Deep sea stratum space drilling robot positioning device, method, equipment, medium and product

Abstract

The invention discloses a deep sea stratum space drilling robot positioning device and method, equipment, a medium and a product, and relates to the field of submarine robot positioning, and the method comprises the steps: obtaining magnetic beacon data and fiber bragg grating grid region node wavelength change data; determining a target position initial coordinate based on the fiber bragg grating sensing array by using an arc model method according to the wavelength change data of the grating region node of the fiber bragg grating; according to the magnetic beacon data, two groups of orthogonal transmitting coils and one group of receiving coils are utilized to construct an analysis equation set of a target position; and determining the position and attitude information of the deep sea stratum space drilling robot in the stratum by using an L-M algorithm according to the analysis equation set of the target position and the initial coordinate of the target position. The positioning precision of the deep sea stratum space drilling robot is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of submarine robot positioning, and in particular to a deep-sea stratum space drilling robot positioning device, method, equipment, medium and product. Background Art

[0002] As humans continue to advance the development and utilization of marine oil, gas and mineral resources, the demand for deep-sea stratum space exploration tasks is increasing, such as resource exploration and environmental monitoring. For these tasks, the use of a new deep-sea stratum space drilling robot is an optimal solution. The deep-sea stratum space drilling robot is carried on a deep-sea seabed base station and deployed on the seabed surface. With the assistance of the seabed base station, the robot enters the stratum and can freely carry out exploration operations in the deep-sea stratum, carrying various sensors and sensor arrays to achieve the predetermined operation goals.

[0003] When a deep-sea stratum space drilling robot performs a detection mission, it often needs to move to the predetermined detection mission location after receiving the mission instruction to complete the operation. Therefore, the invention and development of a positioning method, device and system that can accurately calculate the spatial position of a deep-sea stratum space drilling robot in the bottom layer plays a vital role in the smooth operation of the deep-sea stratum space drilling robot in the stratum. In recent years, positioning and shape reconstruction technologies based on magnetic beacons or fiber grating sensor arrays have been widely used in underground or non-line-of-sight environments and have achieved good results. However, in the traditional positioning method based on a single magnetic beacon, when there are more magnetic interference sources such as ambient noise in the environment, the difficulty of signal resolution and processing increases, resulting in a decrease in the final positioning accuracy. In the traditional positioning method based on fiber Bragg grating sensor array, it is usually used that the fiber Bragg grating area will deform under the action of external stress. During its deformation process, the period of the fiber Bragg grating will increase or decrease, which will cause the reflection wavelength of the fiber Bragg grating to change accordingly. The deformation information of the grating area is calculated by the change in wavelength, and finally the shape of the sensor array is reconstructed by the deformation information of the equally spaced grating area to achieve the purpose of positioning. However, this method has the problem that if the density of the equally spaced grating area is too high, the manufacturing cost and process requirements are high, and if the density is too low, there will be reconstruction distortion. For deep-sea stratum space drilling robots driven by hydraulic or motor, since the motor driven by the hydraulic source motor and the main body motor will become external magnetic interference sources, in such a complex working scenario of external magnetic interference sources, it is difficult to achieve accurate positioning of the seabed stratum of the deep-sea stratum space drilling robot only by a single positioning method of magnetic beacon or fiber Bragg grating sensor array. Summary of the invention

[0004] The purpose of the present application is to provide a deep-sea stratum space drilling robot positioning device, method, equipment, medium and product to improve the positioning accuracy of the deep-sea stratum space drilling robot.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a deep-sea stratum space drilling robot positioning device, comprising: a data modulation and demodulation module, a magnetic signal data transceiver module and a host computer;

[0007] The data modulation and demodulation module includes a fiber grating sensor array, a laser light source, an optical circulator and a spectrum analyzer connected to the seabed base station and the deep-sea stratum space drilling robot; the fiber grating sensor array is composed of a plurality of fiber Bragg gratings; the plurality of fiber Bragg gratings are arranged at equal intervals; the data modulation and demodulation module is arranged in the electronic cabin of the seabed base station; the laser light emitted by the laser light source is unidirectionally transmitted to the fiber grating sensor array through the optical circulator, and after being modulated, it enters the spectrum analyzer through the optical circulator, and the wavelength change data of the fiber Bragg grating grating area node is obtained after demodulation by the spectrum analyzer;

[0008] The magnetic signal data transceiver module is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the magnetic beacon is arranged in the submarine base station;

[0009] The host computer is connected to the spectrum analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum according to the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position and the wavelength change data of all fiber Bragg grating area nodes.

