Simulation platform for autonomous tracking of subsea pipeline by UUV (Unmanned Underwater Vehicle)

Abstract

The invention discloses a simulation platform for autonomous tracking of a subsea pipeline by a UUV. The simulation platform comprises a mother ship command and control node system used for issuing a task instruction to a UUV motion control and situation display system; the UUV motion control and situation display system is used for sending a course adjustment instruction to the UUV underwater unmanned vehicle and carrying out real-time graphical dynamic display on the navigation information of the UUV underwater unmanned vehicle; the UUV side-scan sonar model system is used for receiving the motion attitude information of the UUV underwater unmanned vehicle and carrying out detection result data production calculation on a target area in combination with the motion attitude information; the UUV subsea pipeline detection and identification system is used for carrying out pipeline identification according to side scanning detection result data and sending pipeline information to the UUV pipeline tracking strategy system; the UUV pipeline tracking strategy system is used for calculating the track information of the UUV underwater unmanned vehicle according to the pipeline information and the navigation information of the UUV underwater unmanned vehicle, and sending the track information to the mother ship command control node system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater unmanned vehicle detection, in particular to a UUV autonomous tracking seabed pipeline simulation platform. BACKGROUND

[0002] At present, the underwater oil and gas is mainly transported from the formation to the terminal by the seabed pipeline, and the advantage is stable transportation and efficient transportation, but due to the complexity of the underwater environment, especially the seabed environment, there is a risk of pipeline damage and even leakage.

[0003] Periodic detection of the seabed pipeline is an important measure to effectively investigate the risk. Therefore, an intuitive and reliable seabed pipeline inspection device is urgently needed. SUMMARY

[0004] The present application provides a UUV autonomous tracking seabed pipeline simulation platform for seabed pipeline investigation.

[0005] The present application provides a UUV autonomous tracking seabed pipeline simulation platform, comprising:

[0006] The mother ship command control node system is in communication connection with the UUV motion control and situation display system, and is used to issue task instructions to the UUV motion control and situation display system;

[0007] The UUV motion control and situation display system is in communication connection with the UUV underwater unmanned vehicle, and is used to send heading adjustment instructions to the UUV underwater unmanned vehicle, and to perform real-time graphical dynamic display on the navigation information of the UUV underwater unmanned vehicle;

[0008] The UUV side-scan sonar model system is in communication connection with the UUV seabed pipeline detection and identification system, and is used to receive the motion attitude information of the UUV underwater unmanned vehicle, to produce and calculate detection result data of the target area in combination with the motion attitude information, and to send the side-scan detection result data to the UUV seabed pipeline detection and identification system;

[0009] The UUV seabed pipeline detection and identification system is in communication connection with the UUV pipeline tracking strategy system, and is used to identify the pipeline according to the side-scan detection result data, and to send the pipeline information to the UUV pipeline tracking strategy system;

[0010] The UUV pipeline tracking strategy system is in communication connection with the mother ship command control node system, and is used to calculate the track information of the UUV underwater unmanned vehicle according to the pipeline information and the navigation information of the UUV underwater unmanned vehicle, and to send the track information to the mother ship command control node system.

[0011] In some optional embodiments of the present application, before the simulation is started, the mother ship command control node system is configured to select a point on the electronic chart for route planning and set sailing parameters, and synchronize the clock, and send preset data to the UUV motion control and situation display system.

[0012] In some optional embodiments of the present application, after the simulation is started, the UUV motion control and situation display system receives sailing information of the UUV underwater unmanned vehicle at a preset period, and sends instructions to the UUV underwater unmanned vehicle according to the sailing information.

[0013] In some optional embodiments of the present application, after the simulation is ended, the mother ship command control node system is configured to store the track information.

[0014] In some optional embodiments of the present application, the sailing information includes attitude, heading, speed and depth.

[0015] In some optional embodiments of the present application, the UUV side scan sonar model system is configured to determine the relative position of the UUV underwater unmanned vehicle and the pipeline, and combine the motion attitude information to index and calculate the map information of the current corresponding region by means of the prior map pixel information, to obtain an acoustic detection image.

[0016] In some optional embodiments of the present application, the UUV submarine pipeline detection and identification system is configured to extract edge information of the pipeline in the acoustic detection image, and determine the orientation information of the pipeline according to the edge information.

[0017] In some optional embodiments of the present application, the UUV pipeline tracking strategy system is configured to receive the angle information and position information of the pipeline in the world coordinate system identified by the UUV submarine pipeline detection and identification system, and receive the UUV underwater unmanned vehicle information from the mother ship command control node system, and calculate the track of the UUV underwater unmanned vehicle according to the characteristics of the UUV underwater unmanned vehicle, so that the UUV underwater unmanned vehicle keeps parallel to the submarine pipeline within an effective distance.

