Underwater robot monitoring device and method based on muon imaging and navigation positioning

Abstract

The invention relates to the technical field of intelligent monitoring, in particular to an underwater robot monitoring device and method based on muon imaging and navigation positioning, and the device comprises a transmission and control subsystem which is used for driving an underwater robot to complete a target action task in an underwater pipeline; the muon imaging positioning subsystem is used for acquiring high-energy imaging information and a three-dimensional coordinate position of the underwater robot so as to assist the underwater robot in completing a target action task; the underwater scanning, monitoring and early warning subsystem is used for evaluating a water sample of the underwater pipeline to generate a water quality evaluation report and acquiring surrounding terrain and geological feature information of the underwater pipeline to generate an underwater three-dimensional image; and the multi-source data fusion transmission base station is used for fusing the water quality evaluation report, the high-energy imaging information and the underwater three-dimensional image to generate a state evaluation report. Therefore, the problems of insufficient penetrating power, low resolution, signal interference and the like of the existing underwater monitoring technology and the like under the conditions of deep water, high turbidity or complex terrains are solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent monitoring technology, and in particular to an underwater robot monitoring device and method based on muon imaging and navigation positioning. Background Art

[0002] With the continuous development of infrastructure construction around the world, the demand for underwater monitoring and detection technology is growing, especially in the fields of infrastructure maintenance and marine engineering. Existing technical means mostly use sonar, ultrasound, laser scanning and other methods. Although they can provide effective information under certain conditions, these traditional technologies often face multiple challenges such as insufficient penetration, low resolution, and signal interference in deep water, high turbidity or complex terrain.

[0003] Therefore, more precise and comprehensive technological innovations in underwater environments are needed to meet the ever-changing market demands. Summary of the invention

[0004] The present invention provides an underwater robot monitoring device and method based on muon imaging and navigation positioning, so as to solve the problems of insufficient penetration, low resolution, signal interference and the like faced by existing underwater monitoring technologies in deep water, high turbidity or complex terrain.

[0005] The first aspect of the present invention provides an underwater robot monitoring device based on muon imaging and navigation positioning, including: a transmission and control subsystem, used to drive a target underwater robot to complete a target action task in a target underwater pipeline; a muon imaging and positioning subsystem, used to obtain high-energy imaging information and three-dimensional coordinate position of the target underwater robot to assist the target underwater robot in completing the target action task; an underwater scanning monitoring and early warning subsystem, used to evaluate water samples of the target underwater pipeline to generate a water quality assessment report, and to obtain surrounding terrain and geological feature information of the target underwater pipeline to generate an underwater three-dimensional image; a multi-source data fusion transmission base station, used to fuse the water quality assessment report, the high-energy imaging information and the underwater three-dimensional image to generate a status assessment report.

[0006] Optionally, the transmission and control subsystem includes:

[0007] A transmission propulsion module, used to adjust the propulsion mode of the target underwater robot based on the target action task and the water flow conditions and operation requirements of the target underwater pipeline;

[0008] A control management module, used to monitor and adjust the operation state of the target underwater robot based on the target action task;

[0009] The underwater protection module is used to detect the surrounding environment of the target sewer pipe, and draw an underwater topographic map and obstacle positions according to the surrounding environment to avoid obstacles.

[0010] Optionally, the muon imaging and positioning subsystem includes:

[0011] Muon imaging module, used to obtain high-energy imaging information of underwater objects;

[0012] A muon navigation and positioning module, used for navigating the target underwater robot according to the attenuation difference of muons in different media;

[0013] The auxiliary positioning module is used to obtain the three-dimensional coordinate position of the target underwater robot and assist the muon navigation positioning module according to the three-dimensional coordinate position.

[0014] Optionally, the underwater scanning monitoring and early warning subsystem includes:

[0015] A water quality monitoring module, used to collect and evaluate water samples from the target underwater pipeline to generate the water quality evaluation report;

[0016] An underwater pipeline terrain scanning module, used to scan the surrounding terrain of the target underwater pipeline to generate a three-dimensional terrain model of the target underwater pipeline;

[0017] A geophysical exploration module, used to obtain geological characteristic information of the target sewer pipe;

[0018] An imaging module is used to fuse the three-dimensional terrain model and the geological feature information to generate an underwater three-dimensional image.