[0010] Optionally, the magnetic signal data transceiver module includes a magnetic signal transmitting unit and a magnetic signal receiving unit;

[0011] The magnetic signal transmitting unit includes a magnetic beacon, a signal generator and a driving amplifier circuit; the magnetic signal receiving unit includes a magnetic sensor and a filtering amplifier circuit; the magnetic beacon includes two groups of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated in the magnetic beacon, and the signal generator, the driving amplifier circuit and the orthogonal transmitting coil are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated in the deep-sea stratum space drilling robot; the magnetic sensor includes an induction coil; the induction coil is connected to the filtering amplifier circuit; the magnetic sensor is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position.

[0012] Optionally, the host computer includes:

[0013] A data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating region node wavelength change data; the magnetic beacon data is the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at a target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating region node wavelength change data is the wavelength change data of light signals of different wavelengths emitted by a laser light source after passing through the Bragg grating;

[0014] An initial coordinate determination unit, used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array by using an arc model method according to the wavelength change data of the fiber Bragg grating region nodes;

[0015] An equation group construction unit, used to construct an analytical equation group of the target position according to the magnetic beacon data using two groups of orthogonal transmitting coils and one group of receiving coils; one group of receiving coils is an induction coil inside the magnetic sensor;

[0016] The positioning unit is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum by using the LM algorithm according to the analytical equation group of the target position and the initial coordinates of the target position.

[0017] Optionally, the host computer is arranged on the deck of the mother ship.

[0018] Optionally, the operating mother ship is connected to the seabed base station via an optoelectronic composite cable; the operating mother ship is used to transport and deploy the seabed base station and the deep-sea stratum space drilling robot, and provide power and communication functions for the operation of the seabed base station and the deep-sea stratum space drilling robot.

[0019] In a second aspect, the present application provides a deep-sea stratum space drilling robot positioning method, the deep-sea stratum space drilling robot positioning method is applied to the above-mentioned deep-sea stratum space drilling robot positioning device, the deep-sea stratum space drilling robot positioning method comprises:

[0020] Acquire magnetic beacon data and fiber Bragg grating region node wavelength change data; the magnetic beacon data is the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating region node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser light source after passing through the Bragg grating;

[0021] According to the wavelength variation data of the fiber Bragg grating region nodes, the initial coordinates of the target position based on the fiber Bragg grating sensor array are determined by using an arc model method;

[0022] According to the magnetic beacon data, a set of analytical equations for the target position is constructed using two sets of orthogonal transmitting coils and one set of receiving coils; one set of receiving coils is an induction coil inside the magnetic sensor;

[0023] According to the analytical equation group of the target position and the initial coordinates of the target position, the position and posture information of the deep-sea stratum space drilling robot in the stratum are determined by using the LM algorithm.

[0024] Optionally, the analytical equations for the target position are:

[0025]

[0026] Wherein, (x, y, z) is the position of the deep-sea stratum space drilling robot in the stratum; B' x is the magnetic induction intensity in the x direction; B' y is the magnetic induction intensity in the y direction; B' z is the magnetic induction intensity in the z direction; B T is a constant related to the magnetic field; (a, b, c) are the position coordinates of the magnetic beacon transmitting coil; (m, n, p) are the directions of the magnets; R is the rotation matrix; B' wx is the magnetic induction intensity of the receiving coil in the x direction; B' wy is the magnetic induction intensity of the receiving coil in the y direction; B' wz B is the magnetic induction intensity of the receiving coil in the z direction; wx B is the magnetic induction intensity of the receiving coil in the orthogonal x direction; wy B is the magnetic induction intensity of the receiving coil itself in the orthogonal y direction; wz is the magnetic induction intensity in the orthogonal z direction of the receiving coil itself; w is the number of the transmitting coil.

