CN114408138B - Submarine vehicle capable of automatically navigating in well room and method - Google Patents
Submarine vehicle capable of automatically navigating in well room and method Download PDFInfo
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- CN114408138B CN114408138B CN202111615479.6A CN202111615479A CN114408138B CN 114408138 B CN114408138 B CN 114408138B CN 202111615479 A CN202111615479 A CN 202111615479A CN 114408138 B CN114408138 B CN 114408138B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000001502 supplementing effect Effects 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 238000013461 design Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 2
- 108010066057 cabin-1 Proteins 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 108010066114 cabin-2 Proteins 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000002274 desiccant Substances 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a submarine vehicle capable of automatically navigating in a well room, which comprises an electric cabin, a battery cabin, a vertical conduit propeller, a horizontal conduit propeller, sonar, an upper shell, a lower shell, a front-view camera, an upper-view camera, a light supplementing lamp and a mounting plate; a front-view camera, an upper-view camera and a light supplementing lamp are arranged in the electric cabin; the electric cabin, the upper shell and the lower shell are fixed on the mounting plate together, the battery cabin is fixed on the lower shell, and the vertical guide pipe propeller, the horizontal guide pipe propeller and the two mechanical circular scan sonar are fixed on the mounting plate; the two mechanical type circular scan sonar adopts a mode of mutually perpendicular arrangement. According to the scheme of the invention, the positioning and the gesture discrimination of the data on the space of the submarine can be obtained, so that an operator can easily obtain the relative position of the submarine in the well chamber, the efficiency of underwater detection work is improved, the automation of the process of entering the transverse pipe by the underwater robot is realized, and the well chamber is reconstructed in real time by using a three-dimensional reconstruction technology.
Description
Technical Field
The invention relates to the field of drainage pipe network detection, in particular to a submarine vehicle and a method capable of automatically navigating in a well room.
Background
The existing pipeline detection robot carries a camera, a light supplementing lamp laser radar and other sensors, but the camera is limited under water greatly, particularly, the water quality in a drain pipe net is turbid and blackened, the camera almost needs to be attached to the pipe wall to obtain a meaningful image, and the laser radar cannot be used due to light scattering and impurities in water. The existing underwater detection robots also mostly carry only one sonar to be used as a detection pipeline to acquire pipeline data. The existing underwater detection robot cannot accurately calibrate the position of the robot, cannot accurately distinguish the characteristics in a well, cannot describe the position of the distinguished characteristics, has low working efficiency and low confidence of acquired information.
Disclosure of Invention
The invention aims to provide a submarine vehicle and a method capable of automatically navigating in a well room, and solves the problems that an existing underwater detection robot cannot calibrate the position of the submarine vehicle in the well room, cannot accurately distinguish the characteristics in the well room and cannot describe the characteristic positions.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a submersible vehicle capable of automatically navigating in a well chamber comprises an electric cabin, a battery cabin, a vertical guide pipe propeller, a horizontal guide pipe propeller, sonar, an upper shell, a lower shell, a front view camera, an upper view camera, a light supplementing lamp and a mounting plate; a front-view camera, an upper-view camera and a light supplementing lamp are arranged in the electric cabin; the electric cabin, the upper shell and the lower shell are fixed on the mounting plate together, the battery cabin is fixed on the lower shell, and the vertical guide pipe propeller, the horizontal guide pipe propeller and the two mechanical circular sonar are fixed on the mounting plate; the two mechanical circular-scan sonar devices are arranged vertically, one sonar device is arranged horizontally, the axis of the one sonar device coincides with the advancing direction of the submarine, and the other sonar device is arranged vertically.
The sonar which is horizontally arranged is used for obtaining certain vertical section information of the well chamber, such as the distance between the submersible vehicle and the bottom of the well chamber at the moment and the distance between the two sides of the submersible vehicle and the side wall of the well chamber; the vertically arranged sonar is used for obtaining information of a certain horizontal section in the well chamber, such as the section shape and the size of the well chamber at the height of the submarine, so that the direction and the space coordinate of the submarine in the well chamber can be accurately obtained.
The water inlets and the water outlets of the two horizontal propellers are symmetrically distributed on two sides of the underwater vehicle, and the horizontal propellers are used for controlling the underwater vehicle to realize forward and backward rotation and in-situ 360-degree rotation.
As a preferable scheme, the two horizontal thrusters form an included angle of 10 degrees, weak forward power is lost, the water inlet range of the horizontal thrusters is enlarged, the appearance of the submarine is improved, and the situation of garbage siltation can be reduced.
