Rapid calibration device for ROV underwater integrated positioning system

Abstract

The utility model relates to the field of ROV maintenance platforms, in particular to a quick calibration device for an ROV underwater combined positioning system, which comprises a calibration base, the calibration base is used for fixing a remote control underwater robot, a controller is arranged on the calibration base, and the remote control underwater robot is arranged on the calibration base. The GNSS receiver interface, the ultra-short baseline acoustic locator interface, the inertial navigation unit interface and the man-machine interaction device are connected with the controller. According to the embodiment of the utility model, each device for calibrating the sensor is integrated into one device with the calibration base, so that the purpose of automatically calibrating the sensor after the remote control underwater robot is fixed can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to ROV maintenance platform field, concretely relates to a ROV underwater combined positioning system quick calibration device. BACKGROUND

[0002] The positioning system of remote control underwater robot (ROV) relies on multiple sensors (such as GNSS, ultra-short baseline acoustic positioning, inertial navigation device) to determine its accurate position under water, however, due to the measurement error of remote control underwater robot sensor, environmental interference (such as water pressure, temperature change) and equipment installation deviation, positioning deviation may be generated when data fusion, and the traditional manual calibration operation mode of remote control underwater robot is time-consuming. UTILITARY MODEL CONTENT

[0003] The utility model aims at providing a kind of integrated integrated equipment to automatically, efficiently calibrate the sensor of remote control underwater robot.

[0004] To solve the above technical problems, the utility model specifically provides the following technical scheme:

[0005] A kind of ROV underwater combined positioning system quick calibration device, including a calibration base, the calibration base is used to fix remote control underwater robot, controller is provided on the calibration base, and GNSS receiver interface, ultra-short baseline acoustic locator interface, inertial navigation unit interface and man-machine interaction device connected with the controller.

[0006] Further, the calibration base includes: a bearing platform, a gasbag, at least two hooks and multiple pull ropes;The bearing platform is used to support the remote control underwater robot, the gasbag is arranged above the bearing platform, is inflated when being inflated, and expands upwards and outwards along the shape of the bottom of the remote control underwater robot, the hook is arranged around the bearing platform and below the gasbag, multiple hooks are evenly distributed around the center line of the bearing platform, the hook is used to connect one end of the pull rope, the other end of the pull rope is connected with the remote control underwater robot, or the other end of the pull rope is connected with another hook by passing around the remote control underwater robot.

[0007] Further, the number of hooks is four.

[0008] Further, a plurality of hanging holes are provided on the pull rope, and the hanging holes are distributed at equal intervals along the length direction of the pull rope.

[0009] Furthermore, the hook includes a rotating part, a swinging part, and a hook part connected in sequence. The rotating part is capable of rotating around a horizontal axis. A linear actuator capable of moving back and forth in the vertical direction is embedded inside the bearing platform. The rotating part is connected to the actuator of the linear actuator. The bearing platform is provided with a throat that allows the swinging part to pass through and swing up and down. The hook part is used to connect to the hanging hole on the pull rope. When the actuator of the linear actuator moves in the vertical direction, it drives the hook part to swing up and down to tighten the pull rope.

[0010] Furthermore, the bearing platform has two symmetrical bosses inside, and the gap between the two bosses forms the throat. The distance between the two bosses is greater than the thickness of the swing part in the vertical direction.

[0011] Furthermore, the side of the boss facing the swinging part is a smooth curved surface.

[0012] Furthermore, the linear actuator includes a screw and a nut, the nut being connected to the rotating part of the hook, a vertically extending groove being formed inside the bearing platform, the nut being slidably connected to the groove, such that the nut can move vertically but cannot rotate, the screw passing vertically through the nut, the screw being rotatably connected to the bearing platform, and the screw being helically connected to the nut.

[0013] Furthermore, the airbag includes a nozzle capable of unidirectional air injection, the nozzle being fixedly connected to the support platform, and the screw having an axially penetrating air hole, the nozzle being rotatably connected to the air hole.

[0014] Furthermore, the gap between the air nozzle and the air hole is filled by a shaft seal.

[0015] Compared with the prior art, this application has the following advantages:

[0016] The embodiments of this utility model integrate the various devices for calibrating sensors into a device with a calibration base, thereby enabling the automatic calibration of sensors after fixing a remotely controlled underwater robot. Attached Figure Description

[0017] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] Figure 1This is a perspective view of an embodiment of the present utility model;

[0019] Figure 2 This is a perspective view of the usage conditions of an embodiment of this utility model;

[0020] Figure 3 This is a side view of the usage conditions of an embodiment of this utility model;

[0021] Figure 4 for Figure 3 A cross-sectional view along the AA direction;

[0022] Figure 5 for Figure 4 A magnified view of a portion at point B;

[0023] The labels in the diagram represent the following:

[0024] 1-Calibration base; 11-Controller; 12-GNSS receiver interface; 13-Ultra-short baseline acoustic positioner interface; 14-Inertial navigation unit interface; 15-Human-machine interface device; 2-Bearing platform; 21-Throat; 22-Boss; 23-Groove; 24-Shaft seal; 3-Airbag; 31-Air nozzle; 4-Hook; 41-Rotating part; 42-Swinging part; 43-Hook; 5-Pull rope; 6-Linear actuator; 61-Screw; 62-Nut; 63-Air hole; 7-Remotely controlled underwater robot. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] The positioning system of remotely operated underwater vehicles (ROVs) relies on a variety of sensors (such as GNSS, ultra-short baseline acoustic positioning, and inertial navigation devices) to determine their precise underwater position. However, due to measurement errors in the sensors of remotely operated underwater vehicles, environmental interference (such as water pressure and temperature changes), and equipment installation deviations, positioning errors may occur during data fusion.

