrier platform. It is suitable for a single object when used at the same time, and cannot meet the above multi-scenario applications, and the accuracy of the data provided is limited. 5) Some underwater detection equipment uses AC power frequency power supply, which may be the same frequency as the detection cable object, which makes this type of underwater detection equipment not suitable for cable positioning at this frequency.

For example, there is a submarine pipeline detection device based on an ROV platform, including a deck unit and an underwater detection device. The underwater detection device integrates multi-beam sonar, single-beam sonar, optical imaging system, lighting system, CTD, and electronic compass on the ROV platform. , acoustic beacons and electrical systems. A multi-beam sonar is installed in front of the ROV platform, and a single-beam sonar is installed below. By installing two two-dimensional forward-looking sonars, the resolution of three-dimensional information of distance, angle and depth can be obtained, combined with GPS and ultra-short baseline positioning system , electronic compass and CTD data, through data calculation and analysis, the precise positioning of the abnormal points of the submarine pipeline is realized.

However, the above method is only an ROV application of a pipeline detection device, and does not involve the processing method of the pipeline detection device itself, resulting in more complex detection and poor accuracy, which cannot meet the current technical requirements. How to design a high-precision submarine The positioning of metal equipment requires further technical exploration.

Contents of the invention

Based on this, it is necessary to provide a positioning method, system, computer equipment and storage medium for subsea metal equipment aiming at the above technical problems.

In a first aspect, an embodiment of the present invention provides a method for positioning seabed metal equipment, the method comprising:

Lead the metal equipment on the seabed into an alternating current, and use a three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment;

According to the variable magnetic field, output the induced voltage of the magnetic field in the three directions of X axis, Y axis and Z axis, and transmit the induced voltage to the underwater control processing system connected to the three-dimensional magnetic field sensor;

calculating a lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device;

Obtain the height difference installed between the underwater control processing system and the altimeter, and obtain the real-time height from the altimeter to the seabed through the altimeter;

Calculate the buried depth of the metal device according to the real-time height and the first height, and position the metal device according to the lateral offset and the buried depth.

Further, outputting the induced voltage of the magnetic field in three directions of X-axis, Y-axis and Z-axis according to the variable magnetic field, and transmitting the induced voltage to the underwater control and processing system connected to the three-dimensional magnetic field sensor, including :

According to the established surface and underwater communication connection, confirm the installation position information of the three-dimensional magnetic field sensor, and select the working mode;

When the online detection mode is selected, the magnetic field signal of the metal device comes from its own working current, and at the same time when the three-dimensional magnetic field sensor is started for detection, the detection information of the attitude sensor and the altimeter is obtained, and the detection information is sent to the water surface processing system;

When the excitation detection mode is selected, the adjustable injection device is connected, the injection current and frequency are set, and a loop is formed on the metal equipment to generate a magnetic field with the same frequency as the applied current, and then obtain detection information;

When the active detection mode is selected, the magnetic field signal of the metal device is generated by inducing the magnetic field generated by the electromagnetic, and the induced electric potential is generated in the stable alternating magnetic field, and then the detection information is obtained.

Further, outputting the induced voltages of the magnetic fields in the three directions of X-axis, Y-axis and Z-axis according to the variable magnetic field, and transmitting the induced voltages to the underwater control and processing system connected to the three-dimensional magnetic field sensor, and include:

Generate an intermediate frequency current source of 1000Hz to 6000Hz through the command of the underwater control processing system to generate a stable intermediate frequency magnetic field;

After the electromagnetic induction system controller accepts the start command, it generates the PWM driving pulse required by the intermediate frequency power inverter to drive the MOSFET semiconductor tube of the intermediate frequency power inverter;

Convert the externally supplied direct current of the penetrating watertight connector into an intermediate frequency alternating current power supply, filter the power supply into a sinusoidal signal through the intermediate frequency filter, and adjust it into a constant current source through the intermediate frequency transformer;

The closed-loop control is carried out through the feedback of the current sensor and the voltage sensor, and the PWM driving pulse is continuously adjusted to stabilize the current in the waterproof cable coil and the power at both ends.

