A deep-sea formation space drilling robot positioning device, method, equipment, medium and product

Abstract

The application discloses a deep-sea stratum space drilling robot positioning device, method, equipment, medium and product, relates to the field of submarine robot positioning, and the method comprises the following steps: acquiring magnetic beacon data and fiber Bragg grating grating area node wavelength change data; according to the fiber Bragg grating grating area node wavelength change data, an initial coordinate of a target position based on the fiber grating sensing array is determined by using a circular arc model method; according to the magnetic beacon data, an analytical equation group of the target position is constructed by using two groups of orthogonal transmitting coils and one group of receiving coils; and according to the analytical equation group of the target position and the initial coordinate of the target position, the position and attitude information of the deep-sea stratum space drilling robot in the stratum are determined by using an L-M algorithm. The application effectively improves the positioning accuracy of the deep-sea stratum space drilling robot.

Description

Technical Field

[0001] This application relates to the field of seabed robot positioning, and in particular to a positioning device, method, equipment, medium and product for a deep-sea strata space drilling robot. Background Technology

[0002] As humanity continues to advance the development and utilization of marine oil, gas, and mineral resources, the demand for deep-sea geological exploration is constantly increasing, such as for resource exploration and environmental monitoring. For these tasks, using a new type of deep-sea geological drilling robot is an optimal solution. This robot is mounted on a deep-sea base station and deployed to the seabed. With the assistance of the base station, the robot enters the geological strata and can freely conduct exploration operations within the deep-sea strata, achieving its predetermined operational objectives by carrying various sensors and sensor arrays.

[0003] When deep-sea drilling robots perform exploration missions, they often need to move to the predetermined exploration location after receiving mission instructions to complete the operation. Therefore, the invention and development of positioning methods, devices, and systems capable of accurately calculating the position of deep-sea drilling robots in the subsurface space plays a crucial role in the smooth operation of deep-sea drilling robots in the strata. In recent years, positioning and shape reconstruction technologies based on magnetic beacons or fiber optic grating sensor arrays have been widely used in underground or non-line-of-sight environments and have achieved good results. However, in traditional positioning methods based on single magnetic beacons, the difficulty of signal resolution and processing increases when there are many sources of magnetic interference such as environmental noise in the environment, leading to a decrease in the final positioning accuracy. Traditional positioning methods based on fiber Bragg grating (FBG) sensor arrays typically utilize the deformation of FBG grating regions under external stress. During this deformation, the period of the FBG increases or decreases, resulting in a corresponding change in the reflected wavelength. The deformation information of the grating regions is calculated using the wavelength change, and the shape of the sensor array is reconstructed using the deformation information of the equally spaced grating regions to achieve positioning. However, this method suffers from drawbacks: excessively high grating region density leads to high manufacturing costs and stringent process requirements, while insufficient density results in reconstruction distortion. For deep-sea drilling robots driven by hydraulic or electric motors, both the hydraulic source motor and the motor driven by the main body become sources of external magnetic interference. In such complex operating environments with external magnetic interference, it is difficult to achieve accurate positioning of the deep-sea drilling robot in the seabed using only magnetic beacons or FBG sensor arrays. Summary of the Invention

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

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

[0006] In the first aspect, this application provides a positioning device for a deep-sea strata space drilling robot, including: 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 Bragg grating sensor array, a laser source, an optical circulator, and a spectrometer, connecting the seabed base station and the deep-sea stratum space drilling robot. The fiber Bragg grating sensor array is composed of several fiber Bragg gratings. The several fiber Bragg gratings are arranged at equal intervals. The data modulation and demodulation module is located in the electronics compartment of the seabed base station. The laser emitted by the laser source is transmitted unidirectionally to the fiber Bragg grating sensor array through the optical circulator. After modulation, it enters the spectrometer through the optical circulator, and the spectrometer demodulates the signal to obtain the wavelength change data of the fiber Bragg grating nodes.

[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 location; the magnetic beacon is installed in the seabed base station.

[0009] The host computer is connected to the spectral analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on 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 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 sets of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated into the magnetic beacon, and the signal generator, the driving amplifier circuit, and the orthogonal transmitting coils are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated into the deep-sea strata 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 location.