[0019] Optionally, the multi-source data fusion transmission base station includes:

[0020] A data fusion module, used for fusing the water quality assessment report, the high-energy imaging information and the underwater three-dimensional image to generate a status assessment report of the target underwater pipeline;

[0021] The data transmission module is used to transmit the status assessment report back to the shore-based control center.

[0022] Optionally, it also includes:

[0023] The emergency charging and recovery subsystem includes an auxiliary backup battery and an emergency floating recovery device, wherein:

[0024] The auxiliary backup battery is used to continue to provide power to the target underwater robot when the main power supply of the target underwater robot fails or runs out of power;

[0025] The emergency floating and recovery equipment is used to assist the target underwater robot to float to the water surface when the target underwater robot fails or encounters a dangerous situation, and to recover the target underwater robot that floats to the water surface.

[0026] The second aspect of the present invention provides an underwater robot monitoring method based on muon imaging and navigation positioning, comprising the following steps: driving a target underwater robot to complete a target action task in a target underwater pipeline; obtaining high-energy imaging information and a three-dimensional coordinate position of the target underwater robot to assist the target underwater robot in completing the target action task; evaluating water samples of the target underwater pipeline to generate a water quality assessment report, and obtaining surrounding terrain and geological feature information of the target underwater pipeline to generate an underwater three-dimensional image; fusing the water quality assessment report, the high-energy imaging information and the underwater three-dimensional image to generate a status assessment report.

[0027] A third aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the underwater robot monitoring method based on muon imaging and navigation positioning as described in the above embodiment.

[0028] A fourth aspect of the present invention provides a computer program product, which, when executed by a processor, implements the above-mentioned underwater robot monitoring method based on muon imaging and navigation positioning.

[0029] A fifth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned underwater robot monitoring method based on muon imaging and navigation positioning.

[0030] The underwater robot monitoring device and method based on muon imaging and navigation positioning proposed in the embodiment of the present invention are equipped with multiple advanced functions such as water quality monitoring module, underwater pipeline terrain scanning module, geophysical exploration module, etc., which fully meet the monitoring needs of water environment, soil structure, pipeline safety and other aspects; physical detection, data processing and information transmission are highly integrated, and real-time collection and transmission of information are realized through data fusion system and data transmission system, thereby improving the real-time and accuracy of underwater monitoring; auxiliary backup batteries and emergency floating recovery devices are specially designed to ensure the safety and stability of underwater operations; the device ensures the sustainability of the robot's long-term missions and effective emergency handling capabilities in emergency situations in complex underwater environments; fully utilizes the advantages of muon imaging technology, combines multiple sensing technologies, and constructs an efficient and integrated underwater monitoring system.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 A block diagram of an underwater robot monitoring device based on muon imaging and navigation positioning provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the specific structure of an underwater robot monitoring device based on muon imaging and navigation positioning provided by an embodiment of the present invention;

[0035] Figure 3 A flow chart of an underwater robot monitoring method based on muon imaging and navigation positioning provided by an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 10- underwater robot monitoring device based on muon imaging and navigation positioning, 101- transmission and control subsystem, 102- muon imaging and positioning subsystem, 103- underwater scanning monitoring and early warning subsystem, 104- multi-source data fusion transmission base station and 105- emergency charging and recovery subsystem. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] The following describes an underwater robot monitoring device and apparatus based on muon imaging and navigation positioning according to an embodiment of the present invention with reference to the accompanying drawings.

[0041] Figure 1 A block diagram of an underwater robot monitoring device based on muon imaging and navigation positioning provided by an embodiment of the present invention.

[0042] like Figure 1As shown, the underwater robot monitoring device 10 based on muon imaging and navigation positioning includes: a transmission and control subsystem 101, a muon imaging and positioning subsystem 102, an underwater scanning monitoring and early warning subsystem 103 and a multi-source data fusion transmission base station 104.

[0043] Among them, the transmission and control subsystem 101 is used to drive the target underwater robot to complete the target action task in the target underwater pipeline. The muon imaging and positioning subsystem 102 is used to obtain the high-energy imaging information and three-dimensional coordinate position of the target underwater robot to assist the target underwater robot in completing the target action task. The underwater scanning monitoring and early warning subsystem 103 is used to evaluate the water samples of the target underwater pipeline to generate a water quality assessment report, and obtain the surrounding terrain and geological feature information of the target underwater pipeline to generate an underwater three-dimensional image. The multi-source data fusion transmission base station 104 is used to fuse the water quality assessment report, high-energy imaging information and underwater three-dimensional image to generate a status assessment report.

