A sensor network positioning detection method for an underwater structure crack repair robot
An underwater robot, positioning detection technology, applied in the direction of instruments, network topology, measuring devices, etc., can solve problems such as the inability to determine the location of cracks
Active Publication Date: 2020-02-21
HOHAI UNIV CHANGZHOU
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Problems solved by technology
[0005] In view of the above problems, the present invention proposes a sensor network positioning detection method for an underwater structure crack repair robot, which can solve the problem that the underwater robot cannot determine the crack position in the crack repair process of a large structure
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[0029] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0030] The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0031] Such as figure 1 with figure 2 As mentioned above, the present invention arranges underwater anchor nodes in the underwater environment according to the geometric structure characteristics of the underwater structures and combines the wireless positioning accuracy map to ensure that the entire underwater structure environment can be effectively covered, and at the same time install an underwater anchor node for the underwater robot. The mobile node, the underwater mobile node...
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The invention discloses a sensor network positioning detection method for an underwater structure crack repairing robot. The sensor network positioning detection method for the underwater structure crack repairing robot comprises the steps of: according to narrow and long geometrical characteristics of an underwater structure, estimating and analyzing the positioning precision of an underwater anchor node by adopting Cramer-Rao, performing best three-dimensional coverage on the underwater anchor node, and calibrating an initial coordinate thereof; establishing a wireless ranging database between the underwater anchor node and an underwater mobile node, so that an underwater wireless signal ranging error compensation coefficient is obtained, and correcting a wireless ranging value when an underwater robot runs; and, according to the calibrated underwater anchor node coordinate, the wireless node distance, the ranging error compensation coefficient and a weight coefficient, establishinga wireless position solution equation, so that the real-time three-dimensional position of the underwater robot is obtained. According to the sensor network positioning detection method for the underwater structure crack repairing robot disclosed by the invention, the underwater robot can be assisted to determine the position of a structure crack; and support is provided for application of underwater robot navigation and tracking, router planning and underwater device automation in engineering.
Description
technical field [0001] The invention belongs to the technical field of detecting crack positions of structures by using a sensor network, and in particular relates to a sensor network positioning detection method for an underwater structure crack repair robot. Background technique [0002] The safe operation of underwater structures such as dams and bridges is of great importance, but there may be defects and diseases such as cracks in underwater structures during operation, and cracks on the surface or inside of structures will affect their operational safety and reduce the service life of structures. Therefore, detecting, locating, and repairing cracks in underwater structures is of great significance to ensure the safety of underwater structures and prolong their service life. [0003] At present, many scholars have proposed methods for crack detection of underwater structures, such as ultrasonic method, elastic wave method, ground penetrating radar, optical image method ...
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IPC IPC(8): H04W64/00H04W84/18G01N19/08
CPCG01N19/08H04W64/003H04W84/18
Inventor 罗成名辛改芳蔡昌春倪建军范新南张学武
Owner HOHAI UNIV CHANGZHOU