[0012] Optionally, the host computer includes:

[0013] The data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating grating 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 location; the target location is the real-time position of the deep-sea strata space drilling robot; the fiber Bragg grating grating node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser source after passing through the Bragg grating.

[0014] The initial coordinate determination unit is used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array using the circular arc model method, based on the wavelength change data of the fiber Bragg grating grating node.

[0015] The equation construction unit is used to construct an analytical equation system of the target position based on the magnetic beacon data, using two sets of orthogonal transmitting coils and one set of receiving coils; the receiving coil is the induction coil inside the magnetic sensor.

[0016] The positioning unit is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on the analytical equations of the target position and the initial coordinates of the target position using the LM algorithm.

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

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

[0019] Secondly, this application provides a method for locating a deep-sea strata space drilling robot, wherein the method is applied to the aforementioned deep-sea strata space drilling robot positioning device, and the method includes:

[0020] Acquire magnetic beacon data and fiber Bragg grating node wavelength variation 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 location; the target location is the real-time position of the deep-sea strata space drilling robot; the fiber Bragg grating node wavelength variation data is the wavelength variation data of different wavelength light signals emitted by the laser source after passing through the Bragg grating;

[0021] Based on the wavelength variation data of the fiber Bragg grating nodes, the initial coordinates of the target position based on the fiber Bragg grating sensing array are determined using the circular arc model method.

[0022] Based on the magnetic beacon data, an analytical equation set for the target position is constructed using two sets of orthogonal transmitting coils and one set of receiving coils; the receiving coil is the induction coil inside the magnetic sensor.

[0023] Based on the analytical equations of the target location and the initial coordinates of the target location, the position and attitude information of the deep-sea stratum space drilling robot in the stratum are determined using the LM algorithm.

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

[0025]

[0026] Where (x, y, z) represents the position of the deep-sea strata drilling robot in the strata; B' x B' represents the magnetic flux density in the x-direction. y B' represents the magnetic flux density in the y-direction. z B represents the magnetic flux density in the z-direction. T Here are constants related to the magnetic field; (a, b, c) are the position coordinates of the magnetic beacon transmitting coil; (m, n, p) are the magnet orientation; R is the rotation matrix; B' wx B' represents the magnetic flux density in the x-direction of the receiving coil. wy B' represents the magnetic flux density in the y-direction of the receiving coil. wz B represents the magnetic flux density in the z-direction of the receiving coil. wx B is the magnetic flux density in the orthogonal x-direction of the receiving coil itself. wy B represents the magnetic flux density in the orthogonal y-direction of the receiving coil itself. wz denoted as , where is the magnetic flux density in the receiving coil along the orthogonal z-direction; w is the number of the transmitting coil.

[0027] Thirdly, this application provides a computer device, including: 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 strata space drilling robot positioning method described in any one of the above.

[0028] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the deep-sea strata space drilling robot positioning method described in any one of the above descriptions.

[0029] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the deep-sea strata space drilling robot positioning method described above.

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

[0031] This application provides a positioning device, method, equipment, medium, and product for a deep-sea strata space drilling robot. It acquires magnetic beacon data and fiber Bragg grating (FBG) grating node wavelength variation data. The magnetic beacon data represents the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target location. The FBG grating node wavelength variation data represents the wavelength variation data of different wavelength light signals emitted by a laser source after passing through the FBG grating. Based on the FBG grating node wavelength variation data, the initial coordinates of the target position are determined using a circular arc model method. Based on the magnetic beacon data, an analytical equation set for the target position is constructed using two sets of orthogonal transmitting coils and one set of receiving coils. Based on the analytical equation set for the target position and the initial coordinates of the target position, the position and attitude information of the deep-sea strata space drilling robot in the strata are determined using the LM algorithm. In this application, the initial coordinates of the target position calculated by the fiber optic grating sensor array are used as the initial guess value of the LM algorithm. The position and attitude information of the deep-sea stratum space drilling robot are finally obtained by iteratively using the initial guess value through the magnetic beacon-based algorithm. This application solves the problem that the initial guess value is inaccurate and easily generates local optimal solutions, which ultimately leads to low positioning accuracy. At the same time, it enables the deep-sea stratum space drilling robot to achieve stable and accurate navigation and positioning functions in the 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. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A structural block diagram of a positioning device for a deep-sea strata space drilling robot provided in an embodiment of this application;

[0034] Figure 2 A schematic diagram of the positioning device for a deep-sea strata drilling robot.