[0044] In some embodiments, the transmission and control subsystem 101 includes:

[0045] The transmission propulsion module is used to adjust the propulsion mode of the target underwater robot based on the target action task and the water flow conditions and operation requirements of the target underwater pipeline;

[0046] A control management module is used to monitor and adjust the operation status of the target underwater robot based on the target action task;

[0047] The underwater protection module is used to detect the surrounding environment of the target sewer pipe, draw an underwater terrain map and the location of obstacles based on the surrounding environment, and perform obstacle avoidance.

[0048] In the actual implementation process, Figure 2 As shown, the transmission and control subsystem 101 includes a transmission propulsion module, a control management module and an underwater protection module, wherein the underwater protection module includes a physical protection unit and a dynamic avoidance unit, and the dynamic avoidance unit is equipped with a multi-beam underwater sonar detector.

[0049] Specifically, the transmission propulsion module adopts a high-efficiency electric propulsion device, which adjusts the propulsion mode according to different water flow conditions and operation requirements to achieve flexible movement and control. It has good resistance and stability to ensure the smooth operation of the platform underwater.

[0050] The underwater protection module ensures the long-term use of the robot platform. The waterproof shell and anti-collision structure are designed to ensure that it can withstand impact when encountering underwater obstacles. The transmission and control subsystem 101 also includes the function of monitoring environmental loads and automatically adjusting the working mode to reduce the risk of external damage.

[0051] In some embodiments, the muon imaging positioning subsystem 102 includes:

[0052] Muon imaging module, used to obtain high-energy imaging information of underwater objects;

[0053] The muon navigation and positioning module is used to navigate the target underwater robot based on the attenuation differences of muons in different media;

[0054] The auxiliary positioning module is used to obtain the three-dimensional coordinate position of the target underwater robot and assist the muon navigation and positioning module according to the three-dimensional coordinate position.

[0055] In the actual implementation process, Figure 2 As shown, the muon imaging and positioning subsystem 102 includes a muon imaging module, a muon navigation and positioning module and an auxiliary positioning module using the Beidou satellite navigation system BDS. The muon imaging module includes a scattering imaging device and a transmission imaging device; the muon navigation and positioning module includes a reference muon detector, a carrier muon detector, a navigation filter and a data calculation and processing subunit.

[0056] Specifically, based on the physical properties of muons, which have strong penetration and predictable energy attenuation, the muon imaging module obtains high-energy imaging information of underwater objects through muon detectors, thereby enhancing the depth and clarity of underwater imaging. This muon imaging positioning subsystem 102 can penetrate liquids and other media for effective detection when traditional imaging technology is difficult.

[0057] The muon navigation and positioning module combines muon and inertial navigation technology to achieve high-precision underwater positioning based on the attenuation differences of muons in different media, ensuring accurate navigation of the robot in complex underwater environments. When performing underwater operations, the muon imaging and positioning subsystem 102 can update the position information in real time to ensure the reliability of the route.

[0058] BDS auxiliary positioning module The muon imaging positioning subsystem 102 uses the positioning data provided by the BDS to assist the underwater muon navigation positioning module in making intelligent adjustments when the surface position information is available. When the underwater operation is completed or the muon navigation positioning fails, the robot can rely on the BDS auxiliary positioning module to return to the starting position.

[0059] In some embodiments, the underwater scanning monitoring and early warning subsystem 103 includes:

[0060] A water quality monitoring module, which is used to collect and evaluate water samples from target underwater pipelines to generate a water quality assessment report;

[0061] An underwater pipeline terrain scanning module is used to scan the surrounding terrain of the target underwater pipeline to generate a three-dimensional terrain model of the target underwater pipeline;

[0062] Geophysical exploration module, used to obtain geological characteristic information of the target sewer pipe;

[0063] The imaging module is used to fuse the 3D terrain model and geological feature information to generate underwater 3D images.