[0018] In some optional embodiments of the present application, the UUV motion control and situation display system is connected to the UUV side scan sonar model system and the UUV submarine pipeline detection and identification system through a TCP / IP protocol.

[0019] In some optional embodiments of the present application, the UUV submarine pipeline detection and identification system is connected to the UUV side scan sonar model system and the UUV pipeline tracking strategy system through a UDP protocol.

[0020] The beneficial effects provided by this invention are as follows: The UUV autonomous tracking subsea pipeline simulation platform provided by this invention can realize initial path planning, sonar image generation, pipeline identification, tracking strategy generation, UUV motion control and three-dimensional visualization of UUVs, and realize the visual risk assessment of subsea pipelines; in addition, the platform can carry out subsea pipeline tracking algorithm training and simulation verification for UUV image recognition algorithms, which is an effective supplement to the UUV capability verification method.

[0021] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the system architecture of the UUV autonomous tracking subsea pipeline simulation platform provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the system architecture of a UUV autonomous tracking subsea pipeline simulation platform provided in a specific embodiment of the present invention;

[0024] Figure 3 This is a server deployment diagram of the UUV autonomous tracking subsea pipeline simulation platform provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the simulation process of the UUV autonomous tracking subsea pipeline simulation platform provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of information interaction of the UUV autonomous tracking subsea pipeline simulation platform provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the side-scan sonar detection range provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram illustrating the calculation of the intersection points between the right-side scanning segment of the UUV and both boundaries provided in an embodiment of the present invention.

[0029] Figure 8 A schematic diagram illustrating the calculation of the UUV right-side scanning segment intersecting only one boundary (point B is inside the pipe) provided in an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram illustrating the calculation of the UUV right-side scanning segment intersecting only one boundary (point B is not inside the pipe) provided in an embodiment of the present invention.

[0031] Figure 10 This is a schematic diagram illustrating the calculation of the UUV right-side scanning segment having no intersection with either of the two boundaries, as provided in an embodiment of the present invention.

[0032] Figure 11 A schematic diagram of pipeline detection and identification principle provided in an embodiment of the present invention;

[0033] Figure 12 This is a schematic diagram of the simulated side-scan sonar image edge detection results provided in an embodiment of the present invention;

[0034] Figure 13 This is a schematic diagram of the simulated sonar image subsea pipeline target segmentation result provided in an embodiment of the present invention;

[0035] Figure 14 This is a schematic diagram of the Hough line detection results provided in an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0037] like Figure 1 As shown in the embodiment of the present invention, a UUV autonomous tracking subsea pipeline simulation platform is provided, comprising:

[0038] The mother ship command and control node system communicates with the UUV motion control and situation display system and is used to issue task instructions to the UUV motion control and situation display system.

[0039] The UUV motion control and situation display system communicates with the UUV underwater unmanned vehicle and is used to send heading adjustment commands to the UUV underwater unmanned vehicle and to display the navigation information of the UUV underwater unmanned vehicle in real time in a graphical and dynamic manner.

[0040] The UUV side-scan sonar model system is connected to the UUV submarine pipeline detection and identification system. It is used to receive the motion attitude information of the UUV underwater unmanned vehicle, combine the motion attitude information to generate and calculate the detection result data of the target area, and send the side-scan detection result data to the UUV submarine pipeline detection and identification system.

[0041] The UUV subsea pipeline detection and identification system communicates with the UUV pipeline tracking strategy system to identify pipelines based on side-scan detection data and send pipeline information to the UUV pipeline tracking strategy system.

[0042] The UUV pipeline tracking strategy system is communicatively connected to the mother ship command and control node system. It is used to calculate the track information of the UUV (Unmanned Underwater Vehicle) based on pipeline information and the navigation information of the UUV, and send the track information to the mother ship command and control node system.

[0043] The UUV autonomous tracking of submarine pipeline simulation platform can achieve the initial path planning of the UUV, sonar image generation, pipeline recognition, tracking strategy generation, UUV motion control and three-dimensional visualization display. It can carry out the training and simulation verification of the submarine pipeline tracking algorithm for the UUV image recognition algorithm, which is an effective supplement to the UUV capability verification method.