[0027] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described deep-sea stratum space drilling robot positioning methods.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described deep-sea stratum space drilling robot positioning methods.

[0029] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned deep-sea stratum space drilling robot positioning methods.

[0030] According to the specific embodiments provided in this application, this application has the following technical effects:

[0031] The present application provides a deep-sea stratum space drilling robot positioning device, method, equipment, medium and product, which obtain magnetic beacon data and fiber Bragg grating grating area node wavelength change data; the magnetic beacon data is the magnetic field intensity corresponding to the magnetic field signal generated by a single magnetic beacon at a target position; the fiber Bragg grating grating area node wavelength change data is the wavelength change data of different wavelength light signals emitted by a laser light source after passing through the Bragg grating; according to the fiber Bragg grating grating area node wavelength change data, the arc model method is used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array; according to the magnetic beacon data, two groups of orthogonal transmitting coils and one group of receiving coils are used to construct an analytical equation group of the target position; according to the analytical equation group of the target position and the initial coordinates of the target position, the LM algorithm is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum. In the present application, the initial coordinates of the target position calculated by the fiber grating sensor array are used as the initial guess values ​​of the LM algorithm. The initial guess values ​​are used to continuously iterate the algorithm based on the magnetic beacon to finally obtain the position and posture information of the deep-sea stratum space drilling robot. The present application solves the problem that the initial guess values ​​are inaccurate, which easily produces local optimal solutions and ultimately leads to low positioning accuracy. At the same time, the deep-sea stratum space drilling robot can achieve stable and accurate navigation and positioning functions in a complex environment with a large number of obstacles in the seabed strata, effectively improving the positioning accuracy of the deep-sea stratum space drilling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A structural block diagram of a deep-sea stratum space drilling robot positioning device provided in one embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of the structure of a positioning device for a deep-sea stratum space drilling robot;

[0035] Figure 3 It is a schematic diagram of a data modulation and demodulation module;

[0036] Figure 4 It is a schematic diagram of a magnetic signal data transceiver module;

[0037] Figure 5 A schematic diagram of a flow chart of a deep-sea stratum space drilling robot positioning method provided in one embodiment of the present application;

[0038] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0041] The present application effectively improves the positioning accuracy of the deep-sea stratum space drilling robot by combining the magnetic beacon positioning technology and the fiber grating sensor array positioning technology.

[0042] In an exemplary embodiment, Figure 1 and Figure 2 As shown, a deep-sea stratum space drilling robot positioning device is provided, including: a data modulation and demodulation module, a magnetic signal data transceiver module and a host computer (position calculation module).

[0043] like Figure 3 As shown, the data modulation and demodulation module includes a fiber grating sensor array, a laser light source (broad-spectrum light source), an optical circulator and a spectrum analyzer connecting the seabed base station and the deep-sea stratum space drilling robot; the fiber grating sensor array is composed of a plurality of fiber Bragg gratings; the plurality of fiber Bragg gratings are arranged at equal intervals; the data modulation and demodulation module is arranged in the electronic cabin of the seabed base station; the laser emitted by the laser light source is unidirectionally transmitted to the fiber grating sensor array through the optical circulator, and after modulation, it enters the spectrum analyzer through the optical circulator, and the wavelength change data of the fiber Bragg grating grating area node is obtained after demodulation by the spectrum analyzer.

[0044] The magnetic signal data transceiver module is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the magnetic beacon is arranged in the submarine base station.

[0045] As an optional implementation, the magnetic signal data transceiver module includes a magnetic signal transmitting unit and a magnetic signal receiving unit.

[0046] like Figure 4As shown, the magnetic signal transmitting unit includes a magnetic beacon, a signal generator and a driving amplifier circuit; the magnetic signal receiving unit includes a magnetic sensor and a filtering amplifier circuit; the magnetic beacon includes two groups of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated in the magnetic beacon, and the signal generator, the driving amplifier circuit and the orthogonal transmitting coil are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated in the deep-sea stratum space drilling robot; the magnetic sensor includes an induction coil; the induction coil is connected to the filtering amplifier circuit; the magnetic sensor is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position.

[0047] The host computer is connected to the spectrum analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum according to the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position and the wavelength change data of all fiber Bragg grating area nodes.