[0064] In the actual implementation process, Figure 2 As shown, the underwater scanning monitoring and early warning subsystem 103 includes a water quality monitoring module, an underwater pipeline terrain scanning module, a geophysical exploration module and an imaging module, wherein the water quality monitoring module is equipped with a water quality collector and a water quality analyzer, the underwater pipeline terrain scanning module is equipped with an RGBD panoramic camera, an underwater laser radar and a multi-beam underwater sonar detector, the geophysical exploration module is equipped with an electromagnetic detector and an ultrasonic detector, and the imaging module integrates multi-source information collected by the water quality monitoring module, the underwater pipeline terrain scanning module and the geophysical exploration module.

[0065] Specifically, the water quality monitoring module collects water samples from the target sewer pipe through a water quality collector, and uses the multi-parameter water quality sensor in the water quality analyzer to measure indicators such as temperature, pH value, dissolved oxygen, turbidity and pollutant concentration in real time. The microprocessor in the water quality analyzer is then used to perform data analysis and early warning, and a water quality assessment report is generated and returned to the shore-based control center to ensure the real-time and reliability of water quality data.

[0066] The underwater pipeline terrain scanning module uses laser scanning technology or multi-beam sonar to perform high-resolution scanning of underwater pipelines and surrounding terrain to identify the shape, location and surrounding environment of the pipeline and form an accurate three-dimensional terrain model of the underwater pipeline.

[0067] The geophysical exploration module integrates electromagnetic detection, ultrasonic detection and other technologies to obtain geological characteristic information of underwater soil. It can detect various underground structures and provide soil foundation bearing capacity analysis and stratigraphic profiles.

[0068] The imaging module is based on multi-source information fusion technology and image recognition technology. It first integrates the 3D scanning information of the underwater laser radar to form a stereo image containing 3D coordinates. It then integrates the information of the muon navigation and positioning module to lock the 3D coordinate position of the underwater robot. Finally, it integrates the real-scene information of the RGBD panoramic camera to achieve high-resolution imaging of the underwater environment. It can effectively penetrate the water layer and obtain clear underwater images, thereby improving the recognition ability of underwater objects and structures, facilitating further analysis and processing.

[0069] In some embodiments, the multi-source data fusion transmission base station 104 includes:

[0070] A data fusion module is used to fuse the water quality assessment report, high-energy imaging information and underwater three-dimensional images to generate a status assessment report of the target underwater pipeline;

[0071] Data transmission module, used to transmit status assessment report back to the shore-based control center.

[0072] In the actual implementation process, Figure 2 As shown, the multi-source data fusion transmission base station 104 includes a data fusion module and a data transmission module, wherein the data transmission module includes optical fiber transmission and wireless ad hoc network transmission.

[0073] Specifically, the data fusion module aggregates data from different modules, conducts comprehensive analysis of the information through data fusion algorithms, and provides a more accurate status assessment report. This subsystem can process data in real time and generate visual charts to facilitate operator understanding and decision-making.

[0074] The data transmission module uses optical fiber communication and high-frequency wireless signal transmission technology to achieve real-time feedback of underwater data, ensuring the integrity and security of information during transmission. It has anti-interference capabilities and can ensure stable operation in complex underwater environments.

[0075] In some embodiments, it also includes:

[0076] Emergency charging and recovery subsystem 105, emergency charging and recovery subsystem 105 includes auxiliary backup batteries and emergency floating recovery equipment, wherein:

[0077] An auxiliary backup battery, used to continue to provide power to the target underwater robot when the main power source of the target underwater robot fails or runs out of power;

[0078] The emergency floating and recovery equipment is used to assist the target underwater robot to float to the surface when the target underwater robot fails or encounters a dangerous situation, and to recover the target underwater robot that floats to the surface.

[0079] In the actual implementation process, Figure 2 As shown, the auxiliary backup battery ensures that the system can continue to operate and complete the mission when the main power fails or is low on power. The battery can use a high-energy-density lithium battery to extend the underwater operation time. When the emergency floating recovery equipment fails or encounters a dangerous situation, the robot can automatically or manually activate the emergency floating mechanism and quickly return to the surface to ensure the safety of equipment and personnel. The emergency floating recovery equipment has an efficient buoyancy design to ensure that the robot can complete floating in the shortest time.

[0080] The working principle of the underwater robot monitoring device based on muon imaging and navigation positioning proposed in an embodiment of the present invention is described in detail below through a specific embodiment.