[0027] To solve the above problems, refer to Figure 1 , Figure 2A rapid calibration device for an ROV underwater combined positioning system has been developed. The rapid calibration device typically includes a calibration base 1, which is used to fix a remotely operated underwater robot 7. A controller 11 is installed on the calibration base 1, as well as a GNSS receiver interface 12, an ultra-short baseline acoustic locator interface 13, an inertial navigation unit interface 14, and a human-machine interaction device 15 connected to the controller 11.

[0028] The staff fixed the remotely controlled underwater robot 7 on the calibration base 1, and then connected the GNSS receiver, ultra-short baseline acoustic positioner, and inertial navigation unit to the controller 11 of the rapid calibration device. Then, they operated the human-machine interaction device 15. The controller 11 collected multi-source data through various interfaces, compared it with the preset standard value to generate a deviation matrix, and dynamically adjusted the positioning parameters through the PID algorithm until the error was less than the threshold, thus achieving the purpose of calibrating the sensor.

[0029] Furthermore, since different remotely operated underwater vehicles (ROVs) 7 have different shapes and sizes, there is currently no calibration base 1 applicable to all RUVs 7. Therefore, a calibration base 1 that can fix RUVs 7 of any shape and size is still needed.

[0030] refer to Figure 1 , Figure 3 and Figure 4 The calibration base 1 includes: a support platform 2, an airbag 3, at least two hooks 4 and multiple pull ropes 5.

[0031] The support platform 2 is used to support the remotely operated underwater robot 7 and to install the controller 11, GNSS receiver interface 12, ultra-short baseline acoustic positioner interface 13, inertial navigation unit interface 14 and human-machine interaction device 15.

[0032] The airbag 3 is positioned above the support platform 2 and is used to inflate when inflated. It expands upward and outward along the bottom shape of the remotely operated underwater robot 7, thereby increasing the contact area between the support platform 2 and the remotely operated underwater robot 7 and reducing the possibility of the bottom of the remotely operated underwater robot 7 being damaged by its own weight.

[0033] Hooks 4 are arranged around the support platform 2 and below the airbag 3. Multiple hooks 4 are evenly distributed around the center line of the support platform 2. Hooks 4 are used to connect one end of the pull rope 5. The other end of the pull rope 5 is connected to the remotely controlled underwater robot 7. Alternatively, the other end of the pull rope 5 can be bypassed by the remotely controlled underwater robot 7 and connected to another hook 4.

[0034] Preferably, there are four hooks 4. The four hooks 4, together with the two pull ropes 5, can complete the cross fixation of the remote-controlled underwater robot 7, which is sufficient to make the remote-controlled underwater robot 7 stay stably on the airbag 3.

[0035] Preferably, the pull rope 5 is provided with several hanging holes, which are evenly distributed along the length of the pull rope 5. The hanging holes are not shown in the figure. The staff can connect different hanging holes to the hook 4 to adjust the length of the pull rope 5 accordingly.

[0036] Furthermore, combined Figure 5 The hook 4 includes a rotating part 41, a swinging part 42 and a hook part 43 connected in sequence.

[0037] The rotating part 41 is usually a shaft or a sleeve. The rotating part 41 can rotate around a horizontal axis. The bearing platform 2 is embedded with a linear actuator 6 that can move back and forth in the vertical direction. The rotating part 41 is connected to the actuator of the linear actuator 6.

[0038] The swinging part 42 is usually in the shape of a straight rod or a curved rod, and the inside of the bearing platform 2 is provided with a throat 21 that allows the swinging part 42 to pass through and swing up and down.

[0039] The hook 43 is usually in the shape of a hook and is used to connect to the hanging hole on the pull rope 5.

[0040] When the actuator of the linear actuator 6 moves vertically, the rotating part 41 moves vertically, thereby causing the swinging part 42 to swing between the two bosses 22, which in turn causes the hook part 43 to move up and down, so that the hook part 43 pulls the rope 5 taut.

[0041] The bearing platform 2 has two symmetrical bosses 22 inside. The side of the bosses 22 facing the swing part 42 is a smooth curved surface. The gap between the two bosses 22 forms a throat 21. The distance between the two bosses 22 is greater than the thickness of the swing part 42 in the vertical direction.