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

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

[0037] Figure 5 A flowchart illustrating a method for locating a deep-sea strata space drilling robot, provided as an embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] This application combines magnetic beacon positioning technology and fiber optic grating sensor array positioning technology to effectively improve the positioning accuracy of deep-sea strata drilling robots.

[0042] In one exemplary embodiment, such as Figure 1 and Figure 2 As shown, a positioning device for a deep-sea stratum space drilling robot 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 optic grating sensing array, a laser source (broadband source), an optical circulator, and a spectrometer, connecting the seabed base station and the deep-sea drilling robot. The fiber optic grating sensing array is composed of several fiber Bragg gratings. The several fiber Bragg gratings are arranged at equal intervals. The data modulation and demodulation module is located in the electronics compartment of the seabed base station. The laser emitted by the laser source is transmitted unidirectionally to the fiber optic grating sensing array through the optical circulator. After modulation, it enters the spectrometer through the optical circulator, and the spectrometer demodulates the signal to obtain the wavelength variation data of the fiber Bragg grating nodes.

[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 location; the magnetic beacon is installed in the seabed 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 sets of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated into the magnetic beacon, and the signal generator, the driving amplifier circuit, and the orthogonal transmitting coils are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated into the deep-sea strata 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 location.

[0047] The host computer is connected to the spectral analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on 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 nodes.

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

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

[0050] The data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating grating 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 location; the target location is the real-time position of the deep-sea strata space drilling robot; the fiber Bragg grating grating node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser 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 using the circular arc model method, based on the wavelength change data of the nodes of the fiber Bragg grating.

[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. Multi-node equally spaced Bragg gratings are deployed on the optical fiber cable connecting the seabed base station and the drilling robot. During the robot's drilling process, the optical fiber cable moves with the robot in the strata. During this process, the wavelength of the nodes in the grating area changes. By collecting wavelength data and using the circular arc model, the current target position coordinate information of the drilling robot is solved. The coordinate information obtained at this time 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 construction unit is used to construct an analytical equation system of the target position based on the magnetic beacon data using two sets of orthogonal transmitting coils and one set of receiving coils; the receiving coil is the induction coil inside the magnetic sensor.

[0054] The positioning unit is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on the analytical equations of the target position and the initial coordinates of the target position using the LM algorithm.

[0055] In practical applications, the host computer is located on the deck of the mother ship. The mother ship is connected to the seabed base station via a fiber optic composite cable. The mother ship is used to transport and deploy the seabed base station and the deep-sea drilling robot, and to provide power and communication functions for the operation of the seabed base station and the deep-sea drilling robot.

[0056] In this embodiment, the deck operators on the mother ship can control the deep-sea strata drilling robot via a host computer based on a photoelectric composite cable, and realize data communication between the seabed base station and the deep-sea drilling robot system status.

[0057] In this embodiment, a seabed base station equipped with a magnetic beacon provides power and communication for the deep-sea drilling robot. This base station powers the robot's drilling and exploration tasks in the deep-sea strata via its own hydraulic drive system. The deep-sea drilling robot is lowered to a depth of 3000 meters by the mother ship via a fiber optic cable using a robot release system. The robot then autonomously drills into the seabed using its own drilling system. The magnetic beacon and fiber optic grating sensor array mounted on the seabed base station form a combined ground-penetrating positioning system. Furthermore, the deep-sea drilling robot control system uses the geological parameters transmitted from the robot's onboard magnetic sensors to dynamically calculate and plan its path in real time, controlling the robot's autonomous drilling movement within the strata to complete its designated tasks.

[0058] In one exemplary embodiment, a method for locating a deep-sea strata space drilling robot is provided. This method is applied to the aforementioned deep-sea strata space drilling robot positioning device. Figure 5 As shown, the deep-sea strata space drilling robot positioning method includes:

[0059] S1: Acquire magnetic beacon data and fiber Bragg grating grating 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 location; the target location is the real-time location of the deep-sea strata space drilling robot; the fiber Bragg grating grating node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser source after passing through the Bragg grating.