Further, the calculation of the lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device includes:

The induced potentials in the three directions of X-axis, Y-axis and Z-axis measured by the first three-dimensional magnetic field sensor are Vx1, Vy1, Vz1 respectively; the induced potentials in the three directions of X-axis, Y-axis and Z-axis are measured by the second three-dimensional magnetic field sensor The sizes are Vx2, Vy2, Vz2 respectively;

According to: tanφ1=Vz1/Vx1=y1/h1; tanφ2=Vz2/Vx2=y2/h1; y1+y2=y12; obtain y1, y2, h1 simultaneously;

Among them, tanφ1 is the angle between the induced potential obtained by the X-axis and Z-axis coils measured by the first three-dimensional magnetic field sensor; tanφ2 is the angle between the induced potentials obtained by the X-axis and Z-axis coils measured by the second three-dimensional magnetic field sensor; y1 is The offset from the metal device to the first three-dimensional magnetic field sensor; y2 is the offset from the metal device to the second three-dimensional magnetic field sensor; y12 is the installation distance between the first three-dimensional magnetic field sensor and the second three-dimensional magnetic field sensor;

According to the installation parameters and y1, y2, calculate the lateral offset Δy1 between the underwater metal equipment and the underwater control and processing system.

On the other hand, an embodiment of the present invention also provides a positioning system for seabed metal equipment, including:

The magnetic field control module is used to introduce the metal equipment on the seabed into an alternating current, and use the three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment;

An inductive communication module, configured to output induced voltages of magnetic fields in three directions of X-axis, Y-axis and Z-axis according to the variable magnetic field, and transmit the induced voltages to the underwater control and processing system connected to the three-dimensional magnetic field sensor;

An offset acquisition module, configured to calculate a lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device;

An altitude measurement module, configured to obtain the height difference installed between the underwater control processing system and the altimeter, and obtain the real-time height from the altimeter to the seabed through the altimeter;

The positioning processing module is configured to calculate the buried depth of the metal equipment according to the real-time height and the first height, and position the metal equipment according to the lateral offset and the buried depth.

Further, the inductive communication module includes a mode selection unit, and the mode selection unit is used for:

When the excitation detection mode is selected, connect the adjustable injection device, set the injection current and frequency, and form a loop to the metal equipment to generate a magnetic field with the same frequency as the applied current, and then obtain the detection information;

Further, the inductive communication module includes an electromagnetic induction control unit, and the electromagnetic induction control unit is used for:

Further, the offset acquisition module includes an induction calculation unit, and the induction calculation unit is used for:

An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements the following steps when executing the computer program:

The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

The above-mentioned positioning method, system, computer equipment and storage medium of the metal equipment on the seabed, the method includes: introducing the metal equipment on the seabed into an alternating current, and using a three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment; according to the variable The magnetic field outputs the induced voltages of the magnetic fields in the three directions of X-axis, Y-axis and Z-axis, and transmits the induced voltages to the underwater control and processing system connected to the three-dimensional magnetic field sensor; according to the induced voltage and the three-dimensional magnetic field sensor To the first height of the metal equipment, calculate the lateral offset from the underwater control processing system to the metal equipment; obtain the installed height difference between the underwater control processing system and the altimeter, and use the The altimeter obtains the real-time height from the altimeter to the seabed; calculates the buried depth of the metal equipment according to the real-time height and the first height, and calculates the metal equipment according to the lateral offset and the buried depth to locate. This method can realize the simultaneous positioning of the front and rear sides of the carrier, which is conducive to the path fitting of the detected object; it is suitable for active detection, online detection, and excitation detection modes, with a wide range of operations and many applicable scenarios; the method of calculating the position of the detected object is clear , which is beneficial to computer programming and has strong practicability; in the active mode, it can automatically eliminate the influence of the background magnetic field and improve the operation accuracy.

Description of drawings

Fig. 1 is a schematic flow chart of a positioning method for seabed metal equipment in an embodiment;

Fig. 2 is a schematic flow chart of selecting different working modes in one embodiment;

Fig. 3 is a schematic flow chart of underwater electromagnetic induction work in an embodiment;

FIG. 4 is a schematic flow chart of a method for calculating the lateral offset of metal equipment in an embodiment;

Fig. 5 is a structural block diagram of a positioning system for seabed metal equipment in an embodiment;

Figure 6 is an internal block diagram of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In one embodiment, as shown in FIG. 1 , a positioning method for seabed metal equipment is provided, the method comprising:

Step 101, lead the metal equipment on the seabed into an alternating current, and use a three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment;

Step 102, outputting the induced voltages of the X-axis, Y-axis and Z-axis directions according to the variable magnetic field, and transmitting the induced voltages to the underwater control and processing system connected to the three-dimensional magnetic field sensor;

Step 103, calculating a lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device;

Step 104, obtaining the height difference installed between the underwater control processing system and the altimeter, and obtaining the real-time height from the altimeter to the seabed through the altimeter;

Step 105: Calculate the buried depth of the metal device according to the real-time height and the first height, and position the metal device according to the lateral offset and the buried depth.

