Underwater robot positioning system in diversion tunnel

Abstract

The utility model discloses an underwater robot positioning system in a diversion tunnel, and relates to the technical field of underwater positioning. Comprising an integrated array arranged on a tunnel wall, a UWB sensor and an underwater sound sensor which are arranged on an underwater robot, a cable length sensor and a ground control system, and the UWB sensor and the underwater sound sensor respectively obtain distance information and relative position information between the underwater robot and the integrated array and are in communication connection with the integrated array; the cable length sensor is used for acquiring the real-time cable length of the underwater robot and is electrically connected with the ground control system; and the integrated array is in communication connection with a ground control system. According to the utility model, aiming at the unique characteristics of the long-distance diversion tunnel, on the basis of cable positioning, the underwater robot is positioned by using the ultra-wide band and ultra-short baseline technologies, and accurate positioning and tracking of the underwater detection robot in the tunnel are realized through fusion positioning of the three technologies.

Description

TECHNICAL FIELD

[0001] The utility model belongs to underwater positioning technical field, especially a water diversion tunnel underwater robot positioning system in. BACKGROUND

[0002] As the key structure of the major project, the water diversion tunnel will have cracks, landslides, exposed reinforcement and other typical defects after years of operation, and because of its long tunnel line, large tunnel diameter, high water pressure, complex surrounding rock address and other characteristics, the underwater detection robot has great application value. Real-time positioning of the underwater detection robot is a key part of the intelligent inspection of the robot.

[0003] At present, the position determination, information transmission and power supply of the underwater detection robot rely on cables. However, the inventors found that the prior art still has the following problems:

[0004] Firstly, when positioning the underwater robot by the length of the cable, only the distance information of the underwater robot relative to the cable can be obtained, and there is not enough information to support the accurate positioning of the underwater robot in multiple degrees of freedom;

[0005] At the same time, in the dynamic underwater environment in the water diversion tunnel, the change of the length of the cable may be affected by many factors such as water flow, robot movement and braking caused by the robot movement, which may introduce positioning error. Compared with some advanced underwater positioning technology, the accuracy of the cable length positioning technology is usually low. INVENTION CONTENTS

[0006] The purpose of the utility model is to provide a water diversion tunnel underwater robot positioning system, which is based on the cable positioning and simultaneously uses ultra-wideband and ultra-short baseline technology to position the underwater robot according to the unique characteristics of the long-distance water diversion tunnel. The fusion positioning of the three technologies realizes the accurate positioning and tracking of the underwater detection robot in the tunnel, and solves the problems in the prior art.

[0007] To solve the above technical problems, the utility model is realized by the following technical scheme:

[0008] The utility model is a water diversion tunnel underwater robot positioning system, which comprises an integrated array arranged on the tunnel wall, a UWB sensor and a hydrophone sensor arranged on the underwater robot, a cable length sensor and a ground control system. The UWB sensor and the hydrophone sensor are respectively used to obtain the distance information and the relative position information between the underwater robot and the integrated array, and are in communication connection with the integrated array. The cable length sensor is used to obtain the real-time cable length of the underwater robot, and is in electrical connection with the ground control system. The integrated array and the ground control system are in communication connection.

[0009] Optionally, the UWB sensor and the underwater acoustic sensor are arranged at a central position of the underwater robot.

[0010] Optionally, the integrated array comprises a linear power amplifier module, a receiving preprocessing module and a data processing module, the receiving preprocessing module and the data processing module are electrically connected, the linear power amplifier module is used for sending signals to the UWB sensor and the underwater acoustic sensor, the receiving preprocessing module is used for receiving output signals of the UWB sensor and the underwater acoustic sensor, and the data processing module is used for unifying coordinate systems of the output signals of the UWB sensor and the underwater acoustic sensor.

[0011] Optionally, the integrated array further comprises a data transmission module, the data transmission module and the data processing module are electrically connected, and the data transmission module is in communication connection with the ground control system.

[0012] Optionally, the integrated array further comprises a clock module, the clock module is electrically connected with the receiving preprocessing module and the data processing module respectively.

[0013] Optionally, the integrated array further comprises an antenna module, the antenna module is used for signal transmission between the linear power amplifier module and the UWB sensor and the underwater acoustic sensor, and between the UWB sensor and the underwater acoustic sensor and the receiving preprocessing module.

[0014] Optionally, the integrated array further comprises a power module, the power module is electrically connected with the linear power amplifier module, the receiving preprocessing module, the data processing module, the data transmission module, the clock module and the antenna module respectively.

[0015] Optionally, a plurality of integrated arrays are arranged and uniformly distributed along the tunnel wall.

[0016] Optionally, the underwater robot and the ground control system are connected through a cable.

[0017] Optionally, a cable shaft is arranged between the ground control system and the underwater robot, the cable is wound on the cable shaft, and a cable length sensor is arranged on the cable shaft.