[0060] In practical applications, S1 simultaneously acquires magnetic beacon data and fiber Bragg grating node wavelength variation data. The magnetic beacon data represents the magnetic field strength corresponding to the magnetic field signal generated by a single magnetic beacon at the target location, with the real-time location of the deep-sea drilling robot as the target position. The magnetic beacon is installed in a seabed base station, which is connected to the deep-sea drilling robot via a fiber Bragg grating sensor array. The deep-sea drilling robot is equipped with a magnetic sensor to collect the triaxial magnetic field strength corresponding to the target location. Several Bragg gratings are equidistantly arranged to form a fiber Bragg grating sensor array.

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

[0062]

[0063] Where Λ is the fiber grating period, and β1 and β2 are the propagation constants of mode 1 (forward transmission mode) and mode 2 (backward transmission mode), respectively.

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

[0065]

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

[0067] The basic characteristic of a fiber Bragg grating is that it is a reflective passive optical filter. When a broadband laser from the transmitter propagates along the fiber, only light with wavelengths that meet the following conditions will be reflected:

[0068] λ B =2×n eff ×Λ a .

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

[0070] Fiber Bragg gratings (FBGs) deform under external stress. During this deformation, the period of the FBG increases or decreases, resulting in a corresponding change in the reflected wavelength. When the period of the FBG increases, the reflected wavelength increases (redshift); conversely, when the period decreases, the reflected wavelength decreases (blueshift).

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

[0072] Δλ B =λ B ×(1-p e )×ε.

[0073] Where, Δλ B ε is the wavelength shift of the reflected light in the fiber Bragg grating, ε is the deformation of the fiber Bragg grating under external stress, and p e It is the optical elastic coefficient of the optical fiber material.

[0074] S2: Based on the wavelength variation data of the fiber Bragg grating nodes, the initial coordinates of the target position based on the fiber Bragg grating sensing array are determined using the circular arc model method.

[0075] In practical applications, S2 calculates the coordinate information of the target point of the fiber Bragg grating sensing array relative to the origin based on the wavelength variation data of the equally spaced grating nodes (fiber Bragg grating nodes) and simultaneously using the circular arc model method. Figure 3 As shown, the fiber grating equidistant grating node is made by etching one or more Bragg grating regions on the core of a single-mode fiber, making it sensitive to one or more specific wavelengths of light. The circular arc model is based on knowing the included angle, radius and starting point coordinates of the arc, and calculating the ending point coordinates.

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

[0077] α i =θ i+1 -θ i .

[0078] Where, θ iLet α be the angle of rotation of the i-th fiber Bragg grating around the z-axis, which is positive according to the right-hand rule. i For the arc p i p i+1 The central angle, p i Let p be the coordinates of the i-th Bragg grating; i+1 Let be the coordinates of the (i+1)th Bragg grating; then the radius of the i-th arc segment is . l is the arc length; the center of the circle is at p. i The coordinates in the coordinate system with the origin as [0,0,r] are [0,0,r]. i ] T .

[0079] When α = 0, p i+1 In p i Coordinates in a coordinate system with the origin for:

[0080]

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

[0082]

[0083] in, The coordinates of the (i+1)th Bragg grating with the origin at 0; This represents the coordinate value of the i-th Bragg grating with the origin at 0. yes The expression for the coordinate system of the origin in the system coordinate system is as follows: Let be the rotation of the (i-1)th coordinate system relative to the global coordinate system. For the rotation of the (i)th coordinate system relative to the (i-1)th coordinate system, rotate the coordinate system around the y-axis. i Axis rotation - α i Angles can be used to determine the coordinate system of motion. x at the location i+1 The axial direction (tangential direction) and the rotated coordinate system.

[0084] When α≠0, p i+1 In p i Coordinates in a coordinate system with the origin for:

[0085]

[0086] S3: Based on the magnetic beacon data, construct an analytical equation set for the target position using two sets of orthogonal transmitting coils and one set of receiving coils; the receiving coil is an induction coil inside the magnetic sensor.

