Positioning method, electronic equipment and storage medium of robot in water delivery tunnel
A technology of water conveyance tunnel and positioning method, which is applied in the directions of instruments, navigation, surveying and mapping, and navigation, etc., can solve the problems that the signs are easily covered by dirt and the maintenance work is heavy.
Active Publication Date: 2021-09-21
中国南水北调集团中线有限公司 +1
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Problems solved by technology
These means require a lot of modification to the water delivery tunnel, and the signs laid out are easily covered by dirt, and the post-maintenance work is relatively heavy
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[0019] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure shall have ordinary meanings understood by those skilled in the art to which the present disclosure belongs. "First", "second" and similar words used in the embodiments of the present disclosure do not indicate any sequence, quantity or importance, but are only used to distinguish different components. "Comprising" or "comprising" and similar words mean that the elements or items appearing before the word include the elements or items listed after the word and their equivalents, without excluding other elements or items. Words such as "connected" or "connected" are not lim...
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The disclosure provides a positioning method, electronic equipment and storage medium for a robot in a water delivery tunnel. The method includes: first determining the features in the water delivery tunnel, and then obtaining the location of the features according to the structural drawing information of the water delivery tunnel The position information is to obtain the predicted distance of the robot from the starting point through the inertial navigation device and the Doppler speedometer; based on the position information of the feature, the predicted distance is corrected to obtain the distance information of the robot; The first distance between the robot and the wall of the water delivery tunnel is obtained by an altimeter, and the second distance between the robot and the horizontal plane is obtained by a depth gauge; based on the first distance, the second distance and the distance The information determines the position information of the robot, so that the position of the robot in the water transport tunnel can be accurately determined without any modification to the water transport tunnel.
Description
technical field [0001] The present disclosure relates to the technical field of water tunnel positioning, in particular to a positioning method for a robot in a water tunnel, electronic equipment and a storage medium. Background technique [0002] In the inspection operation of long-distance water delivery tunnels (without emptying the water) using the underwater remote control robot (ROV), the accurate position information of the underwater remote control robot (ROV) is the basis of the entire operation. [0003] Due to the weak underwater satellite signal, some existing technical solutions for underwater navigation and positioning mainly realize the positioning of underwater remote control robots (ROVs) through inertial navigation devices, and these sensors have some measurement errors, and the running time is shorter. The greater the long position error. In the detection of long-distance water tunnels, the cumulative position error produced by this scheme is unacceptable...
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IPC IPC(8): G01C21/00G01C21/16G01C21/20
CPCG01C21/005G01C21/165G01C21/20
Inventor 郭轶傅又群槐先锋马晓燕台德伟杨勇李少波闫昊郭红梅张红良
Owner 中国南水北调集团中线有限公司