[0018] The utility model has the following beneficial effects:

[0019] The utility model discloses a water diversion tunnel underwater robot positioning system utilizes the fusion of three positioning technologies of ultra wide band technology (UWB), ultra short baseline technology (USBL) and cable to realize accurate positioning and tracking of underwater detection robot. Utilize UWB sensor, underwater acoustic sensor to obtain distance information and relative position information between underwater robot and integrated array respectively, improve positioning precision on the basis of original cable distance sensing data.

[0020] The utility model discloses the fusion of three kinds of positioning technology respective advantage, provide more accurate, more sustainable, more reliable underwater robot position information.

[0021] The utility model discloses the fusion of three kinds of positioning technology respective advantage, provide more accurate, more sustainable, more reliable underwater robot position information.

[0022] Of course, any product implementing the utility model does not necessarily need to simultaneously achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be needed to use the drawing of the embodiment to introduce briefly, obviously, the drawing in the following description only is some embodiments of the utility model, for the ordinary skilled person in the art, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings.

[0024] Figure 1 It is the whole structure schematic diagram of the utility model;

[0025] Figure 2 It is the integrated array structure schematic diagram of the utility model.

[0026] In the drawing, the component list represented by each sign is as follows:

[0027] 1 integrated array, 2 UWB sensor, 3 underwater acoustic sensor, 4 cable shaft, 5 ground control system, 6 underwater robot, 7 cable. DETAILED DESCRIPTION

[0028] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model, obviously, the described embodiment only is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skilled person in the art without making the creative labor belong to the range of the utility model protection.

[0029] Embodiment one:

[0030] Please refer to Figures 1-2As shown, the utility model is a kind of underwater robot 6 positioning system in diversion tunnel, including the integrated array 1 being arranged in tunnel wall, UWB sensor 2 and underwater acoustic sensor 3 being arranged on underwater robot 6, cable length sensor and ground control system 5, the distance information and relative position information between underwater robot 6 and integrated array 1 are obtained respectively by UWB sensor 2, underwater acoustic sensor 3, and communication connection between integrated array 1;The real-time cable length of underwater robot 6 is obtained by the cable length sensor, and electrically connected between ground control system 5;Communication connection between integrated array 1 and ground control system 5, underwater robot 6 and ground control system 5 are electrically connected by cable 7.

[0031] The utility model utilizes the fusion of three positioning technologies of ultra-wideband technology (UWB), ultra-short baseline technology (USBL) and cable to realize accurate positioning and tracking of underwater detection robot, the distance information and relative position information between underwater robot 6 and integrated array 1 fed back by UWB sensor 2 and underwater acoustic sensor 3, the real-time cable length information of underwater robot 6 are weighted and fused by ground control system 5, and the final positioning information after fusion is obtained, and the positioning accuracy is improved.

[0032] It should be pointed out that the weighted fusion used in the embodiment is realized by the prior art.

[0033] The ground control system 5 is also used for real-time display of the positioning information after weighted fusion.

[0034] In the embodiment, UWB sensor 2 and underwater acoustic sensor 3 are used, the signal base station used in ultra-wideband technology and ultra-short baseline technology is integrated, so that it has the functions of UWB base station and transmitting transducer and receiving array in USBL technology, is pre-buried in tunnel wall during diversion tunnel construction, and is avoided to be blocked by underwater structure, to ensure good signal reception.

[0035] UWB sensor 2 and underwater acoustic sensor 3 are installed on underwater robot 6, and the installation position is aligned with the center of underwater robot 6, to obtain accurate distance measurement.

[0036] As Figure 2 As shown in the hardware structure diagram of integrated array 1, the integrated array 1 includes linear power amplifier module, receiving pre-processing module, data processing module, data transmission module, clock module and antenna module:

[0037] The linear power amplifier module is used to send signal to UWB sensor 2 and underwater acoustic sensor 3;

[0038] The receiving pre-processing module is used to receive the output signal of UWB sensor 2 and underwater acoustic sensor 3;

[0039] The data processing module is used for unifying the coordinate systems of the UWB sensor 2 and the underwater acoustic sensor 3;

[0040] The data transmission module is in communication connection with the ground control system 5, and is used for sending the data processed by the data processing module to the ground control system 5;

[0041] The antenna module is used for signal transmission between the linear power amplifier module and the UWB sensor 2 and the underwater acoustic sensor 3, and between the UWB sensor 2 and the underwater acoustic sensor 3 and the receiving preprocessing module;

[0042] The power module supplies power for the linear power amplifier module, the receiving preprocessing module, the data processing module, the data transmission module, the clock module and the antenna module.

[0043] Specifically, the linear power amplifier module is in electrical connection with the UWB sensor 2 and the underwater acoustic sensor 3, and the receiving preprocessing module is in electrical connection with the UWB sensor 2 and the underwater acoustic sensor 3.