[0087] In practical applications, S3 constructs an analytical set of equations for the target position of the magnetic sensor based on the magnetic field strength at the target location, using two sets of orthogonal transmitting coils and one set of receiving coils. The magnetic field strength at the target location is the triaxial magnetic field strength information sensed by the magnetic sensor built into the deep-sea stratum space drilling robot. 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, based on the magnetic field strength at the target location, the calculation relationship between magnetic field strength and distance is constructed using the law of magnetic field distribution around the conductor as follows:

[0089]

[0090] in, It represents the magnetic flux density. Let μ be the magnetic moment vector, μ0 be the free magnetic permeability, and r be the distance from the field point to the origin. This is the position vector from the field point to the origin.

[0091] Based on the above formula, the expression for the magnetic field strength at the target location can be obtained as follows:

[0092]

[0093] Where O = (a, b, c) T Let H0 represent the position of the magnetic dipole, where H0 = (m, n, p). T In the direction of the magnet, B is the position vector from the magnetic dipole to the target. 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] When alternating current is applied to a magnetic beacon, a changing magnetic field is generated. According to the law of electromagnetic induction, when the magnetic flux through a conducting loop changes over time, an induced electromotive force (EMF) is generated in the loop. Using a magnetic sensor as a receiver, when the magnetic flux through the receiving coil changes, an induced EMF is generated in the receiving circuit.

[0097]

[0098] Where S and n are constants. φ 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, and S and n are constants, the induced electromotive force E is linearly related to the rate of change of B. By measuring the magnitude of E, the magnitude of the magnetic field strength B can be calculated.

[0100] Based on the location of the magnetic beacon, an RFU coordinate system (transmitting coordinate system XYZ) is defined. One transmitting coil of the magnetic beacon can be equivalent to a magnetic dipole, and the magnetic induction intensity it produces 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 set of receivers, corresponding to one transmitting coil of the magnetic beacon. This set of receivers will induce three magnetic field strengths B along the orthogonal directions of the receiving coils themselves. x B y B z .

[0101] According to B' x B' y B' z By rotating the coordinates, we can obtain B. x B y B z The rotation matrix is ​​shown below:

[0102] R=Rot(z,γ)Rot(y,β)Rot(x,α).

[0103]

[0104] Where (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] From the expansion of the above equation, we can obtain:

[0106]

[0107]

[0108] Where (x, y, z) represents the position of the deep-sea strata drilling robot in the strata; B' x B' represents the magnetic flux density in the x-direction. y B' represents the magnetic flux density in the y-direction. z B represents the magnetic flux density in the z-direction. T Here are constants related to the magnetic field; (a, b, c) are the position coordinates of the magnetic beacon transmitting coil; (m, n, p) are the magnet orientation; R is the rotation matrix; B' wx B' represents the magnetic flux density in the x-direction of the receiving coil.wy B' represents the magnetic flux density in the y-direction of the receiving coil. wz B represents the magnetic flux density in the z-direction of the receiving coil. wx B is the magnetic flux density in the orthogonal x-direction of the receiving coil itself. wy B represents the magnetic flux density in the orthogonal y-direction of the receiving coil itself. wz denoted as , where is the magnetic flux density in the receiving coil along the orthogonal z-direction; w is the number of the transmitting coil.

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

[0110] S4: Based on the analytical equations of the target location and the initial coordinates of the target location, the position and attitude information of the deep-sea stratum space drilling robot in the stratum are determined using the LM algorithm.

[0111] In practical applications, S4 uses the analytical equations of the target position and the target point coordinates (initial coordinates of the target position) of the fiber optic grating sensor array as the initial guess value of the LM algorithm. The algorithm iteratively calculates the target position coordinates and attitude of the magnetic sensor using the initial guess value. 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 to the following system of linear equations:

[0113]

[0114] Where k is the current iteration number, and λ is the scalar. k It is the step size d k The control factor, T is the transpose. for An N×3 Jacobian matrix, where I is the identity matrix. For parameter vectors.

