An underwater robot positioning device

Abstract

The application provides an underwater robot positioning device, which comprises a floating ball, a spherical bearing, an overwater positioning module, a tension sensor, a positioning cable, a cable winch, an underwater positioning module, a depth gauge and an underwater robot; the spherical bearing is installed at the bottom of the floating ball; the overwater positioning module is installed at the top of the spherical bearing; the tension sensor is installed at the bottom of the spherical bearing; one end of the positioning cable is connected with the tension sensor, and the other end is connected with the cable winch; the cable winch, the underwater positioning module and the depth gauge are all installed on the underwater robot. The device has high positioning accuracy, is suitable for limited space, has strong anti-interference performance, has dynamic positioning capability and long endurance.

Description

Technical Field

[0001] This utility model relates to the field of underwater construction positioning technology, and in particular to an underwater robot positioning device. Background Technology

[0002] With the increasing construction of ports and wharves, and the dredging of waterways and inland rivers and lakes, the demand for underwater dredging operations is gradually increasing. This is especially true when dredging and related construction work is carried out in narrow, confined spaces, which presents challenges such as unstable GNSS (Global Navigation Satellite System) signals, long local underwater construction times, and turbid water conditions. Traditional underwater dredging equipment mostly relies on manual operation or simple mechanical positioning methods, resulting in low positioning accuracy, poor operational efficiency, and difficulty in precise control in harsh working environments. These limitations often fail to meet the high-precision and high-efficiency requirements of modern dredging operations.

[0003] Therefore, there is an urgent need for a positioning device to solve the problems of insufficient positioning accuracy, limited space, inability to adapt to turbid water and harsh environment, and weak endurance of underwater dredging equipment. Utility Model Content

[0004] This application provides an underwater robot positioning device that has high positioning accuracy, is adaptable to confined spaces, has strong anti-interference capabilities, dynamic positioning capabilities, and long endurance.

[0005] This application provides an underwater robot positioning device, which includes a float, a spherical bearing, an above-water positioning module, a tension sensor, a positioning cable, a cable winch, an underwater positioning module, a depth gauge, and an underwater robot. The spherical bearing is installed at the bottom of the float; the above-water positioning module is installed at the top of the spherical bearing; the tension sensor is installed at the bottom of the spherical bearing; one end of the positioning cable is connected to the tension sensor, and the other end is connected to the cable winch; the cable winch, the underwater positioning module, and the depth gauge are all installed on the underwater robot.

[0006] In one embodiment, the water positioning module is a real-time positioning and mapping (SLAM) positioning module.

[0007] In one embodiment, the underwater positioning module is an underwater inertial navigation module.

[0008] In one embodiment, the float includes a microprocessor installed inside the float.

[0009] In one embodiment, the spherical bearing includes a bearing body, an upper end post, and a tension sensor connection point; the upper end post is located at the top of the bearing body; and the tension sensor connection point is located at the bottom of the bearing body.

[0010] In one embodiment, the connection point between the upper upright and the tension sensor is located on the central axis of the bearing body.

[0011] In one embodiment, the water positioning module is installed on the top of the spherical bearing, including: the water positioning module is installed on the upper upright.

[0012] In one embodiment, the tension sensor is mounted on the bottom of the spherical bearing, including: the tension sensor is mounted at the tension sensor connection point.

[0013] In one embodiment, the SLAM positioning module includes at least one of the following: a marine inertial navigation module, a high-definition camera, a lidar, and a Global Navigation Satellite System (GNSS) module.

[0014] In one embodiment, the positioning cable includes a cable to enable communication between the buoy and the underwater robot.