Specifically, in this embodiment, the metal equipment is the object to be detected on the seabed, which can be a submarine pipeline and a submarine cable, etc. This method is suitable for various underwater robot delivery platforms such as ROVs, trenchers, and manned underwater robots. According to the operating characteristics of each underwater robot platform, the high-precision positioning equipment for submarine pipelines and submarine cables of the present invention is equipped to realize high-precision positioning of submarine pipelines and submarine cables by underwater robot platforms such as trenchers and ROVs, and participate in underwater The operation control of the lower robot; the operation ability is stronger, different from optical and acoustic equipment, the position of the target metal cable can be measured in real time by using the principle of electromagnetic induction, and the position information of the target cable or pipeline can be accurately obtained, which can be used for target search, fault location and Construction operation requirements; simultaneous detection of front and rear positions can be realized, which is suitable for the front-end detection cable requirements of the trenching machine, and the rear-side detection cable buried depth and position recording requirements; a wide range of applications, with a variety of operation modes, using external excitation, coil induction and multi-position Sensor detection is suitable for location positioning of various target objects such as active cables, passive cables, metal pipes, AC cables and DC cables, etc. It has a wide range of applications and strong applicability. The integrated altimeter can offset the influence of equipment installation height, eliminate the influence of seabed shape to the greatest extent in real time, and calculate the true buried depth of the detection target. On the other hand, this method can realize the simultaneous positioning of the front and rear sides of the carrier, which is conducive to the path fitting of the detected object; it is suitable for multiple modes of active detection, online detection, and incentive detection, with a wide range of operations and many applicable scenarios; the calculation of the detected object The object position method is clear, which is beneficial to computer programming and has strong practicability; in the active mode, it can automatically eliminate the influence of the background magnetic field and improve the operation accuracy.

In one embodiment, as shown in FIG. 2, for different metal devices, the process of selecting different working modes includes the following steps:

Step 201, according to the established surface and underwater communication connection, confirm the installation position information of the 3D magnetic field sensor, and select the working mode;

Step 202, when the online detection mode is selected, the magnetic field signal of the metal device comes from its own working current, and at the same time when the three-dimensional magnetic field sensor is activated for detection, the detection information of the attitude sensor and the altimeter is obtained, and the detection information is sent to the water surface processing system ;

Step 203, when the excitation detection mode is selected, connect the adjustable injection device, set the injection current and frequency, and form a loop to the metal equipment to generate a magnetic field with the same frequency as the applied current, and then obtain detection information;

Step 204, when the active detection mode is selected, the magnetic field signal of the metal device is generated by inducing a magnetic field generated by electromagnetics, an induced electric potential is generated in a stable alternating magnetic field, and then detection information is obtained.

Specifically, at the beginning of positioning, the system is initialized, and the surface and underwater communication connections are established, and the installation position information of the underwater three-dimensional magnetic field sensor is input and confirmed on the water surface processing system, and the working mode is selected.

When the online detection mode is selected, the magnetic field signal of the object to be detected comes from its own working current, and its magnitude may vary according to the operating load, and the operating frequency is usually a fixed frequency. The system will start the three-dimensional magnetic field sensor to detect, obtain the attitude sensor and altimeter information, calculate the position of the detected object, and send the calculated data to the water surface processing system.

When the excitation detection mode is selected, the magnetic field signal of the detected object needs to be applied through the water surface adjustable injection device, connect the adjustable injection device, set the injection current and frequency, and the detected object forms a loop to generate a magnetic field with the same frequency as the applied current. The system will start the three-dimensional magnetic field sensor to detect, obtain the attitude sensor and altimeter information, calculate the position of the detected object, and send the calculated data to the water surface processing system.

When the active detection mode is selected, the magnetic field signal of the object to be detected is generated by inducing the magnetic field generated by the electromagnetic induction system. The induced electric potential is generated in the magnetic field, and the induced electric potential generates an induced current on the closed loop formed by the object to be detected, and the induced current generates a magnetic field signal. When it is far away from the object to be detected or the object to be detected does not form a loop, start the electromagnetic induction system, and the three-dimensional magnetic field sensor will detect the magnetic field intensity B1 generated by the electromagnetic induction system, which is the background magnetic field. When approaching the detected object and the detected object forms a loop, the three-dimensional magnetic field sensor detects the comprehensive strength B2 of the magnetic field generated by the induced current of the detected object and the magnetic field generated by the electromagnetic induction system. Through calculation, the underwater control processing system removes the influence of the background magnetic field, obtains the induced magnetic field strength of the detected object, decomposes the induced potential in the X, Y, and Z directions, obtains the attitude sensor and altimeter information, calculates the position of the detected object, and sends the calculated data to the water surface processing system.