[0048] In practical applications, the position calculation module includes a computer and a position calculation algorithm, wherein the position calculation algorithm is deployed in the computer.

[0049] As an optional implementation manner, the host computer includes:

[0050] The data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating region node wavelength change data; the magnetic beacon data is the magnetic field intensity corresponding to the magnetic field signal generated by a single magnetic beacon at a target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating region node wavelength change data is the wavelength change data of different wavelength light signals emitted by a laser light source after passing through the Bragg grating.

[0051] The initial coordinate determination unit is used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array by using the arc model method according to the wavelength change data of the fiber Bragg grating area node.

[0052] The purpose of the initial coordinate determination unit is to determine the coordinate information of the drilling robot relative to the seabed base station. A multi-node equidistant Bragg grating is arranged on the optical fiber cable connecting the seabed base station and the drilling robot. During the robot drilling process, the optical fiber cable moves with the robot in the stratum. During this process, the wavelength of the grating node changes. By collecting wavelength data and using the arc model, the coordinate information of the current target position of the drilling robot is solved, and the currently obtained coordinate information is called the initial coordinate of the target position. The coordinate of the first fiber grating node on the seabed base station is the origin of the sensor array.

[0053] The equation group construction unit is used to construct an analytical equation group of the target position according to the magnetic beacon data using two groups of orthogonal transmitting coils and one group of receiving coils; the one group of receiving coils is an induction coil inside the magnetic sensor.

[0054] The positioning unit is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum by using the LM algorithm according to the analytical equation group of the target position and the initial coordinates of the target position.

[0055] In practical applications, the host computer is arranged on the deck of the mother ship. The mother ship is connected to the seabed base station via an optoelectronic composite cable; the mother ship is used to transport and deploy the seabed base station and the deep-sea stratum space drilling robot, and provide power and communication functions for the seabed base station and the deep-sea stratum space drilling robot.

[0056] In this embodiment, the deck operator of the mother ship can control the deep-sea stratum space drilling robot through the host computer based on the optoelectronic composite cable, and realize data communication between the seabed base station and the deep-sea drilling robot system status.

[0057] In this embodiment, a submarine base station equipped with a magnetic beacon and providing power and communication functions for the deep-sea stratum space drilling robot at the same time, the submarine base station provides energy for the deep-sea stratum space drilling robot to perform tasks such as drilling and detection in the deep-sea stratum through its own hydraulic drive system. After the deep-sea stratum space drilling robot is suspended from the operating mother ship to the seabed at 3,000 meters through the drilling robot release system through the optoelectronic composite cable, the deep-sea stratum space drilling robot autonomously drills into the seabed through its own drilling system. The magnetic beacon carried on the submarine base station and the fiber grating sensor array form a combined through-the-earth positioning system, and the deep-sea stratum space drilling robot control system uses the stratum parameter information sent back by the magnetic sensor carried by the robot itself to dynamically calculate and plan the path in real time, control the robot to autonomously drill in the stratum and complete the specified operation task.

[0058] In an exemplary embodiment, a deep-sea stratum space drilling robot positioning method is provided, and the deep-sea stratum space drilling robot positioning method is applied to the deep-sea stratum space drilling robot positioning device described above, such as Figure 5 As shown, the deep-sea stratum space drilling robot positioning method includes:

[0059] S1: Acquire magnetic beacon data and fiber Bragg grating area node wavelength change data; the magnetic beacon data is the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating area node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser light source after passing through the Bragg grating.

[0060] In practical applications, S1 simultaneously obtains magnetic beacon data and wavelength change data of fiber Bragg grating area nodes. The magnetic beacon data is the magnetic field intensity corresponding to the magnetic field signal generated by a single magnetic beacon at the target position, with the real-time position of the deep-sea stratum space drilling robot as the target position. The magnetic beacon is set in the seabed base station, which is connected to the deep-sea stratum space drilling robot through a fiber Bragg grating sensor array. The deep-sea stratum space drilling robot is provided with a magnetic sensor for collecting the three-axis magnetic field intensity corresponding to the target position. Several Bragg gratings are equidistantly arranged to form a fiber Bragg grating sensor array.