[0015] The underwater robot positioning device provided in the above embodiments of this application utilizes a float carrying a surface positioning module to achieve high-precision positioning on the surface. A positioning cable connects the float and the underwater robot. A tension sensor connected to the positioning cable monitors the tension and controls the cable's tautness in real time. Combined with depth information measured by a depth gauge, the high-precision positioning coordinates from the surface are transmitted to the underwater location during the robot's rest periods. This underwater robot positioning device can use the underwater positioning module for positioning. Furthermore, when the underwater positioning module cannot achieve accurate positioning, the surface positioning module can be used. Therefore, the underwater robot positioning device offers high positioning accuracy, adaptability to confined spaces, strong anti-interference capabilities, dynamic positioning capabilities, and long endurance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0017] Figure 1 This is a schematic diagram of an underwater robot positioning device provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the vertical state of the spherical bearing provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the tilted state of the spherical bearing provided in the embodiments of this application. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0021] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] Currently, underwater positioning technology is developing rapidly and has been maturely applied in underwater robots, detection equipment, and submersibles. However, these positioning technologies generally suffer from the following problems:

[0023] 1. Insufficient positioning accuracy: In related technologies, underwater positioning systems typically rely on a single positioning method such as sonar, inertial navigation systems, or depth gauges. In complex waters or confined spaces, the positioning accuracy and stability of these systems are poor.

[0024] 2. Difficulties in application in confined spaces: Under bridges, under docks and other confined waters, there are characteristics such as weak GNSS signals, narrow space and complex structure, which make traditional positioning technology unable to operate effectively.

[0025] 3. Turbid water and harsh environment: During the dredging operation, underwater visibility is usually low due to a large amount of suspended silt and impurities in the water, and sensors such as lasers and sonars are easily interfered with.

[0026] 4. Weak endurance: The performance of underwater multi-sensor fusion positioning technology is reduced, making it impossible to achieve long-term underwater endurance and requiring periodic correction.

[0027] In view of this, this application provides an underwater robot positioning device, which includes a float, a spherical bearing, a surface positioning module, a tension sensor, a positioning cable, a cable winch, an underwater positioning module, a depth gauge, and an underwater robot; the spherical bearing is installed at the bottom of the float; the surface positioning module is installed at the top of the spherical bearing; the tension sensor is installed at the bottom of the spherical bearing; one end of the positioning cable is connected to the tension sensor, and the other end is connected to the cable winch; the cable winch, the underwater positioning module, and the depth gauge are all installed on the underwater robot. This underwater robot positioning device has the following advantages:

[0028] 1. High precision: It can achieve accurate positioning in complex water environments, provide reliable positioning information, and ensure precise control of dredging operations.

[0029] 2. High adaptability: It can meet the positioning needs of scenarios with and without GNSS signals, and automatically switch positioning modes according to the positioning environment.

[0030] 3. Strong anti-interference capability: It has strong anti-interference capability to cope with turbid water and poor visibility environment, ensuring that the positioning system works stably in complex environment.

[0031] 4. Long endurance: It can achieve high-precision underwater positioning for a long time, especially when a construction cycle is 6-8 hours, ensuring the continuity of underwater construction positioning.

[0032] Figure 1 This is a schematic diagram of an underwater robot positioning device provided in an embodiment of this application. Figure 1 The underwater robot positioning device includes a float 101, a spherical bearing 102, a surface positioning module 103, a tension sensor 104, a positioning cable 105, a cable winch 106, an underwater positioning module 107, a depth gauge 108, and an underwater robot 109. The spherical bearing 102 is mounted on the bottom of the float 101, the surface positioning module 103 is mounted on the top of the spherical bearing 102, the tension sensor 104 is mounted on the bottom of the spherical bearing 102, one end of the positioning cable 105 is connected to the tension sensor 104, and the other end is connected to the cable winch 106. The cable winch 106, the underwater positioning module 107, and the depth gauge 108 are all mounted on the underwater robot 109.

[0033] Figure 2 This is a schematic diagram of the vertical state of the spherical bearing provided in the embodiments of this application. Figure 3 This is a schematic diagram of the tilted state of the spherical bearing provided in the embodiments of this application. Figure 2 and Figure 3 In the bearing, the spherical bearing 102 includes a bearing body 111, an upper end rod 112, and a tension sensor connection point 113. The upper end rod 112 is located at the top of the bearing body 111, and the tension sensor connection point 113 is located at the bottom of the bearing body 111. The upper end rod 112 and the tension sensor connection point 113 are located on the central axis 114 of the bearing body 111.

[0034] In one embodiment, the water positioning module 103 is mounted on the top of the spherical bearing 102, including: the water positioning module 103 is mounted on the upper upright 111. The tension sensor 104 is mounted on the bottom of the spherical bearing 102, including: the tension sensor 104 is mounted at the tension sensor connection point 112.