[0081] The transmission and control subsystem 101 includes a transmission propulsion module, a control management module, and an underwater protection module to realize the three-dimensional coordinate positioning of the underwater robot platform and the automatic and safe operation of underwater work. The transmission propulsion module uses a brushless motor and at least four freely rotatable and fixed propellers to realize the underwater robot's forward, backward, ascent, descent, and horizontal steering movements. The propeller layout is optimized to reduce turbulence and improve propulsion efficiency to ensure the robot's stable operation in complex underwater environments. The control management module uses micro-motion sensors, microprocessors, and a full set of control systems to realize real-time monitoring and adjustment of robot parameters such as posture, speed, and depth. It also has a fault diagnosis function to promptly issue an alarm to shore-based staff when an abnormality occurs in the robot and take corresponding measures. The underwater protection module includes dynamic avoidance and physical protection. The dynamic avoidance module is equipped with an omnidirectional sonar detector and adopts multi-beam sonar technology. It can detect the surrounding environment in 360 degrees and draw underwater terrain maps and obstacle positions in real time. It also has an automatic obstacle avoidance algorithm and can adjust the mission route in time after detecting obstacles to avoid collisions. The physical protection adopts a detachable high-strength carbon fiber protection frame to reduce its own weight while having good pressure and impact resistance. At the same time, additional protective devices are used in key parts such as sensors and thrusters of the robot to prevent underwater sand, gravel, organisms, etc. from damaging the equipment.

[0082] The underwater scanning monitoring and early warning subsystem 103 includes a water quality detection module, an underwater pipeline terrain scanning module, a geophysical exploration module and an imaging module. The water quality monitoring module uses a water quality collector and a water quality analyzer to collect water samples in real time during the task, and analyzes the water samples for multiple indicators such as pH value, dissolved oxygen, turbidity, etc. The results are processed by the data fusion module to self-evaluate the water quality status, and issue an early warning when an abnormality is found and return the data to the shore-based control center. The underwater pipeline terrain scanning module is equipped with an RGBD panoramic camera and equipped with waterproof and anti-corrosion protection measures to ensure stable operation in harsh underwater environments. The underwater laser radar and multi-beam underwater sonar detectors and the detectors carried by the geophysical exploration module can scan the underwater contour to form a high-resolution three-dimensional real-time model with depth of field information and generate a three-dimensional coordinate model containing coordinate and distance information. The imaging module uses an image recognition algorithm to process the collected information, realize underwater target recognition, classification and feature extraction, and enhance and denoise the image after obtaining a preliminary image to improve the image quality.

[0083] The muon imaging and positioning subsystem 102 includes a muon imaging module, a muon navigation and positioning module, and an auxiliary positioning module. The muon imaging module includes a scattering imaging device and a transmission imaging device, which respectively perform imaging by tracking the change in the deflection angle before and after the muon passes through the detected object and measuring the difference in the number of muons before and after the object to be detected. The muon navigation and positioning module includes a reference muon detector, a carrier muon detector, a Kalman navigation filter, and a data calculation and processing unit. The reference muon detector is fixed at the delivery point as a positioning reference point, and sends a signal to the carrier muon detector mounted on the robot for real-time positioning calculation; the Kalman filter selects appropriate filtering parameters through its own interactive adaptive interaction with the environment, denoises the muon signal, and ensures the accuracy of underwater positioning; the data calculation and processing unit uses a high-performance computing unit to efficiently process the data and quickly send accurate location information to shore-based staff.

[0084] The multi-source data fusion transmission base station 104 includes a data fusion module and a data transmission module. The data fusion module uses a data fusion algorithm to integrate and analyze the different collected data and derive a comprehensive underwater environment model. The data transmission module includes optical fiber transportation and wireless ad hoc network transportation. The optical fiber transportation uses optical fiber communication technology to achieve efficient long-distance data transportation. When the underwater conditions are harsh, wireless ad hoc network transportation can be used as a supplement to optical fiber transportation to ensure the communication stability in the complex underwater environment.

[0085] The emergency charging and recovery subsystem 105 includes an emergency charging module and an emergency floating recovery device. The emergency charging module monitors the battery usage status in real time, and adopts a multi-battery parallel and backup battery design to ensure the normal operation of the system in the event of battery failure or insufficient power. The emergency floating recovery device uses a lightweight material storage bin and a floating thruster. In an emergency, it quickly releases compressed air and uses a backup thruster to quickly reach the water surface. At the same time, it sends a positioning signal to the shore-based staff, establishes communication, and reports the status and location of the robot in real time.