In addition, for this method, the underwater communication power supply unit is a device that can be used as an underwater trencher or an underwater robot carrier, or it can be an independent communication power supply module, which has Ethernet communication or serial port communication, and provides power supply. It can independently and transparently convert the Ethernet and serial communication circuits into optical signals through the photoelectric conversion module and transmit them to the water surface, and at the same time convert the optical signals sent by the water surface into electrical signals and send them to the corresponding serial or Ethernet ports according to instructions. The surface communication power supply unit is the surface corresponding equipment of the underwater communication power supply unit, which converts the commands sent by the water surface processing system into optical signals and transmits them to the underwater communication power supply unit through the umbilical cable, and converts the optical signals sent by the underwater communication power supply unit into The electrical signal is sent to the corresponding serial port or Ethernet port, thereby sending to the connected water surface treatment system, having Ethernet communication or serial port communication, and providing power supply. It can convert the Ethernet and serial communication circuits independently and transparently through the photoelectric conversion module into optical signals and transmit them to the water surface. Adopting the underwater communication power supply unit and the water surface communication power supply unit can make the inventive device not affected by the limitation of communication distance caused by water depth, and is suitable for working in shallow water and deep water. The water surface treatment system consists of computer hardware and processing software. It is used to send the installation position information of the three-dimensional magnetic field sensor, altimeter and underwater control processing system on the water surface to the underwater control processing system, which is used for the underwater control processing system to calculate the position of the underwater detected object; at the same time, the water surface processing system accepts the underwater The lateral offset, horizontal offset angle, and depth information calculated by the control processing system fit the position curve of the detected object and display it on the water surface display. The water surface processing system reserves an external communication interface, which can send data to the water surface user processing system. The surface user processing system fuses the acquired position of the underwater detected object with the positioning data, and records the positioning data of the underwater detected object in real time. The water surface monitor is used to display the computer interface of the water surface treatment system. The water surface adjustable flow injection device is an inventive device that works in an external excitation mode, injects a set constant current signal into the object to be detected, and provides a detectable signal for the three-dimensional magnetic field sensor. The water surface adjustable mainstream device has a built-in battery, with an adjustable frequency inverter circuit and a man-machine display interface. The man-machine interface is used to set the required frequency and voltage level. The transmitter is connected to one end of the underwater object to be detected, and the return pole is connected to seawater. . The other end of the underwater object to be detected is connected to the underwater, and the seawater returns to the flow pole to form a loop. The water surface adjustable flow injection device generates a constant current signal by controlling an adjustable frequency inverter circuit to form a stable magnetic field and provide detectable signals for the three-dimensional magnetic field sensor.

In one embodiment, as shown in FIG. 3 , during the positioning process, the underwater electromagnetic induction workflow includes:

Step 301, generating an intermediate frequency current source of 1000Hz to 6000Hz according to the command of the underwater control processing system to generate a stable intermediate frequency magnetic field;

Step 302, after the electromagnetic induction system controller receives the startup command, generate the PWM driving pulse required by the intermediate frequency power inverter, and drive the MOSFET semiconductor tube of the intermediate frequency power inverter;

Step 303, converting the externally supplied DC power of the watertight connector through the cabin into an intermediate frequency AC power supply, filtering the power supply into a sinusoidal signal through an intermediate frequency filter, and adjusting it into a constant current source through an intermediate frequency transformer;

Step 304, performing closed-loop control through feedback from the current sensor and the voltage sensor, continuously adjusting the PWM driving pulse, and stabilizing the current in the coil of the waterproof cable and the power at both ends.

