Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot

Abstract

The invention discloses an underwater pipeline detection and tracking system and detection method of an automatic remote control underwater robot. The underwater pipeline detection and tracking system comprises a lower computer and an upper computer. The lower computer is arranged underwater, and the upper computer is arranged on a water surface mother ship. The lower computer comprises a sensor module, an optical visual module, an embedded controller and an underwater optical transceiver. The sensor module and the optical visual module are connected with the signal input end of the embedded controller respectively. The signal output end of the embedded controller is connected with the signal input end of the underwater optical transceiver. The upper computer comprises an overwater optical transceiver, a water surface monitoring module and a manual operator. The manual operator is in circuit connection with the water surface monitoring module which is in circuit connection with the overwater optical transceiver. The underwater optical transceiver is connected with the overwater optical transceiver through optical fibers. The automatic remote control underwater robot can transmit images in real time, the water surface mother ship can monitor the underwater environment in real time, safety of the complex underwater operation condition is guaranteed, and detection and tracking tasks of an underwater pipeline are finished.

Description

technical field [0001] The invention relates to the field of underwater robot detection, in particular to an autonomous remote-operated underwater robot (Autonomous Remotely-operated Vehicle, ARV for short) underwater pipeline detection and tracking method and device. Background technique [0002] The ocean is a new field for human survival and sustainable social development. The development and adoption of the ocean has become one of the basic factors that determine the rise and fall of a country. According to relevant information, since my country officially exploited offshore oil and natural gas, dozens of oil and gas pipelines thousands of kilometers long have been laid on the seabed. Due to long-term corrosion of seawater pipelines under high pressure, as well as material quality, fatigue, crustal changes, anchor chain dragging and other reasons, many submarine pipeline damages and oil and natural gas leakage accidents have occurred in the world, causing huge economic l...

AI Technical Summary

Problems solved by technology

The disadvantage is that due to the limitation of underwater acoustic communication, real-time image transmission cannot be realized. AUV is completely dependent on its autonomous capabilities. The surface mother ship cannot monitor the specific underwater environment in real time. It is unsafe for complex underwater operations and prone to AUV loss. Happening

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