[0044] In the embodiments of the present invention, UUV is the abbreviation of Unmanned Underwater Vehicle in English, and its Chinese meaning is an unmanned underwater vehicle; sonar can also be written as 声呐. The mother ship command and control node system completes the task distribution to the UUV motion control and situation display system, initial path point planning, working parameter setting, and underwater acoustic communication information interaction; the UUV motion control and situation display system can adjust the heading of the UUV, and perform two-dimensional and three-dimensional real-time graphical dynamic display of various information such as the attitude, heading, speed, and depth of the UUV, and perform real-time display of the pipeline recognition results, and at the same time can display the specific values of various parameters, providing the operator with the function of command input and the multi-dimensional display function of the simulation results, enabling the operator to obtain intuitive information about the UUV and the pipeline; the UUV side-scan sonar model system can simulate the detection of the surrounding environment by the side-scan sonar in real time under the current pose of the UUV in the simulation process of the UUV autonomous tracking of submarine pipeline simulation platform, and transmit the corresponding data to the simulation management system for subsequent image recognition; the UUV submarine pipeline detection and recognition system can achieve the detection and recognition of the pipeline based on the image recognition algorithm by real-time analysis of the sonar waterfall diagram, and calculate the position information of the pipeline according to the UUV position information; the UUV pipeline tracking strategy system can calculate the optimal tracking control strategy of the UUV on the basis of analyzing the processing results of the submarine pipeline detection and recognition, according to the submarine pipeline positioning and orientation information, combined with the current motion situation information of the UUV, to ensure that the UUV side-scan sonar can stably and continuously track the detected submarine pipeline.

[0045] Specifically, as Figures 2 to 5 shown, the UUV autonomous tracking of submarine pipeline simulation platform includes:

[0046] The mother ship command and control node system includes the following functions: designing mother ship command and control node software based on electronic nautical charts, supporting operations such as zooming in and out of the charts, and displaying water depth and obstacle information for each sea area; before the simulation starts, selecting points on the nautical chart for route planning and setting navigation parameters, initializing the clock synchronously according to the simulation system, and transmitting preset data to the UUV motion control and situation display system via the network; after the simulation starts, the UUV motion control and situation display system begins to receive UUV position information, attitude information, task type information, and pipeline identification result information from the simulation management computer at 60-second intervals, and issues new online commands to the UUVs based on the corresponding information; after the simulation ends, the path parameter information of the UUV pipeline detection and identification is saved and replayed.

[0047] The UUV motion control and situation display system includes the following functions: during UUV pipeline tracking, it continuously collects data on the status and motion parameters of the UUV and pipeline returned by other systems and converts them into information such as the position and heading of the UUV model in the program in real time; it adjusts the heading of the UUV; it displays the attitude, heading, speed, depth and other information of the UUV in real time in two-dimensional and three-dimensional graphical dynamic display; it displays the pipeline identification results in real time; and it can also display the specific values ​​of various parameters.

[0048] A UUV side-scan sonar model system; its functions include: receiving UUV motion attitude information from the simulation management computer at 0.5-second intervals after simulation startup; combining the information-based UUV motion attitude information to calculate and generate detection result data for the target area, and outputting the side-scan detection result data at 1.0-second intervals. Its specific principle is as follows:

[0049] First, determine the relative position of the UUV and the subsea pipeline. The side-scan sonar model has one detection segment on each side with a 0.2-second transmission cycle. Calculate the boundary points A, B, C, and D of the four detection segments. The area between A and B, and between C and D, constitutes the side-scan sonar scanning area. Figure 6 As shown.

[0050] Considering the right detection line segment, if the right scanning line segment of the UUV intersects both the pipeline width boundary line (a and b respectively), then calculate the distances between the two intersection points and the center point of the UUV to determine the relative position of the UUV and the pipeline. Figure 7 As shown.

[0051] If the right-side scan line segment of the UUV intersects the pipeline width boundary line at only one point, first determine whether point B, the end point of the right-side scan line segment of the UUV, is within the pipeline area. If point B, the end point of the right-side scan line segment of the UUV, is within the pipeline area, then point A is not within the pipeline area, and thus there exists a... Figure 8 The two cases shown.

[0052] If the right-side scan line segment of the UUV intersects the pipeline width boundary line at only one point, first determine whether point B, the end point of the right-side scan line segment of the UUV, is within the pipeline area. If point B, the end point of the right-side scan line segment of the UUV, is not within the pipeline area, then point A is within the pipeline area, and thus, the following applies: Figure 9 The two cases shown.

[0053] If the right-side scan line segment of the UUV does not intersect with the pipeline width boundary line, then calculate whether point A, the starting point of the right-side scan line segment, is within the pipeline area. If point A is within the pipeline area, it indicates that the entire right-side scan line segment is within the pipeline area. If point A is not within the pipeline area, it indicates that the entire right-side scan line segment is not within the pipeline area. Figure 10 As shown.

