Cross Reflection Metal Plate for Underwater Robot Positioning
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Solution Overview
Problem
Existing underwater robot positioning systems are ineffective for irregular dam surfaces in deepwater reservoirs due to high water levels and turbid conditions, which cause interference from sound wave reflections from dam structures, leading to inaccurate positioning.
Innovation Solution
A self-positioning system utilizing cross reflection metal plates with known coordinates and a sonar system to determine horizontal distance, combined with a water level indicator for vertical distance measurement, allowing for accurate positioning of the underwater robot through a computer calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional sonar system is used for positioning, then the system is simple and easy to operate, but the positioning accuracy deteriorates due to sound wave reflection from irregular dam surfaces and multipath effects
Solution Approach 1:
The cross reflection metal plate is divided into four quadrants, each with a specific orientation. By segmenting the reflection surface into distinct quadrants and identifying which quadrant reflects the sonar signal back to the robot, the system can determine the robot's angular position relative to the dam surface, thereby improving positioning accuracy without requiring a completely complex system architecture
Solution Approach 2:
The cross reflection metal plate acts as an intermediary device between the sonar system and the irregular dam surface. It provides a known, controlled reflection pattern that mediates the interaction between the sonar signals and the complex dam surface geometry, enabling accurate positioning by reducing the multipath effects caused by the irregular surface
2Measurement precision
If multiple quadrant reflection devices are used to reduce reflection and multipath effect, then the positioning accuracy improves, but the device complexity increases
Solution Approach 1:
The cross reflection metal plate combines multiple reflection surfaces (four quadrants) into a single integrated device. By merging these reflection surfaces into one compact plate with known coordinates and orientations, the system achieves improved positioning accuracy through multiple reflection paths while avoiding the complexity of deploying multiple separate reflection devices throughout the environment
3Measurement precision
If the sonar system uses reflection from irregular dam surfaces, then the system structure is simple, but the positioning accuracy deteriorates due to numerous sound wave reflection sources
Solution Approach 1:
The invention extracts the essential reflection function from the complex irregular dam surface by introducing a dedicated cross reflection metal plate with known coordinates and orientation. This plate is strategically positioned to provide controlled reflection paths, separating the positioning function from the interfering elements of the irregular dam surface such as embedded parts, gates, and water flow structures
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively reduces wave reflection and multipath effects, enabling precise positioning of the underwater robot on irregular dam surfaces by dividing sonar signals into quadrants and using known coordinates, thus overcoming the challenges of high water levels and turbidity.
Implementation Method 1
a sonar system tests the distances between the underwater robot and different coordinate positioning plates, and the sonar system checks the distances among different coordinate positioning
Implementation Method 2
a sonar system tests the distances between the underwater robot and different coordinate positioning plates
Implementation Method 3
the vertical distance of the underwater robot is determined via a water level indicator
Data Source
AI summary
The present invention provides a self-positioning system of a deepwater underwater robot of an irregular dam surface of a reservoir, including cross reflection metal plates arranged on the irregular dam surface, and an underwater robot provided with a control motherboard, a water level indicator and a sonar system, wherein the water level indicator and the sonar system are respectively connected with the control motherboard, and the control motherboard is connected with a computer via a cable. The cross reflection metal plate has known coordinates and has four quadrants. A sonar signal emitted by the sonar system is reflected by the cross reflection metal plate to generate sonar reflection signals of four quadrants, and the sonar signals in the effective quadrants correspond to known coordinate parameters of the cross reflection metal plate so as to obtain the horizontal distance between the underwater robot and the irregular dam surface. The water level indicator is used for calculating the vertical position of the underwater robot. The computer calculates accurate positioning of the underwater robot according to the horizontal position and the vertical position. The present invention has the beneficial effects of being able to accurately obtain the positioning coordinates of the underwater robot in the deepwater of the irregular dam surface of the reservoir.