Specifically, the electromagnetic induction system consists of a waterproof cable coil and bracket, an electromagnetic induction system controller, an intermediate frequency power inverter, an intermediate frequency filter, an intermediate frequency transformer, a current sensor, a voltage sensor, an electromagnetic induction system pressure cabin, and multiple cabin watertight Connector. The electromagnetic induction system is used to receive commands from the underwater control and processing system to generate an intermediate frequency current source of 1000Hz to 6000Hz, thereby generating a stable intermediate frequency magnetic field. After the electromagnetic induction system controller receives the start command, it generates the PWM drive pulse required by the intermediate frequency power inverter, drives the MOSFET semiconductor tube of the intermediate frequency power inverter, and converts the externally supplied direct current through the cabin watertight connector into intermediate frequency alternating current The power supply is then filtered by an intermediate frequency to filter the power supply into a sinusoidal signal, and then adjusted to a constant current source through an intermediate frequency transformer. The controller of the electromagnetic induction system performs closed-loop control through the feedback of the current sensor and the voltage sensor, and continuously adjusts the PWM driving pulse, thereby stabilizing the current in the coil of the waterproof cable and the power at both ends. The intermediate frequency power inverter is composed of input positive and negative busbars, front-end support capacitors, and H-bridge MOSFET semiconductor tubes. The input power of the intermediate frequency power inverter is DC power, which can accept a wide range of DC power. The driving PWM pulse of the H-bridge MOSFET semiconductor tube is generated by the electromagnetic induction system controller, and the output AC power is connected to the intermediate frequency filter. The intermediate frequency filter selects filter parameters according to the set intermediate frequency frequency, filters out other frequencies from the output PWM power of the intermediate frequency power inverter, outputs sinusoidal intermediate frequency power, and connects to the intermediate frequency transformer. The intermediate frequency transformer can further enhance the filtering effect, and at the same time realize low voltage regulation, so that the secondary side of the transformer can be directly connected to the cable coil. Since the input DC power is higher than the voltage required by the cable coil, this IF transformer is usually a step-down transformer. The current sensor and the voltage sensor are used to feed back the current and voltage values and frequency of the output power supply respectively. The waterproof cable coil is arranged in a rectangular shape with cables, and the two ends of the cable coil are watertight connector plugs, which are plugged into the cabin watertight connector of the output power supply of the electromagnetic induction system. The use of cable coils is resistant to water pressure and easy to install. The electromagnetic induction system pressure chamber is used to seal the intermediate frequency power inverter, electromagnetic induction system controller, intermediate frequency filter, intermediate frequency transformer, current sensor and voltage sensor, etc., so that the electromagnetic induction system can work in the deep water environment, through multiple cabins Watertight connectors and underwater external device connectors. The electromagnetic induction system can be provided with 4 penetrating watertight connectors as required. One is used for the connection between the electromagnetic induction system controller and the underwater control processing system, and is used to realize the communication between the two and obtain the control power; one is used for the external DC supply of the intermediate frequency power inverter; two are used for the waterproof cable coil The two ends of the IF power supply are connected to the two ends of the output.

In one embodiment, as shown in FIG. 4 , the flow of the method for calculating the lateral offset of the metal equipment includes:

Step 401, through the first three-dimensional magnetic field sensor, the magnitudes of the induced potentials in the three directions of the X-axis, Y-axis and Z-axis are Vx1, Vy1, Vz1 respectively; The directional induced potentials are Vx2, Vy2, Vz2 respectively;

Step 402, according to: tanφ1=Vz1/Vx1=y1/h1; tanφ2=Vz2/Vx2=y2/h1; y1+y2=y12; obtain y1, y2, h1 simultaneously;

Step 403, calculate the lateral offset Δy1 between the underwater metal equipment and the underwater control and processing system according to the installation parameters and y1, y2.

Specifically, the alternating current carried by the detected object itself when it is running, or the alternating current generated by the detected object through an electromagnetic induction system or an adjustable injection device, will generate alternating currents around the detected object. The magnetic field is detected by at least two three-axis magnetic field sensors, and the three-dimensional attitude sensor, altimeter information, and the initially determined position information between the underwater control processing system and the magnetic field sensor are introduced at the same time, and the underwater control processing system calculates and processes to eliminate the original Influenced by the magnetic field in the background, the carrying platform, the height of the seabed, the installation position of the sensor and the underwater control processing system, etc., the horizontal offset and embedding of the detected target can be determined in real time, and at the same time, it can be detected by installing a three-axis magnetic field sensor in multiple positions Horizontal offset or embedding of detected objects at different positions. The underwater control and processing system sends the measurement and processing data to the surface processing system for display and analysis in real time. The treatment system is controlled underwater and accepts the parameter settings of the surface treatment system prior to the measurement.

For example, when there are four three-dimensional magnetic field sensors, for example, the three-dimensional magnetic field sensor 1 measures the magnitudes of the induced potentials Vx1, Vy1, Vz1 in the three directions of XYZ; the three-dimensional magnetic field sensor 2 measures the magnitudes of the induced potentials in the three directions of XYZ Vx2, Vy2, Vz2; The three-dimensional magnetic field sensor 3 measures the magnitudes of induced potentials Vx3, Vy3, and Vz3 in the three directions of XYZ; the three-dimensional magnetic field sensor 4 measures the magnitudes of the induced potentials in the three directions of XYZ, Vx4, Vy4, and Vz4. Neglecting the influence of the ground height deviation of the sensors installed on the same side, it is assumed that the height of the front three-dimensional sensor is h1, and the height of the rear three-dimensional sensor is h2. Then there are:

tanφ1=Vz1/Vx1=y1/h1; tanφ2=Vz2/Vx2=y2/h1; y1+y2=y12;