[0054] The method for determining the relative position of the UUV left probe segment scanning pipeline is the same as the principle of the right probe segment described above.

[0055] The UUV side-scan sonar model system combines the UUV pose information and the relative position of the UUV and pipeline determined by the above method. With the help of the pre-constructed prior map pixel information, it indexes and calculates the map information of the corresponding area and sends the sonar data packet to the UUV subsea pipeline detection and identification system at a 1-second cycle.

[0056] The UUV subsea pipeline detection and identification system has the following functions: after the simulation starts, it receives the detection result data of the UUV side-scan sonar model system at a 1.0 second cycle, performs pipeline identification processing on the detection result data of the UUV side-scan sonar model system, and calculates the absolute position information and deflection information of the subsea pipeline; if the subsea pipeline is detected and identified, it outputs the detection and identification processing information.

[0057] The UUV subsea pipeline detection and identification system takes the acoustic detection images generated by the UUV side-scan sonar model system as input. It first processes the images using edge detection or target extraction algorithms to obtain the pipeline's edge information or separate the pipeline from the background. Then, it uses a line detection algorithm to obtain the pipeline's position and deflection angle in the image, finally outputting the subsea pipeline's orientation information. This information is then provided to the UUV pipeline tracking strategy system as input instructions. Its principle is as follows: Figure 11 As shown.

[0058] Use the Canny operator to extract edge information from an image. Figure 12 The left side shows a simulated image generated by the side-scan sonar model system, while the right side shows the edge information of the subsea pipeline obtained after processing with the Canny edge detection algorithm. The two-dimensional ACA-CFAR algorithm is used to segment the subsea pipeline target in the simulated side-scan sonar image, efficiently separating the pipeline target from the background and using it as input for subsequent line detection. Figure 13As shown, the Hough transform is used to detect straight lines in an image segmented by the ACA-CFAR algorithm. The basic strategy is to calculate the possible trajectories of reference points in the parameter space from edge points in the image space, and to output the calculated reference point counts in an accumulator. Finally, the peak value is selected. The Hough transform is essentially a voting mechanism, voting on discrete points in the parameter space. If the voting value exceeds a certain threshold, it is considered that a sufficient number of image points lie on the line determined by that parameter point. This method is less affected by noise and discontinuities in the straight line. Figure 14 Is Figure 12 The results of line detection based on 2D ACA-CFAR target segmentation show that the Hough transform accurately detects the position of the line in the original image.

[0059] The UUV pipeline tracking strategy system includes the following functions: receiving pipeline information from the subsea pipeline detection and identification system, including the pipeline's angle and position in the world coordinate system; receiving UUV information from the mother ship command and control node system, including the UUV's heading angle, speed, and position in the world coordinate system; calculating the UUV's trajectory based on its own characteristics to ensure that the UUV can maintain parallel progress with the subsea pipeline within an effective distance; and converting the UUV's trajectory into a time-series change in heading angle and transmitting the value to the mother ship command and control node system.

[0060] Specifically, the simulation process timing is as follows:

[0061] Before the simulation starts, the mother ship command and control node system sets the task and plans the initial path point, and issues the task setting and path point planning parameters, which are then transmitted to the UUV motion control and situation display system through the switch.

[0062] After the simulation starts, the UUV motion control and situation display system controls the UUV to move according to the predetermined waypoints and realizes dynamic display. The UUV side-scan sonar model system, UUV seabed pipeline detection and identification system, and UUV pipeline tracking strategy system start to run. The UUV motion control and situation display system sends UUV motion attitude information and control parameter information to the above systems.

[0063] The UUV motion control and situation display system and the mother ship command and control node system transmit UUV position and motion information through simulated underwater acoustic communication with a 60-second cycle.

[0064] The UUV side-scan sonar model system simulates and generates sonar images, which are then sent to the UUV subsea pipeline detection and identification system for processing at a 1.0-second interval.

[0065] The UUV submarine pipeline detection and identification system processes sonar images, identifies submarine pipeline targets, and then sends the processing results to the pipeline tracking strategy system.

[0066] The UUV pipeline tracking strategy system determines the UUV tracking strategy based on the pipeline location and the UUV's motion status, and sends UUV direction adjustment information to the UUV motion control and situation display system to achieve stable tracking of the pipeline.

[0067] Specifically, the information exchange methods are as follows:

[0068] The mothership command and control node system generates task settings and path files, which are then transmitted to the UUV motion control and situation display system in file form.