[0061] In this embodiment, the fiber Bragg grating is an optical waveguide with a variable refractive index. The change in the longitudinal refractive index of the fiber Bragg grating will cause coupling between different light wave modes, and the reflection spectrum of the incident light can be changed by transferring part or all of the power of one light wave mode to another light wave mode. In a single-mode optical fiber, the incident fundamental mode in the optical fiber core can be coupled into a forward transmission mode and a backward transmission mode, and which transmission mode is coupled depends on the phase conditions determined by the grating and different propagation constants.

[0062]

[0063] Where Λ is the fiber grating period, β 1 and β 2 are the propagation constants of mode 1 (forward transmission mode) and mode 2 (backward transmission mode), respectively.

[0064] If the forward transmission mode is coupled into the backward transmission mode, the following conditions should be met:

[0065]

[0066] Among them, β 01 is the propagation constant in single-mode optical fiber. The fiber grating period obtained from the above formula is small (Λ<1μm).

[0067] The basic characteristics of a fiber Bragg grating are that of a reflective passive optical filter. When broadband laser light from the transmitting end propagates along the optical fiber, only light with a wavelength that meets the following conditions will be reflected:

[0068] λ B =2×n eff ×Λa .

[0069] Among them, λ B is the reflection wavelength of the fiber Bragg grating, n eff is the effective refractive index of the fiber core, Λ a is the period of the fiber Bragg grating.

[0070] Fiber Bragg gratings will deform under the action of external stress. During its deformation process, the period of the fiber Bragg grating will increase or decrease, resulting in a corresponding change in the reflection wavelength of the fiber Bragg grating. When the period of the fiber Bragg grating increases, the reflection wavelength of the fiber Bragg grating will increase (red shift); when the period of the fiber Bragg grating decreases, the reflection wavelength of the fiber Bragg grating will decrease (blue shift).

[0071] The relationship between the reflection wavelength offset of the fiber Bragg grating and the deformation amount caused by external stress can be expressed as:

[0072] Δλ B =λ B ×(1-p e )×ε.

[0073] Among them, Δλ B is the reflection wavelength offset of the fiber Bragg grating, ε is the deformation of the fiber Bragg grating under external stress, and p e is the elastic-optical coefficient of the optical fiber material.

[0074] S2: According to the wavelength variation data of the fiber Bragg grating region nodes, the initial coordinates of the target position based on the fiber Bragg grating sensor array are determined by using an arc model method.

[0075] In practical applications, S2 calculates the coordinate information of the target point of the fiber Bragg grating sensor array relative to the origin based on the wavelength change data of the fiber Bragg grating equidistant grid area nodes (fiber Bragg grating grid area nodes), and uses the arc model method, such as Figure 3 As shown, the fiber Bragg grating equally spaced grating area nodes are to engrave one or more Bragg grating areas on the core of a single-mode optical fiber to make it sensitive to one or more specific wavelengths of light. The arc model knows the angle, radius and starting point coordinates of the arc, and calculates the end point coordinates.

[0076] In this embodiment, the shape between the fiber Bragg gratings is represented by an arc, and the calculation formula is:

[0077] α i =θ i+1 -θ i .

[0078] Among them, θi is the angle of rotation of the ith fiber Bragg grating around the z-axis, which is positive according to the right-hand rule, α i is the arc p i p i+1 The central angle of the circle, p i is the coordinate of the ith Bragg grating; p i+1 is the coordinate of the i+1th Bragg grating; then the radius of the i-th arc is l is the arc length; the center of the circle is at p i The coordinates of the coordinate system with the origin as [0,0,r i ] T .

[0079] When α=0, p i+1 In p i The coordinates in the coordinate system where the origin is for:

[0080]

[0081] but The coordinates in the system coordinate system are:

[0082]

[0083] in, is the coordinate value of the i+1th Bragg grating with 0 as the origin; is the coordinate value of the i-th Bragg grating with 0 as the origin; yes The expression of the coordinate system of the origin in the system coordinate system is as follows: is the rotation of the (i-1)th coordinate system relative to the global coordinate system, is the rotation of the (i)th coordinate system relative to the (i-1)th coordinate system, rotating the coordinate system around y i Axis rotation - α i Angle, you can determine the motion coordinate system x i+1 Axis direction (tangent direction) and the rotated coordinate system.