In the formula, tanφ1 is the angle between the induced potentials obtained by the X-axis and Z-axis coils measured by the three-dimensional magnetic field sensor 1, which is Vz1/Vx1, which can be measured; tanφ2 is the angle obtained by the X-axis and Z-axis coils measured by the three-dimensional magnetic field sensor 2 The included angle of the induced potential is Vz2/Vx2, which can be measured; y1 is the offset from the detected object to the three-dimensional magnetic field sensor 1; y2 is the offset from the detected object to the three-dimensional magnetic field sensor 2; y12 is the three-dimensional magnetic field ahead Distance between sensors 1 and 2, entered when installed. By combining the above formulas, y1, y2, and h1 can be obtained. According to the installation parameters, the lateral offset Δy1 between the underwater detected object and the underwater control and processing system can be calculated. According to the real-time height h measured by the altimeter, the buried depth d1 of the detected object can be calculated according to d1=h1-h-ha. Where ha is the difference between the installation of the altimeter and the underwater control and processing system, calculated from the installation data, and can be obtained. If no other three-dimensional magnetic field sensors are activated between the front three-dimensional magnetic field sensors 1 and 2, the calculated offset Δy1 and buried depth d1 are the underwater position of the detected object in front, and are sent to the water surface processing system for display. If other three-dimensional magnetic field sensors are enabled between the front three-dimensional magnetic field sensors, use the three-dimensional magnetic field sensors 1 and 2 to calculate the offsets △y1, △y11, △y12, ... △y1n from the middle three-dimensional magnetic field sensor, and remove 5 If the % deviation is too large, take the average value of the remaining offset AVG(△y1)=avg(△y1, △y11, △y12,...△y1n); at the same time, calculate the buried depth d1, d11, d12, ..., d1n, remove the value with too large deviation of 5%, and then take the average value of the remaining offset AVG(d1)=avg(d1, d11, d12, ... d1n); then the underwater control processing system controller Send the offset AVG(△y1) and buried depth AVG(d1) to the water surface processing system for display.

Similarly, by using the data of the three-dimensional magnetic field sensors 3 and 4, the lateral offset Δy2 and the buried depth d2 of the underwater object to be detected under the three-dimensional magnetic field sensors 3 and 4 and the underwater control and processing system are calculated. If no other three-dimensional magnetic field sensor is enabled between the rear three-dimensional magnetic field sensors 3 and 4, the calculated offset Δy2 and buried depth d2 are the underwater position of the detected object in front, and are sent to the water surface processing system for display. If other three-dimensional magnetic field sensors are enabled between the rear three-dimensional magnetic field sensors, use the three-dimensional magnetic field sensors 3 and 4 to calculate the offsets △y2, △y21, △y22, ... y2n respectively with the middle three-dimensional magnetic field sensor, and remove 5% If the deviation is too large, take the average value of the remaining offset AVG(△y2)=avg(△y2, △y21, △y22,...y2n); at the same time, calculate the buried depth d2, d21, d22,... , d2n, remove the value with too large deviation of 5%, and take the average value of the remaining offset AVG(d2)=avg(d2, d21, d22,...d2n); then the controller of the underwater control processing system will deviate The displacement AVG(△y2) and buried depth AVG(d2) are sent to the water surface processing system for display.

It should be understood that although the various steps in the above flow chart are displayed sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the above flowchart may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, the sub-steps or stages The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

In one embodiment, as shown in FIG. 5 , a positioning system for seabed metal equipment is provided, including:

The magnetic field control module 501 is used to introduce the metal equipment on the seabed into an alternating current, and use a three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment;

The inductive communication module 502 is used to output the induced voltage of the magnetic field in the three directions of X-axis, Y-axis and Z-axis according to the variable magnetic field, and transmit the induced voltage to the underwater control and processing system connected to the three-dimensional magnetic field sensor ;

An offset acquisition module 503, configured to calculate a lateral offset from the underwater control and processing system to the metal equipment according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal equipment;

Altitude measurement module 504, for obtaining the height difference installed between the underwater control processing system and the altimeter, and obtaining the real-time height from the altimeter to the seabed through the altimeter;

The positioning processing module 505 is configured to calculate the buried depth of the metal device according to the real-time height and the first height, and position the metal device according to the lateral offset and the buried depth.