[0069] The UUV motion control and situation display system interacts with the UUV side-scan sonar model system and the UUV pipeline tracking strategy system via TCP / IP protocol.

[0070] The UUV subsea pipeline detection and identification system interacts with the UUV side-scan sonar model system and the UUV pipeline tracking strategy system via the UDP protocol.

[0071] It should be understood that in the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this description, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples described in this specification, as well as some features of different embodiments or examples.

[0072] Of course, those skilled in the art can make various corresponding changes and modifications based on the present invention without departing from its spirit and essence, but such changes and modifications should all fall within the protection scope of the claims of the present invention.

Claims

1. A UUV autonomous tracking of subsea pipeline simulation platform, characterized in that, The UUV autonomous tracking seabed pipeline simulation platform comprises: a mother ship command control node system, which is in communication connection with a UUV motion control and situation display system, and is used for issuing task instructions to the UUV motion control and situation display system; the UUV motion control and situation display system, which is in communication connection with a UUV underwater unmanned vehicle, and is used for sending a heading adjustment instruction to the UUV underwater unmanned vehicle and performing real-time graphical dynamic display on navigation information of the UUV underwater unmanned vehicle; a UUV side-scan sonar model system, which is in communication connection with a UUV seabed pipeline detection and identification system, and is used for receiving motion posture information of the UUV underwater unmanned vehicle, producing and calculating detection result data of a target area in combination with the motion posture information, and sending side-scan detection result data to the UUV seabed pipeline detection and identification system; the UUV seabed pipeline detection and identification system, which is in communication connection with a UUV pipeline tracking strategy system, and is used for identifying a pipeline according to the side-scan detection result data and sending pipeline information to the UUV pipeline tracking strategy system; the UUV pipeline tracking strategy system, which is in communication connection with the mother ship command control node system, and is used for calculating track information of the UUV underwater unmanned vehicle according to the pipeline information and the navigation information of the UUV underwater unmanned vehicle and sending the track information to the mother ship command control node system.

2. The UUV autonomous tracking seabed pipeline simulation platform according to claim 1, wherein before simulation starts, the mother ship command control node system is used for selecting points on an electronic chart to plan a route and set navigation parameters, and synchronously initializing a clock, and sending preset data to the UUV motion control and situation display system.

3. The UUV autonomous tracking seabed pipeline simulation platform according to claim 1, wherein after simulation starts, the UUV motion control and situation display system receives navigation information of the UUV underwater unmanned vehicle at a preset period, and sends an instruction to the UUV underwater unmanned vehicle according to the navigation information.

4. The UUV autonomous tracking seabed pipeline simulation platform according to claim 1, wherein after simulation ends, the mother ship command control node system is used for storing the track information.

5. The UUV autonomous tracking of seafloor pipeline simulation platform of claim 1, wherein, The navigation information comprises a posture, a heading, a speed, and a depth.

6. The UUV autonomous tracking of seafloor pipeline simulation platform of claim 1, wherein, The UUV side-scan sonar model system is used for judging a relative position of the UUV underwater unmanned vehicle and a pipeline, and performing index calculation on map information of a current corresponding area by means of prior map pixel information in combination with the motion posture information, to obtain an acoustic detection image.

7. The UUV autonomous tracking of seafloor pipeline simulation platform of claim 6, wherein, The UUV seabed pipeline detection and identification system is used for extracting edge information of the pipeline in the acoustic detection image, and determining azimuth information of the pipeline according to the edge information.

8. The UUV autonomous tracking of seafloor pipeline simulation platform of claim 1, wherein, The UUV pipeline tracking strategy system is used for receiving angle information and position information of pipelines identified by the UUV submarine pipeline detection and identification system in a world coordinate system, and receiving UUV underwater unmanned vehicle information transmitted by the mother ship command control node system, and calculating a track of the UUV underwater unmanned vehicle according to characteristics of the UUV underwater unmanned vehicle, so that the UUV underwater unmanned vehicle keeps parallel to the submarine pipeline within an effective distance and advances.

9. The UUV autonomous tracking of seafloor pipeline simulation platform of any one of claims 1-8, wherein, The UUV motion control and situation display system is connected with the UUV side-scan sonar model system and the UUV submarine pipeline detection and identification system through a TCP / IP protocol.

10. The UUV autonomous tracking of seafloor pipeline simulation platform of any one of claims 1-8, wherein, The UUV submarine pipeline detection and identification system is connected with the UUV side-scan sonar model system and the UUV pipeline tracking strategy system through a UDP protocol.

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