[0044] The receiving preprocessing module is in electrical connection with the data processing module, the integrated array 1 further comprises a data transmission module, the data transmission module is in electrical connection with the data processing module, the integrated array 1 further comprises a clock module, the clock module is in electrical connection with the receiving preprocessing module and the data processing module respectively, the integrated array 1 further comprises a power module, and the power module is in electrical connection with the linear power amplifier module, the receiving preprocessing module, the data processing module, the data transmission module, the clock module and the antenna module respectively.

[0045] As shown in Figure 1 The integrated array 1 is provided in plurality and is uniformly distributed along the tunnel wall.

[0046] The underwater robot 6 is connected with the ground control system 5 through the cable 7. The ground control system 5 and the underwater robot 6 are provided with a cable shaft 4, the cable 7 is wound on the cable shaft 4, and the cable length sensor is installed on the cable shaft 4.

[0047] Working principle:

[0048] In the implementation of the multi-technology fusion positioning system of the embodiment, the required hardware needs to be reasonably arranged first, and then the data of the sensor is collected and fused:

[0049] The cable length sensor is installed on the cable shaft 4 outside the tunnel to monitor the change of the cable length, and the UWB sensor 2 and the underwater acoustic sensor 3 are installed at the center position of the underwater robot 6 to control the underwater robot 6 to move into the tunnel.

[0050] Afterwards, the distance information between the underwater robot 6 and the base station is acquired through the UWB sensor 2, the relative position information between the underwater robot 6 and the base station is acquired through the underwater acoustic sensor 3, and the distance change of the underwater robot 6 relative to the cable shaft 4 is provided through the cable length sensor: the linear power amplifier module is responsible for sending signals to the UWB sensor 2 and the underwater acoustic sensor 3 installed on the underwater robot 6; the receiving preprocessing module is responsible for receiving the output signals of the UWB sensor 2 and the underwater acoustic sensor 3, and amplifying and filtering the output signals to improve the signal-to-noise ratio of the received signals; the data processing module unifies the coordinate systems of multiple signals; the data transmission module outputs the two kinds of positioning data to the ground control system 5; and the power module provides energy for each module.

[0051] After the data obtained from the UWB sensor 2 and the underwater acoustic sensor 3 is amplified and filtered by the receiving preprocessing module, in the data processing module, the coordinate systems of the UWB and USBL technologies are unified through coordinate transformation, and are delivered in real time through the data transmission module. In the ground control system 5, the sensor positioning data of the two unified coordinate systems is integrated with the positioning data of the sensor on the cable shaft 4.

[0052] The positioning system is calibrated and the positioning results are integrated and updated in real time. According to the particularity of the diversion tunnel, the system is calibrated to adapt to the changes of water flow or underwater structure. The real-time data collected by multiple sensors is analyzed, and the ground control system 5 combines the positioning data of multiple sensors reasonably by giving different coefficients to the positioning data of the three sensors, to obtain the real-time comprehensive positioning information of the underwater robot 6.

[0053] The control device updates the comprehensive positioning of the underwater robot 6 in real time, and uses the comprehensive positioning information to guide the next movement of the underwater robot 6.

[0054] The preferred embodiments disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details, and the utility model is not limited to the specific implementation described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the entire scope and equivalents thereof.

Claims

1. An underwater robot positioning system in a diversion tunnel, characterized by, The integrated array is arranged on the tunnel wall, the UWB sensor and the underwater acoustic sensor are arranged on the underwater robot, the cable length sensor is arranged on the underwater robot, and the ground control system is arranged on the ground.

2. The underwater robot positioning system within a diversion tunnel according to claim 1, characterized in that, The UWB sensor and the underwater acoustic sensor are arranged on the center of the underwater robot.

3. The underwater robot positioning system within a diversion tunnel according to claim 1, wherein, The integrated array comprises a linear power amplifier module, a receiving preprocessing module and a data processing module.

4. The underwater robot positioning system within a diversion tunnel according to claim 3, wherein, The integrated array further comprises a data transmission module.

5. The underwater robot positioning system within a diversion tunnel according to claim 4, characterized in that, The integrated array further comprises a clock module.

6. The underwater robot positioning system within a diversion tunnel according to claim 5, wherein, The integrated array further comprises an antenna module.

7. The underwater robot positioning system within a diversion tunnel according to claim 6, characterized in that, The integrated array further comprises a power module.

8. The underwater robot positioning system within a diversion tunnel according to claim 1, wherein, The integrated array is arranged on the tunnel wall.

9. The underwater robot positioning system within a diversion tunnel of claim 1, wherein, The underwater robot is connected with the ground control system through a cable.

10. The underwater robot positioning system within a diversion tunnel according to claim 9, characterized in that, The cable is wound on the cable shaft. The cable length sensor is arranged on the cable shaft.

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