In one embodiment, the inductive communication module 502 includes a mode selection unit, and the mode selection unit is used for:

In one embodiment, the inductive communication module 502 includes an electromagnetic induction control unit, and the electromagnetic induction control unit is used for:

In one embodiment, the offset acquisition module 503 includes an induction calculation unit, and the induction calculation unit is used for:

For the specific limitations of the positioning system of the seabed metal equipment, refer to the above-mentioned definition of the positioning method for the seabed metal equipment, which will not be repeated here. Each module in the positioning system of the above-mentioned seabed metal equipment can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

Figure 6 shows a diagram of the internal structure of a computer device in one embodiment. As shown in FIG. 6 , the computer equipment includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer equipment stores an operating system and also stores a computer program. When the computer program is executed by the processor, the processor can realize the positioning method of the seabed metal equipment. A computer program may also be stored in the internal memory, and when the computer program is executed by the processor, the processor may execute the positioning method of the seabed metal equipment. The display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the casing of the computer equipment, or It can be an external keyboard, touchpad or mouse.

Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the computer equipment to which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, the following steps are implemented:

In one embodiment, the following steps are also implemented when the processor executes the computer program:

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A positioning method for seabed metal equipment, characterized in that the method comprises:

Lead the metal equipment on the seabed into an alternating current, and use a three-dimensional magnetic field sensor to detect the variable magnetic field generated by the metal equipment;

According to the variable magnetic field, output the induced voltage of the magnetic field in the three directions of X axis, Y axis and Z axis, and transmit the induced voltage to the underwater control processing system connected to the three-dimensional magnetic field sensor;

calculating a lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device;

Obtain the height difference installed between the underwater control processing system and the altimeter, and obtain the real-time height from the altimeter to the seabed through the altimeter;

Calculate the buried depth of the metal device according to the real-time height and the first height, and position the metal device according to the lateral offset and the buried depth.
The method for locating seabed metal equipment according to claim 1, wherein the induced voltages of the magnetic fields in the three directions of X-axis, Y-axis and Z-axis are output according to the variable magnetic field, and the induced voltages are transmitted to The underwater control and processing system connected to the three-dimensional magnetic field sensor includes:

According to the established surface and underwater communication connection, confirm the installation position information of the three-dimensional magnetic field sensor, and select the working mode;

When the online detection mode is selected, the magnetic field signal of the metal device comes from its own working current, and at the same time when the three-dimensional magnetic field sensor is started for detection, the detection information of the attitude sensor and the altimeter is obtained, and the detection information is sent to the water surface processing system;

When the excitation detection mode is selected, the adjustable injection device is connected, the injection current and frequency are set, and a loop is formed on the metal equipment to generate a magnetic field with the same frequency as the applied current, and then obtain detection information;

When the active detection mode is selected, the magnetic field signal of the metal device is generated by inducing the magnetic field generated by the electromagnetic, and the induced electric potential is generated in the stable alternating magnetic field, and then the detection information is obtained.
The method for locating seabed metal equipment according to claim 1, wherein the induced voltages of the magnetic fields in the three directions of X-axis, Y-axis and Z-axis are output according to the variable magnetic field, and the induced voltages are transmitted to The underwater control and processing system connected to the three-dimensional magnetic field sensor also includes:

Generate an intermediate frequency current source of 1000Hz to 6000Hz through the command of the underwater control processing system to generate a stable intermediate frequency magnetic field;

After the electromagnetic induction system controller accepts the start command, it generates the PWM driving pulse required by the intermediate frequency power inverter to drive the MOSFET semiconductor tube of the intermediate frequency power inverter;

Convert the externally supplied direct current of the penetrating watertight connector into an intermediate frequency alternating current power supply, filter the power supply into a sinusoidal signal through the intermediate frequency filter, and adjust it into a constant current source through the intermediate frequency transformer;

The closed-loop control is carried out through the feedback of the current sensor and the voltage sensor, and the PWM driving pulse is continuously adjusted to stabilize the current in the waterproof cable coil and the power at both ends.
The method for positioning seabed metal equipment according to claim 1, wherein the underwater control and processing system is calculated according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal equipment. Lateral offsets to said metal equipment, including:

The induced potentials in the three directions of X-axis, Y-axis and Z-axis measured by the first three-dimensional magnetic field sensor are Vx1, Vy1, Vz1 respectively; the induced potentials in the three directions of X-axis, Y-axis and Z-axis are measured by the second three-dimensional magnetic field sensor The sizes are Vx2, Vy2, Vz2 respectively;

According to: tanφ1=Vz1/Vx1=y1/h1; tanφ2=Vz2/Vx2=y2/h1; y1+y2=y12; obtain y1, y2, h1 simultaneously;

Among them, tanφ1 is the angle between the induced potential obtained by the X-axis and Z-axis coils measured by the first three-dimensional magnetic field sensor; tanφ2 is the angle between the induced potentials obtained by the X-axis and Z-axis coils measured by the second three-dimensional magnetic field sensor; y1 is The offset from the metal device to the first three-dimensional magnetic field sensor; y2 is the offset from the metal device to the second three-dimensional magnetic field sensor; y12 is the installation distance between the first three-dimensional magnetic field sensor and the second three-dimensional magnetic field sensor;