[0084] When α≠0, p i+1 In p i The coordinates in the coordinate system where the origin is for:

[0085]

[0086] S3: According to the magnetic beacon data, a set of analytical equations for the target position is constructed using two sets of orthogonal transmitting coils and one set of receiving coils; one set of receiving coils is an induction coil inside the magnetic sensor.

[0087] In actual applications, S3 constructs the equation group information of the target position of the analytical magnetic sensor (the analytical equation group of the target position) based on the magnetic field strength of the target position, using two sets of orthogonal transmitting coils and one set of receiving coils. The magnetic field strength of the target position is the three-axis magnetic field strength information sensed by the magnetic sensor built into the deep-sea stratum space drilling robot body, the two sets of orthogonal transmitting coils are the orthogonal transmitting coils of the magnetic beacon set on the seabed base station, and the one set of receiving coils is the induction coil inside the magnetic sensor.

[0088] In this embodiment, according to the magnetic field strength at the target position, the calculation relationship between the magnetic field strength and the distance is constructed using the magnetic field distribution law around the conductor as follows:

[0089]

[0090] in, is the magnetic induction intensity, is the magnetic moment vector, μ 0 is the vacuum magnetic permeability, r is the distance from the field point to the origin, is the position vector from the field point to the origin.

[0091] Further deduction based on the above formula can give the expression of magnetic field strength at the target position as follows:

[0092]

[0093] Where O = (a, b, c) T is the position of the magnetic dipole, H 0 =(m,n,p) T is the magnet direction, is the position vector from the magnetic dipole to the target, B T It is a constant related to the magnitude of the magnetic field, and R is the distance from the magnetic dipole to the target position.

[0094]

[0095] m 2 +n 2 +p 2 =1.

[0096] Adding alternating current to the magnetic beacon will generate a changing magnetic field. According to the law of electromagnetic induction, when the magnetic flux through the conductor loop changes over time, an induced electromotive force is generated in the loop. Using a magnetic sensor as a receiver, when the magnetic flux through the receiving coil changes, an induced electromotive force is generated in the receiving loop:

[0097]

[0098] Among them: S and n are constants, is the area vector and φ is the magnetic flux.

[0099] According to the above formula, since the coil has a fixed size and number of turns, S and n are constants, and the induced electromotive force E is linearly related to the rate of change of B. By measuring the size of E, the size of the magnetic field intensity B can be calculated.

[0100] The RFU coordinate system (transmitting coordinate system XYZ) is defined according to the location of the magnetic beacon. A transmitting coil of the magnetic beacon can be equivalent to a magnetic dipole. The magnetic induction intensity it generates can be decomposed into three orthogonal components B according to the transmitting coordinate system XYZ. x' , B y' , B z' The three orthogonal receiving coils of the magnetic sensor are used as a group of receivers, corresponding to a transmitting coil of the magnetic beacon. A group of receivers will sense three magnetic field intensities B along the orthogonal directions of the receiving coils themselves. x , B y , B z .

[0101] According to B' x , B' y , B' z The coordinates of B can be rotated to obtain x , B y , B z , the rotation matrix is ​​as follows:

[0102] R=Rot(z,γ)Rot(y,β)Rot(x,α).

[0103]

[0104] Among them, (α, β, γ) represents the angle information of the receiver, that is, first rotate α degrees around the X axis, then rotate β degrees around the Y axis, and finally rotate γ degrees around the Z axis.

[0105] According to the expansion of the above formula, we can get:

[0106]

[0107]

[0108] Wherein, (x, y, z) is the position of the deep-sea stratum space drilling robot in the stratum; B' x is the magnetic induction intensity in the x direction; B' y is the magnetic induction intensity in the y direction; B' z is the magnetic induction intensity in the z direction; B Tis a constant related to the magnetic field; (a, b, c) are the position coordinates of the magnetic beacon transmitting coil; (m, n, p) are the directions of the magnets; R is the rotation matrix; B' wx is the magnetic induction intensity of the receiving coil in the x direction; B' wy is the magnetic induction intensity of the receiving coil in the y direction; B' wz B is the magnetic induction intensity of the receiving coil in the z direction; wx B is the magnetic induction intensity of the receiving coil in the orthogonal x direction; wy B is the magnetic induction intensity of the receiving coil itself in the orthogonal y direction; wz is the magnetic induction intensity in the orthogonal z direction of the receiving coil itself; w is the number of the transmitting coil.

