Underwater robot positioning device and method suitable for pool wall operation

Abstract

The invention provides an underwater robot positioning device and method suitable for pool wall operation. The device comprises a shore base, a winch body is installed at the top end of the shore base, an umbilical cable is installed in the winch body, and a robot body is installed at the end, away from the winch body, of the umbilical cable. In the process of winding and unwinding the umbilical cable by the winch body, the winding and unwinding length of the umbilical cable can be accurately measured through the action of an encoder, so that the projection distance between the winch body and the underwater robot body can be reversely deduced by combining the depth value measured on the robot body on the basis of the length data of the umbilical cable; and meanwhile, an attitude sensor on the robot body is combined, so that the underwater coordinate position of the robot body can be positioned, and the physical property of the length of the umbilical cable is fully utilized, so that the positioning cost is reduced, and meanwhile, a relatively economical positioning method is obtained.

Description

technical field [0001] The invention relates to the field of underwater robot application technology, in particular to an underwater robot positioning device and method suitable for pool wall operations. Background technique [0002] In today's society, with the advancement of science and technology, the robot industry has developed vigorously. The underwater robot is one of them, also known as the unmanned remote control submersible. It is a kind of extreme operation robot that works underwater. The role of the underwater robot can replace manual work in the water for a long time; [0003] At present, the positioning of underwater robots is mainly based on acoustic positioning technology, such as USBL ultra-short baseline positioning, which requires shore-based equipment to be used in conjunction with the acoustic equipment of the underwater robot body, and acoustic positioning is easily affected by the water environment, such as reflections and special obstacles. The cost...

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Problems solved by technology

[0004] The purpose of the present invention is to provide an underwater robot positioning device and method suitable for pool wall operations, to solve the acoustic positioning proposed in the above background technology, which requires special equipment and customized software, and the use and maintenance costs are high, and it is easy to be affected by water. The problem that the environment affects the use effect

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