According to the installation parameters and y1, y2, calculate the lateral offset Δy1 between the underwater metal equipment and the underwater control and processing system.
A positioning system for seabed metal equipment, characterized in that it includes:

The magnetic field control module is used to lead the metal equipment on the seabed into an alternating current, and utilizes a three-dimensional magnetic field sensor to detect the variable magnetic field produced by the metal equipment;

An inductive communication module, configured to output induced voltages of magnetic fields in three directions of X-axis, Y-axis and Z-axis according to the variable magnetic field, and transmit the induced voltages to the underwater control and processing system connected to the three-dimensional magnetic field sensor;

An offset acquisition module, configured to calculate a lateral offset from the underwater control and processing system to the metal device according to the induced voltage and the first height from the three-dimensional magnetic field sensor to the metal device;

An altitude measurement module, configured to obtain the height difference installed between the underwater control processing system and the altimeter, and obtain the real-time height from the altimeter to the seabed through the altimeter;

The positioning processing module is configured to calculate the buried depth of the metal equipment according to the real-time height and the first height, and position the metal equipment according to the lateral offset and the buried depth.
The positioning system for seabed metal equipment according to claim 5, wherein the induction communication module includes a mode selection unit, and the mode selection unit is used for:

According to the established surface and underwater communication connection, confirm the installation position information of the three-dimensional magnetic field sensor, and select the working mode;

When the online detection mode is selected, the magnetic field signal of the metal device comes from its own working current, and at the same time when the three-dimensional magnetic field sensor is started for detection, the detection information of the attitude sensor and the altimeter is obtained, and the detection information is sent to the water surface processing system;

When the excitation detection mode is selected, the adjustable injection device is connected, the injection current and frequency are set, and a loop is formed on the metal equipment to generate a magnetic field with the same frequency as the applied current, and then obtain detection information;

When the active detection mode is selected, the magnetic field signal of the metal device is generated by inducing the magnetic field generated by the electromagnetic, and the induced electric potential is generated in the stable alternating magnetic field, and then the detection information is obtained.
The positioning system for seabed metal equipment according to claim 5, wherein the induction communication module includes an electromagnetic induction control unit, and the electromagnetic induction control unit is used for:

Generate an intermediate frequency current source of 1000Hz to 6000Hz through the command of the underwater control processing system to generate a stable intermediate frequency magnetic field;

After the electromagnetic induction system controller accepts the start command, it generates the PWM driving pulse required by the intermediate frequency power inverter to drive the MOSFET semiconductor tube of the intermediate frequency power inverter;

Convert the externally supplied direct current of the penetrating watertight connector into an intermediate frequency alternating current power supply, filter the power supply into a sinusoidal signal through the intermediate frequency filter, and adjust it into a constant current source through the intermediate frequency transformer;

The closed-loop control is carried out through the feedback of the current sensor and the voltage sensor, and the PWM driving pulse is continuously adjusted to stabilize the current in the waterproof cable coil and the power at both ends.
The positioning system for seabed metal equipment according to claim 5, wherein the offset acquisition module includes an induction calculation unit, and the induction calculation unit is used for:

The induced potentials in the three directions of X-axis, Y-axis and Z-axis measured by the first three-dimensional magnetic field sensor are Vx1, Vy1, Vz1 respectively; the induced potentials in the three directions of X-axis, Y-axis and Z-axis are measured by the second three-dimensional magnetic field sensor The sizes are Vx2, Vy2, Vz2 respectively;

According to: tanφ1=Vz1/Vx1=y1/h1; tanφ2=Vz2/Vx2=y2/h1; y1+y2=y12; obtain y1, y2, h1 simultaneously;

Among them, tanφ1 is the angle between the induced potential obtained by the X-axis and Z-axis coils measured by the first three-dimensional magnetic field sensor; tanφ2 is the angle between the induced potentials obtained by the X-axis and Z-axis coils measured by the second three-dimensional magnetic field sensor; y1 is The offset from the metal device to the first three-dimensional magnetic field sensor; y2 is the offset from the metal device to the second three-dimensional magnetic field sensor; y12 is the installation distance between the first three-dimensional magnetic field sensor and the second three-dimensional magnetic field sensor;

According to the installation parameters and y1, y2, calculate the lateral offset Δy1 between the underwater metal equipment and the underwater control and processing system.
A computer device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein any one of claims 1 to 4 is implemented when the processor executes the computer program The steps of the method.
A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are realized.