[0109] According to the magnetic field strength B at the target location nx , B ny , B nz The position (a, b, c) of the magnetic beacon's transmitting coil and the direction (m, n, p) of the magnet are all known conditions. According to the above formula, three sets of equations can be obtained. Then, the coordinates of the target position can be obtained through the two transmitting coils of the magnetic beacon and a set of receiving coils of the magnetic sensor.

[0110] S4: According to the analytical equation group of the target position and the initial coordinates of the target position, the LM algorithm is used to determine the position and posture information of the deep-sea formation space drilling robot in the formation.

[0111] In practical applications, S4 uses the analytical equations of the target position and the target point coordinates of the fiber grating sensor array (initial target position coordinates) as the initial guess value of the LM algorithm. The initial guess value is used to continuously iterate the algorithm to calculate the target position coordinates and posture of the magnetic sensor. The LM algorithm is a time-efficient nonlinear optimization algorithm.

[0112] In this embodiment, the search step size used by the LM algorithm is the solution of the following linear equations:

[0113]

[0114] Where k is the current iteration number, and the scalar λ k is the step length d k The control factor of , T is the transpose, for The N×3 Jacobian matrix, I is the identity matrix, is the parameter vector.

[0115] According to the optimization process of the LM algorithm, first provide a parameter vector The initial estimate of 0 =0.01; Jacobian matrix It can be approximated by the finite difference method. At the k+1th iteration, the updated solution is When a solution with a lower fit is obtained in the iteration, the algorithm sets λ k+1 =λ k / 10, otherwise set λ k+1 =λ k ·10.

[0116] In this embodiment, the coordinates and posture information of the target position are the position and posture information of the deep-sea formation space drilling robot in the formation.

[0117] The combined positioning method of magnetic beacon and fiber grating sensor array uses the position coordinates of the fiber grating sensor array nodes as the initial guess values ​​of the LM algorithm. The initial guess values ​​are used to continuously iterate the algorithm to finally obtain the target position coordinate information of the deep-sea stratum space drilling robot. The combined positioning method solves the problem of inaccurate initial guess values, which easily produces local optimal solutions and ultimately leads to low positioning accuracy.

[0118] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned deep-sea stratum space drilling robot positioning method when executing the computer program.

[0119] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the above-mentioned deep-sea stratum space drilling robot positioning method.

[0120] In an exemplary embodiment, a computer program product is provided, including a computer program, which implements the above-mentioned deep-sea stratum space drilling robot positioning method when executed by a processor.

[0121] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a deep-sea stratum space drilling robot positioning method is implemented.

[0122] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0124] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0125] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0126] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application; at the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A deep-sea stratum space drilling robot positioning device, characterized in that: include: Data modulation and demodulation module, magnetic signal data transceiver module and host computer; The data modulation and demodulation module includes a fiber grating sensor array, a laser light source, an optical circulator and a spectrum analyzer connected to the seabed base station and the deep-sea stratum space drilling robot; the fiber grating sensor array is composed of a plurality of fiber Bragg gratings; the plurality of fiber Bragg gratings are arranged at equal intervals; the data modulation and demodulation module is arranged in the electronic cabin of the seabed base station; the laser light emitted by the laser light source is unidirectionally transmitted to the fiber grating sensor array through the optical circulator, and after being modulated, it enters the spectrum analyzer through the optical circulator, and the wavelength change data of the fiber Bragg grating grating area node is obtained after demodulation by the spectrum analyzer; The magnetic signal data transceiver module is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the magnetic beacon is arranged in the submarine base station; The host computer is connected to the spectrum analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum according to the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position and the wavelength change data of all fiber Bragg grating area nodes.