[0115] Based on the optimization process of the LM algorithm, a parameter vector is first provided. The initial estimate, and λ0 = 0.01; Jacobian matrix. The solution can be approximated using the finite difference method. In the (k+1)th iteration, the updated solution is as follows: When a solution with a lower fit is obtained in the iteration, the algorithm sets λ. k+1 =λ k / 10, otherwise set λk+1 =λ k ·10.

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

[0117] The combined positioning method of magnetic beacons and fiber optic grating sensor arrays uses the position coordinates of the fiber optic grating sensor array nodes as the initial guess value of the LM algorithm. The algorithm iterates through the initial guess value to finally obtain the target position coordinate information of the deep-sea stratum space drilling robot. The combined positioning method solves the problem that the initial guess value is inaccurate and easily generates local optimal solutions, which ultimately leads to low positioning accuracy.

[0118] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described deep-sea strata space drilling robot positioning method.

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

[0120] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described deep-sea strata space drilling robot positioning method.

[0121] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 6 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for locating a deep-sea strata space drilling robot.

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

[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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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 can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0125] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A positioning device for a deep-sea strata space drilling robot, 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 Bragg grating sensor array, a laser source, an optical circulator, and a spectrometer, connecting the seabed base station and the deep-sea stratum space drilling robot. The fiber Bragg grating sensor array is composed of several fiber Bragg gratings. The several fiber Bragg gratings are arranged at equal intervals. The data modulation and demodulation module is located in the electronics compartment of the seabed base station. The laser emitted by the laser source is transmitted unidirectionally to the fiber Bragg grating sensor array through the optical circulator. After modulation, it enters the spectrometer through the optical circulator, and the spectrometer demodulates the signal to obtain the wavelength change data of the fiber Bragg grating nodes. 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 location; the magnetic beacon is installed in the seabed base station. The host computer is connected to the spectral analyzer and the magnetic signal data transceiver module respectively; the host computer is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on 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 nodes.

2. The positioning device for deep-sea strata space drilling robots 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 sets of orthogonal transmitting coils; the signal generator and the driving amplifier circuit are integrated into the magnetic beacon, and the signal generator, the driving amplifier circuit, and the orthogonal transmitting coils are connected in sequence; the filtering amplifier circuit and the magnetic sensor are integrated into the deep-sea strata 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 location.

3. The positioning device for deep-sea strata space drilling robots according to claim 2, characterized in that, The host computer includes: The data acquisition unit is used to acquire magnetic beacon data and fiber Bragg grating grating 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 location; the target location is the real-time position of the deep-sea strata space drilling robot; the fiber Bragg grating grating node wavelength change data is the wavelength change data of different wavelength light signals emitted by the laser source after passing through the Bragg grating. The initial coordinate determination unit is used to determine the initial coordinates of the target position based on the fiber Bragg grating sensor array using the circular arc model method, based on the wavelength change data of the fiber Bragg grating grating node. The equation construction unit is used to construct an analytical equation system of the target position based on the magnetic beacon data, using two sets of orthogonal transmitting coils and one set of receiving coils; the receiving coil is the induction coil inside the magnetic sensor. The positioning unit is used to determine the position and attitude information of the deep-sea stratum space drilling robot in the stratum based on the analytical equations of the target position and the initial coordinates of the target position using the LM algorithm.

4. The positioning device for a deep-sea strata space drilling robot according to claim 1, characterized in that, The host computer is located on the deck of the mother ship.

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

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

7. The deep-sea strata space drilling robot positioning method according to claim 6, characterized in that, The analytical equations for the target location are as follows: ； ； ； ； Where (x, y, z) represents the position of the deep-sea strata space drilling robot in the strata; The magnetic flux density is in the x-direction. The magnetic flux density is in the y-direction. The magnetic flux density is in the z-direction. 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 magnet orientation; R is the rotation matrix; The magnetic flux density in the x-direction of the receiving coil; The magnetic flux density in the y-direction of the receiving coil; The magnetic flux density in the z-direction of the receiving coil; The magnetic flux density in the receiving coil itself in the orthogonal x-direction; The magnetic flux density in the orthogonal y-direction of the receiving coil itself; denoted as , where is the magnetic flux density in the receiving coil along the orthogonal z-direction; 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, characterized in that the processor executes the computer program to implement the deep-sea strata space drilling robot positioning method according to any one of claims 6-7.

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

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

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