[0035] In one embodiment, the surface positioning module 103 is a SLAM (Simultaneous Localization and Mapping) positioning module, and the underwater positioning module 107 is an underwater inertial navigation module. The buoy 101 includes a microprocessor 110 installed inside the buoy.

[0036] In one embodiment, the SLAM positioning module includes at least one of the following: an underwater inertial navigation module, a high-definition camera, a lidar, and a Global Navigation Satellite System (GNSS) module. The positioning cable 105 includes a cable to enable communication between the buoy 101 and the underwater robot 109. The underwater robot 109 can be an underwater dredging robot.

[0037] In one embodiment, the various components of the underwater robot positioning device are described in more detail below:

[0038] 1. Float 101: Float 101 is a key component of the underwater robot positioning device. Similar to a self-righting toy, it serves as a surface platform, maintaining vertical stability and preventing capsizing. Float 101 acts as a support platform for the surface positioning module 103 (i.e., the SLAM positioning module), utilizing its stability while floating on the water surface to provide a positioning reference for the underwater positioning module 107 (i.e., the underwater inertial navigation module). Float 101 not only serves as a surface stabilization platform but also contains a microprocessor 110 for data processing, control signal transmission, and system monitoring.

[0039] 2. Spherical bearing 102: such as Figure 1 The spherical bearing 102 is fixed to the bottom of the float 101. For example... Figure 2 The upper end of the tension sensor 104 is fixed to the bottom end of the central axis 114 of the bearing body 111, and the water positioning module 103 is installed at the top of the central axis of the bearing body 111. This ensures that during the traction of the positioning cable 105, especially when the positioning cable 105 is under oblique tension, the positioning cable 105 and the central axis 114 of the bearing body 111 remain on the same straight line, ensuring that the water inertial navigation module in the SLAM positioning module can measure the lateral and longitudinal angles of the oblique tension cable. Figure 3 The spherical bearing 102 has a movable joint similar to a universal joint structure, allowing for a certain angle of tilt. The maximum allowable tilt angle can be designed according to the outer sleeve of the spherical bearing. In the inclined state, as long as the positioning cable 105 is taut, the bearing is fixed at the top and bottom, so it can be guaranteed to be on a straight line as much as possible. The curvature caused by water flow and cable weight can be almost ignored.

[0040] 3. Waterborne positioning module 103: Specifically, it can be a SLAM positioning module, installed on the upper part of the float 101, which uses data fusion from multiple sensors such as a waterborne inertial navigation module, a high-definition camera, a lidar, and a global navigation satellite system (GNSS) module to achieve positioning.

[0041] 4. Tension sensor 104: The tension sensor 104 is mounted on the bottom of the float 101 and fixed directly below the spherical bearing 102. It is connected to the top of the positioning cable 105 and is used to measure the tension of the positioning cable 105 in real time. This allows the positioning cable 105 to be released when the tension is too high and to be tightened by the cable winch 106 when the tension is too low, so that the positioning cable 105 is kept as taut as possible.

[0042] 5. Positioning Cable 105: The positioning cable 105 is made of high-strength fiber and enhanced with an outer plastic or rubber coating for corrosion resistance. It includes a cable section that uses copper wire or optical fiber for data communication. The positioning cable 105 meets specific performance requirements, including strength, corrosion resistance, flexibility, and other special requirements for adapting to underwater environments. Considering the slow movement of the underwater dredging robot during construction, which stops after moving a certain distance to continue underwater dredging operations, the positioning cable 105 not only serves to tow the buoy 101 and the underwater robot 109 but also has two-way communication capabilities. Information between the underwater robot 109 and the buoy 101 can be transmitted in real time to dynamically correct underwater positioning deviations.

[0043] 6. Cable winch 106: The cable winch 106 is installed on the underwater robot 109 and connected to the positioning cable 105. It automatically releases or tightens the cable according to the real-time measurement of the cable tension by the tension sensor 104.