[0086] The following describes the application process of the underwater robot monitoring device based on muon imaging and navigation positioning proposed in an embodiment of the present invention.

[0087] Step 1: Before using the underwater robot platform, carry out mission planning according to the specific application scenario. Clarify the monitoring objectives, conduct ecological and environmental assessments of specific underwater areas, monitor the safety of underwater pipelines, conduct seabed geological structure surveys, preliminarily assess water conditions, etc., and define the platform's working scope.

[0088] Step 2: Transport the robot safely to the target waters by ship or shore-based equipment. Ensure that the platform is not damaged during deployment. After arriving at the target waters, perform initialization settings to ensure that all systems of the robot are in good working condition. At the same time, adjust the robot's buoyancy, posture and other parameters according to the specific conditions of the waters to adapt to different underwater environments. After initialization, issue a start mission command to the platform.

[0089] Step 3: The platform conducts autonomous cruising according to the preset action plan with the help of the Muon navigation and positioning module and the BDS auxiliary positioning module. If the main battery is low, the robot will switch to the backup battery before the main battery runs out, send a signal to the shore-based staff, and transmit the mission data to the shore-based logistics center for emergency backup. With the help of the underwater protection module, the robot can automatically adjust the route, avoid obstacles, and ensure the efficient completion of the data collection task.

[0090] Step 4: The underwater intelligent detection robot platform collects multi-dimensional data of the underwater environment through its own multiple sensors. The water quality monitoring module, underwater pipeline terrain scanning module, and geophysical exploration module use sensors, sonar technology, seismic waves, and electromagnetic induction technology to monitor underwater conditions in real time, perform high-precision scanning of surrounding water bodies and terrain, detect the characteristics of underwater geological structures, and determine various data of water bodies and strata.

[0091] Step 5: The underwater robot platform uses the data fusion module to perform data cleaning, denoising, calibration and other operations on the collected raw data. At the same time, it integrates and compresses the data from different sensors, outputs the analysis results in the form of charts, reports, etc., and transmits the processed data to the shore-based control center in real time through the data transmission module.

[0092] Step 6: The control center uses the muon imaging module to process the collected data to generate high-resolution underwater images, and combines the data collected by other sensors for comprehensive analysis. Professionals evaluate the data chart information to determine the validity of the data. The shore-based control center returns the evaluation results to the underwater robot platform to correct the platform's mission content. The platform repeats process steps 2-5 for the errata content until all detection data in the mission area are valid.

[0093] Step seven: The personnel at the shore-based control center confirm that all the detection data in the mission area are reasonable and valid, and issue a command to the platform to end the mission and return. The robot platform automatically identifies and returns to the drop point, waiting for the staff to collect it.

[0094] In summary, the underwater robot monitoring device based on muon imaging and navigation positioning proposed in the embodiment of the present invention has the following beneficial effects:

[0095] (1) It can carry out efficient and accurate underwater monitoring. By using muon imaging technology and advanced navigation and positioning systems, the device can comprehensively monitor underwater soil, pipelines and water quality with high precision, effectively identify and analyze complex underwater environments, and improve the accuracy of information acquisition.

[0096] (2) It has multi-task execution capabilities and integrates water quality monitoring module, pipeline terrain scanning module and geophysical exploration module, enabling the platform to perform multiple monitoring tasks simultaneously, significantly improving operational efficiency, reducing operation time and cost, and providing convenience for underwater infrastructure maintenance and environmental monitoring.

[0097] (3) It can perform real-time data processing and transmission. By combining the data fusion module and the data transmission module, it can quickly process and transmit the collected data in real time, improve the data response speed, and provide timely information support for subsequent data analysis, thereby helping decision makers make more accurate judgments.

[0098] (4) It is safe and reliable, equipped with an underwater protection system, auxiliary backup batteries, and emergency floating recovery equipment to ensure the safety of the robot when operating in a complex and uncertain underwater environment, enabling it to respond to emergencies and effectively ensure the normal operation of the equipment.

[0099] (5) With a highly adaptable design, the platform can cope with a variety of underwater environments, including high turbidity waters, complex soil structures, and narrow pipeline systems. It has strong adaptability, further broadening its scope of application.