2. The deep sea stratum space drilling robot positioning device according to claim 1, characterized in that: The magnetic signal data transceiver module includes a magnetic signal transmitting unit and a magnetic signal receiving unit; The magnetic signal transmitting unit includes a magnetic beacon, a signal generator and a driving amplifier circuit; the magnetic signal receiving unit includes a magnetic sensor and a filtering amplifier circuit; the magnetic beacon includes two groups of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated in the magnetic beacon, and the signal generator, the driving amplifier circuit and the orthogonal transmitting coil are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated in the deep-sea stratum space drilling robot; the magnetic sensor includes an induction coil; the induction coil is connected to the filtering amplifier circuit; the magnetic sensor is used to collect the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position.

3. The deep sea stratum space drilling robot positioning device according to claim 2, characterized in that: The host computer comprises: A data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating region node wavelength change data; the magnetic beacon data is the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at a target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating region node wavelength change data is the wavelength change data of light signals of different wavelengths emitted by a laser light source after passing through the Bragg grating; An initial coordinate determination unit, used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array by using an arc model method according to the wavelength change data of the fiber Bragg grating region nodes; An equation group construction unit, used to construct an analytical equation group of the target position according to the magnetic beacon data using two groups of orthogonal transmitting coils and one group of receiving coils; one group of receiving coils is an induction coil inside the magnetic sensor; The positioning unit is used to determine the position and posture information of the deep-sea stratum space drilling robot in the stratum by using the LM algorithm according to the analytical equation group of the target position and the initial coordinates of the target position.

4. The deep sea stratum space drilling robot positioning device according to claim 1, characterized in that: The host computer is arranged on the deck of the mother ship.

5. The deep sea stratum space drilling robot positioning device according to claim 4, characterized in that: The operating mother ship is connected to the seabed base station via an optoelectronic composite cable; the operating mother ship is used to transport and deploy the seabed base station and the deep-sea stratum space drilling robot, and provide power and communication functions for the operation of the seabed base station and the deep-sea stratum space drilling robot.

6. A deep-sea stratum space drilling robot positioning method, characterized in that: The deep-sea stratum space drilling robot positioning method is applied to the deep-sea stratum space drilling robot positioning device according to any one of claims 1 to 5, and the deep-sea stratum space drilling robot positioning method comprises: Acquire magnetic beacon data and fiber Bragg grating region node wavelength change data; the magnetic beacon data is the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target position; the target position is the real-time position of the deep-sea stratum space drilling robot; the fiber Bragg grating region node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser light source after passing through the Bragg grating; According to the wavelength variation data of the fiber Bragg grating region nodes, the initial coordinates of the target position based on the fiber Bragg grating sensor array are determined by using an arc model method; According to the magnetic beacon data, a set of analytical equations for the target position is constructed using two sets of orthogonal transmitting coils and one set of receiving coils; one set of receiving coils is an induction coil inside the magnetic sensor; According to the analytical equation group of the target position and the initial coordinates of the target position, the position and posture information of the deep-sea stratum space drilling robot in the stratum are determined by using the LM algorithm.

7. The deep sea stratum space drilling robot positioning method according to claim 6, characterized in that: The analytical equations for the target position are: Wherein, (x, y, z) is the position of the deep-sea stratum space drilling robot in the stratum; B' x is the magnetic induction intensity in the x direction; B' y is the magnetic induction intensity in the y direction; B' z is the magnetic induction intensity in the z direction; B T is a constant related to the magnetic field; (a, b, c) are the position coordinates of the magnetic beacon transmitting coil; (m, n, p) are the directions of the magnets; R is the rotation matrix; B' wx is the magnetic induction intensity of the receiving coil in the x direction; B' wy is the magnetic induction intensity of the receiving coil in the y direction; B' wz B is the magnetic induction intensity of the receiving coil in the z direction; wx B is the magnetic induction intensity of the receiving coil in the orthogonal x direction; wy B is the magnetic induction intensity of the receiving coil itself in the orthogonal y direction; wz is the magnetic induction intensity in the orthogonal z direction of the receiving coil itself; w is the number of the transmitting coil.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the deep-sea stratum space drilling robot positioning method described in any one of claims 6-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the deep-sea stratum space drilling robot positioning method described in any one of claims 6 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the deep-sea stratum space drilling robot positioning method described in any one of claims 6 to 7 is implemented.

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