[0042] Furthermore, the linear actuator 6 employs a screw 61 slide. Specifically, the linear actuator 6 includes a screw 61 and a nut 62. The nut 62 is connected to the rotating part 41 of the hook 4. A vertically extending groove 23 is formed inside the bearing platform 2. The nut 62 is slidably connected to the groove 23, allowing the nut 62 to move vertically but not rotate. The screw 61 passes vertically through the nut 62 and is rotatably connected to the bearing platform 2. The screw 61 and the nut 62 are helically connected, so that rotating the screw 61 can cause the nut 62 to move vertically, thereby driving the hook 4 to swing.

[0043] Furthermore, the airbag 3 includes an air nozzle 31 capable of unidirectional air injection, the air nozzle 31 is fixedly connected to the support platform 2, the screw 61 has an air hole 63 that axially passes through it, the air nozzle 31 is rotatably connected to the air hole 63, and the gap between the air nozzle 31 and the air hole 63 is filled by the shaft seal 24.

[0044] Workers can inject air into the air nozzle 31 through the air hole 63 on the screw 61 to inflate the air bag 3, and then rotate the screw 61 to tighten the pull rope 5.

[0045] The above embodiments are merely exemplary embodiments of this utility model and are not intended to limit this utility model. The scope of protection of this utility model is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this utility model within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of this utility model.

Claims

1. A quick calibration device for ROV underwater integrated positioning system, characterized in that, it comprises a calibration base (1) for fixing a remotely operated vehicle (7), the calibration base (1) is provided with a controller (11), and a GNSS receiver interface (12), an ultra-short baseline acoustic locator interface (13), an inertial navigation unit interface (14) and a human-computer interaction device (15) connected to the controller (11).

2. The quick calibration device for ROV underwater integrated positioning system according to claim 1, characterized in that, the calibration base (1) comprises a bearing platform (2), an air bag (3), at least two hooks (4) and a plurality of pull ropes (5); the bearing platform (2) is used to support the remotely operated vehicle (7), the air bag (3) is arranged above the bearing platform (2) and is inflated to expand upwards and outwards along the shape of the bottom of the remotely operated vehicle (7), the hooks (4) are arranged around the bearing platform (2) and below the air bag (3), a plurality of hooks (4) are evenly distributed around the center line of the bearing platform (2), one end of the pull rope (5) is connected to the hook (4), the other end of the pull rope (5) is connected to the remotely operated vehicle (7), or the other end of the pull rope (5) is connected to another hook (4) by passing around the remotely operated vehicle (7).

3. The quick calibration device for ROV underwater integrated positioning system according to claim 2, characterized in that, the number of hooks (4) is four.

4. The quick calibration device for ROV underwater integrated positioning system according to claim 2, characterized in that, a plurality of hook holes are arranged on the pull rope (5), and the hook holes are evenly distributed along the length direction of the pull rope (5).

5. The quick calibration device for ROV underwater integrated positioning system according to claim 2, characterized in that, the hook (4) comprises a rotating part (41), a swinging part (42) and a hook part (43) connected in sequence, the rotating part (41) can rotate around a horizontal axis, a linear actuator (6) capable of moving back and forth along a vertical direction is embedded in the inside of the bearing platform (2), the rotating part (41) is connected to the actuator of the linear actuator (6), a throat (21) allowing the swinging part (42) to pass through and swing up and down is arranged in the inside of the bearing platform (2), the hook part (43) is used to connect the hook holes on the pull rope (5), and the actuator of the linear actuator (6) moves up and down to tighten the pull rope (5) when the hook part (43) swings up and down.

6. The quick calibration device for ROV underwater integrated positioning system according to claim 5, characterized in that, The inside of the bearing platform (2) is provided with two bosses (22) symmetrical in up and down, the gap between the two bosses (22) forms the throat (21), the distance between the two bosses (22) is greater than the thickness of the swing part (42) in the vertical direction.

7. The quick calibration device of ROV underwater combined positioning system according to claim 6, characterized in that, The side of the boss (22) facing the swing part (42) is a smooth curved surface.

8. The quick calibration device of ROV underwater combined positioning system according to claim 5, characterized in that, The linear driver (6) comprises a screw rod (61) and a nut (62), the nut (62) is connected with the rotating part (41) of the hook (4), a vertically extending sliding groove (23) is formed in the inside of the bearing platform (2), the nut (62) is slidingly connected with the sliding groove (23), so that the nut (62) can move in the vertical direction but cannot rotate, the screw rod (61) vertically penetrates the nut (62), the screw rod (61) is rotationally connected with the bearing platform (2), and the screw rod (61) is screwedly connected with the nut (62).

9. The quick calibration device of ROV underwater combined positioning system according to claim 8, characterized in that, The air bag (3) comprises an air nozzle (31) capable of one-way air injection, the air nozzle (31) is fixedly connected with the bearing platform (2), the screw rod (61) has an air hole (63) axially penetrating through itself, and the air nozzle (31) is rotationally connected with the air hole (63).

10. The quick calibration device of ROV underwater combined positioning system according to claim 9, characterized in that, The gap between the air nozzle (31) and the air hole (63) is filled by a shaft seal (24).

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