[0100] (6) It can promote environmental protection and sustainable development. It has the function of water quality monitoring, which helps to timely monitor water pollution conditions, provide data support for water resources management and ecological environment protection, and promote sustainable development.

[0101] (7) It has a simple operation method. The design of the control management module enables operators to use the platform efficiently without having a complex technical background, which simplifies the operation process, reduces training costs, and improves work efficiency.

[0102] Next, the underwater robot monitoring method based on muon imaging and navigation positioning proposed in accordance with an embodiment of the present invention is described with reference to the accompanying drawings.

[0103] Figure 3 A flowchart of an underwater robot monitoring method based on muon imaging and navigation positioning provided by an embodiment of the present invention.

[0104] like Figure 3 As shown, the underwater robot monitoring method based on muon imaging and navigation positioning includes the following steps:

[0105] In step S301, the target underwater robot is driven to complete a target action task in a target underwater pipeline.

[0106] In step S302, high-energy imaging information and three-dimensional coordinate position of the target underwater robot are obtained to assist the target underwater robot in completing the target action task.

[0107] In step S303, water samples of the target underwater pipeline are evaluated to generate a water quality evaluation report, and surrounding terrain and geological feature information of the target underwater pipeline is acquired to generate an underwater three-dimensional image.

[0108] In step S304, the water quality assessment report, high-energy imaging information and underwater three-dimensional image are integrated to generate a status assessment report.

[0109] It should be noted that the aforementioned explanation of the embodiment of the underwater robot monitoring device based on muon imaging and navigation positioning is also applicable to the underwater robot monitoring method based on muon imaging and navigation positioning of this embodiment, and will not be repeated here.

[0110] The underwater robot monitoring method based on muon imaging and navigation positioning proposed in an embodiment of the present invention has the following features:

[0111] Beneficial effects:

[0112] (1) It can carry out efficient and accurate underwater monitoring. By using muon imaging technology and advanced navigation and positioning systems, the device can comprehensively monitor underwater soil, pipelines and water quality with high precision, effectively identify and analyze complex underwater environments, and improve the accuracy of information acquisition.

[0113] (2) It has multi-task execution capabilities and integrates water quality monitoring module, pipeline terrain scanning module and geophysical exploration module, enabling the platform to perform multiple monitoring tasks simultaneously, significantly improving operational efficiency, reducing operation time and cost, and providing convenience for underwater infrastructure maintenance and environmental monitoring.

[0114] (3) It can perform real-time data processing and transmission. By combining the data fusion module and the data transmission module, it can quickly process and transmit the collected data in real time, improve the data response speed, and provide timely information support for subsequent data analysis, thereby helping decision makers make more accurate judgments.

[0115] (4) It is safe and reliable, equipped with an underwater protection system, auxiliary backup batteries, and emergency floating recovery equipment to ensure the safety of the robot when operating in a complex and uncertain underwater environment, enabling it to respond to emergencies and effectively ensure the normal operation of the equipment.

[0116] (5) With a highly adaptable design, the platform can cope with a variety of underwater environments, including high turbidity waters, complex soil structures, and narrow pipeline systems. It has strong adaptability, further broadening its scope of application.

[0117] (6) It can promote environmental protection and sustainable development. It has the function of water quality monitoring, which helps to timely monitor water pollution conditions, provide data support for water resources management and ecological environment protection, and promote sustainable development.

[0118] (7) It has a simple operation method. The design of the control management module enables operators to use the platform efficiently without having a complex technical background, which simplifies the operation process, reduces training costs, and improves work efficiency.

[0119] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include:

[0120] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0121] When the processor 402 executes the program, the underwater robot monitoring method based on muon imaging and navigation positioning provided in the above embodiment is implemented.

[0122] Furthermore, the electronic device further comprises:

[0123] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0124] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0125] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0126] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0127] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0128] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0129] An embodiment of the present invention further provides a computer program product, which, when executed by a processor, implements the above-mentioned underwater robot monitoring method based on muon imaging and navigation positioning.

[0130] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned underwater robot monitoring method based on muon imaging and navigation positioning.