[0044] 7. Underwater Inertial Navigation Module 107: When the underwater robot 109 is in motion, underwater inertial navigation is used for dynamic positioning within a short period of time. Before each movement, the latest coordinate information transmitted from the surface to the underwater environment is used as the initial coordinates to continuously provide positioning for the underwater robot 109. When the movement time is long or the reliability of inertial navigation positioning decreases significantly, a short pause can be made to correct the coordinates. When the underwater robot 109 finishes moving, the winch 106 ensures that the cable is as vertical as possible after the cable is completed, and the coordinates obtained by the SLAM positioning module are used to directly locate the underwater robot and correct the underwater inertial navigation positioning deviation.

[0045] 8. Depth gauge 108: Used to measure the actual depth of the underwater robot 109 in real time. By using the depth data provided by the depth gauge 108, combined with the elevation information of the underwater inertial navigation module 107 mounted on the underwater robot 109, the real-time position of the underwater robot 109 can be accurately controlled.

[0046] 9. Underwater robot 109: This can be an underwater dredging robot. The purpose of the underwater robot positioning device in the application embodiment is to provide real-time positioning for the target body.

[0047] Due to the unique operating environment of underwater robots, their underwater operation process is: movement-stop-operation, repeating this process to carry out dredging work. Each movement distance and time is relatively short, making it suitable to use an underwater positioning module for positioning during movement. However, considering the limited endurance of a pure underwater positioning module and its decreasing positioning accuracy over time, this embodiment uses a surface positioning module to assist the underwater robot in positioning. A float carrying the surface positioning module is used to achieve high-precision positioning on the surface. A positioning cable connects the float and the underwater robot. The tension sensor connected to the positioning cable monitors the tension and controls the cable's tension in real time. Combined with depth information measured by a depth gauge, the high-precision positioning coordinates on the surface are transmitted to the underwater environment during the underwater robot's rest intervals. The above-mentioned underwater robot positioning device can use an underwater positioning module for positioning. Furthermore, when the underwater positioning module cannot achieve accurate positioning, the surface positioning module can be used. Therefore, the underwater robot positioning device has high positioning accuracy, adaptability to confined spaces, strong anti-interference capabilities, dynamic positioning capabilities, and long endurance.

[0048] The above-described underwater robot positioning device is merely a preferred embodiment of this application and is not intended to limit the scope of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

[0049] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0050] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0051] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0052] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An underwater robot positioning device, characterized in that, The device includes a float, a spherical bearing, an above-water positioning module, a tension sensor, a positioning cable, a cable winch, an underwater positioning module, a depth gauge, and an underwater robot. The spherical bearing is installed at the bottom of the float; The water positioning module is installed on top of the spherical bearing; The tension sensor is mounted on the bottom of the spherical bearing; One end of the positioning cable is connected to the tension sensor, and the other end is connected to the cable winch; The cable winch, underwater positioning module, and depth gauge are all installed on the underwater robot.

2. The underwater robot positioning device according to claim 1, characterized in that, The waterborne positioning module is a real-time positioning and map-building SLAM positioning module.

3. The underwater robot positioning device according to claim 1, characterized in that, The underwater positioning module is an underwater inertial navigation module.

4. The underwater robot positioning device according to claim 1, characterized in that, The float includes a microprocessor installed inside the float.

5. The underwater robot positioning device according to claim 1, characterized in that, The spherical bearing includes a bearing body, an upper end rod, and a tension sensor connection point; The upper upright is located at the top of the bearing body; The tension sensor connection point is located at the bottom of the bearing body.

6. The underwater robot positioning device according to claim 5, characterized in that, The connection point between the upper upright and the tension sensor is located on the central axis of the bearing body.

7. The underwater robot positioning device according to claim 5, characterized in that, The water positioning module is installed on top of the spherical bearing and includes: The water positioning module is installed on the upper pole.

8. The underwater robot positioning device according to claim 5, characterized in that, The tension sensor is mounted on the bottom of the spherical bearing and includes: The tension sensor is installed at the tension sensor connection point.

9. The underwater robot positioning device according to claim 2, characterized in that, The SLAM positioning module includes at least one of the following: a marine inertial navigation module, a high-definition camera, a lidar, and a Global Navigation Satellite System (GNSS) module.

10. The underwater robot positioning device according to claim 1, characterized in that, The positioning cable includes a cable to enable communication between the buoy and the underwater robot.

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