[0131] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0132] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0133] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0134] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0135] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0136] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0137] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0138] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An underwater robot monitoring device based on muon imaging and navigation positioning, characterized in that: include: The transmission and control subsystem is used to drive the target underwater robot to complete the target action task in the target underwater pipeline; A muon imaging and positioning subsystem, used to obtain high-energy imaging information and three-dimensional coordinate position of the target underwater robot to assist the target underwater robot in completing the target action task; An underwater scanning monitoring and early warning subsystem is used to evaluate the water sample of the target underwater pipeline to generate a water quality evaluation report, and obtain the surrounding terrain and geological feature information of the target underwater pipeline to generate an underwater three-dimensional image; A multi-source data fusion transmission base station is used to fuse the water quality assessment report, the high-energy imaging information and the underwater three-dimensional image to generate a status assessment report.

2. The underwater robot monitoring device based on muon imaging and navigation positioning according to claim 1 is characterized in that: The transmission and control subsystem includes: A transmission propulsion module, used to adjust the propulsion mode of the target underwater robot based on the target action task and the water flow conditions and operation requirements of the target underwater pipeline; A control management module, used to monitor and adjust the operation state of the target underwater robot based on the target action task; The underwater protection module is used to detect the surrounding environment of the target sewer pipe, and draw an underwater topographic map and obstacle positions according to the surrounding environment to avoid obstacles.

3. The underwater robot monitoring device based on muon imaging and navigation positioning according to claim 1 is characterized in that: The muon imaging and positioning subsystem comprises: Muon imaging module, used to obtain high-energy imaging information of underwater objects; A muon navigation and positioning module, used for navigating the target underwater robot according to the attenuation difference of muons in different media; The auxiliary positioning module is used to obtain the three-dimensional coordinate position of the target underwater robot and assist the muon navigation positioning module according to the three-dimensional coordinate position.

4. The underwater robot monitoring device based on muon imaging and navigation positioning according to claim 1 is characterized in that: The underwater scanning monitoring and early warning subsystem includes: A water quality monitoring module, used to collect and evaluate water samples from the target underwater pipeline to generate the water quality evaluation report; An underwater pipeline terrain scanning module, used to scan the surrounding terrain of the target underwater pipeline to generate a three-dimensional terrain model of the target underwater pipeline; A geophysical exploration module, used to obtain geological characteristic information of the target sewer pipe; An imaging module is used to fuse the three-dimensional terrain model and the geological feature information to generate an underwater three-dimensional image.

5. The underwater robot monitoring device based on muon imaging and navigation positioning according to claim 1 is characterized in that: The multi-source data fusion transmission base station comprises: A data fusion module, used for fusing the water quality assessment report, the high-energy imaging information and the underwater three-dimensional image to generate a status assessment report of the target underwater pipeline; The data transmission module is used to transmit the status assessment report back to the shore-based control center.

6. The underwater robot monitoring device based on muon imaging and navigation positioning according to claim 1 is characterized in that: Also includes: The emergency charging and recovery subsystem includes an auxiliary backup battery and an emergency floating recovery device, wherein: The auxiliary backup battery is used to continue to provide power to the target underwater robot when the main power supply of the target underwater robot fails or runs out of power; The emergency floating and recovery equipment is used to assist the target underwater robot to float to the water surface when the target underwater robot fails or encounters a dangerous situation, and to recover the target underwater robot that floats to the water surface.

7. A method for monitoring underwater robots based on muon imaging and navigation positioning, characterized in that: The underwater robot monitoring device based on muon imaging and navigation positioning according to any one of claims 1 to 6 comprises the following steps: Drive the target underwater robot to complete the target action task in the target underwater pipeline; Acquire high-energy imaging information and three-dimensional coordinate position of the target underwater robot to assist the target underwater robot in completing the target action task; Evaluate water samples of the target underwater pipeline to generate a water quality evaluation report, and obtain surrounding topographic and geological feature information of the target underwater pipeline to generate an underwater three-dimensional image; The water quality assessment report, the high-energy imaging information and the underwater three-dimensional image are integrated to generate a status assessment report.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the underwater robot monitoring method based on muon imaging and navigation positioning as described in claim 7.

9. A computer program product, characterized in that When the computer program / instruction is executed by the processor, the underwater robot monitoring method based on muon imaging and navigation positioning described in claim 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the underwater robot monitoring method based on muon imaging and navigation positioning as described in claim 7.

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