The three vertical thrusters are used for controlling pitching, left-right overturning and floating and submerging of the underwater vehicle, and the underwater vehicle can maintain a horizontal posture in a pipeline with a certain flow rate according to real-time posture feedback of the posture sensor and a PID algorithm.
Furthermore, a depth setting sensor is also fixed on the mounting plate and used for providing depth data of the submarine, and the depth setting function is realized under the control of an algorithm.
Furthermore, the electric cabin is also provided with mechanical waves, and the mechanical waves are fixed at the groove on the outer shell of the electric cabin and are matched with a ground receiving device for use in surveying and mapping the trend of the underground pipeline.
Furthermore, the grids are arranged at the water inlet and outlet of the vertical guide pipe propeller and the horizontal guide pipe propeller so as to prevent large sundries from entering, and the design of the grids is tangential to water flow.
The front view camera and the upper view camera have the complementary effect, and when the water quality is good, the pipeline is observed through the cameras.
And carrying out three-dimensional reconstruction in real time through the obtained sonar data, and displaying the sonar data on a display.
The invention also provides a using method of the submarine vehicle capable of automatically navigating in the well room, which comprises the following steps:
a) After the submersible vehicle is started, the submersible vehicle is hoisted into a well chamber, and the submersible vehicle performs autonomous action to recover the horizontal posture of the machine;
b) After the autonomous action is finished, receiving an operation end command, and after parameters such as speed, direction and the like are set, the submersible vehicle can scan the well chamber;
c) When the submarine is submerged to a certain depth, the sonar is automatically started to scan, and an operator pays attention to images of the two sonars on the display of the operation end; in the process of scanning the submarine, the automatic flow of the submarine can be interrupted at any time, and a certain feature can be scanned at multiple angles.
The automatic scanning process of the submarine comprises the following steps:
when the submarine receives an instruction for starting scanning, the submarine dives in the forward direction set by an operator, and after the submarine reaches the set depth, horizontal and vertical sonar are started to start scanning a well chamber; wherein the zero point of the vertical sonar coincides with the advancing direction of the submarine, and the zero point of the horizontal sonar points to the right upper side; the zero point direction of the vertical sonar is the direction of the submarine aircraft set by an operator;
in the engineering of submerging scanning of the submerging device, the submerging device is interfered by turbulent flow, so that the main control always stabilizes the direction and the gesture of the submerging device in real time according to the feedback of the gesture sensor by using a PID algorithm in the whole process; taking data acquired by the horizontal sonar at 180 degrees as the height of the submarine from the bottom of the well chamber so as to prevent the submarine from bumping into the bottom of the well chamber; meanwhile, data at other angles are used as obstacle avoidance, and when the distance at a certain angle reaches the warning range, the main control controls the submarine to transversely move left and right, ascend and descend so as to avoid possible collision; the data of the vertical sonar are used as obstacle avoidance at the same time, when the distance at a certain angle reaches the warning range, the main control controls the submarine to move forwards, backwards and transversely to avoid possible collision;
displaying images of the horizontal sonar and the vertical sonar on a display of a control end in real time; when the submarine is moved for obstacle avoidance or other reasons, in order to prevent missing details, the submarine is floated or submerged at a newly arrived position, and continues scanning after reaching the height where obstacle avoidance begins.
And (3) performing twice forward and backward movement scanning in the submerging scanning process of the submerging device: when the horizontal sonar prompts reach the warning distance, the submarine is not lowered any more, but advances to the warning distance of the vertical sonar, and then the horizontal sonar scanning is utilized reversely; when the submarine moves back to the warning distance of the vertical sonar, the submarine rotates horizontally by 90 degrees, and starts to move forward and scan by using the horizontal sonar.
The method for finding the pipe orifice of the submarine comprises the following steps: when the pipe orifice exists, data loss occurs when a sonar wave beam sweeps the pipe orifice, and the direction of the pipe orifice in the submarine is determined by judging which angles are data loss;
after the pipe orifice is found, judging whether the submarine can pass through the pipe orifice or not by the method of: aligning the submarine to the found pipe orifice, wherein the vertical sonar is opposite to the pipe orifice, the distance from the left end of the pipe orifice and the distance from the right end of the pipe orifice are in an error range, and the length of the position of the pipe orifice can be calculated through a trigonometric function by using the angle and the distance of two data; moving the submarine aircraft up and down, repeatedly judging the pipe orifice length, comparing the obtained pipe orifice length to obtain the maximum value, and recording depth information and height information of the maximum pipe orifice length; and (3) recording the height information and the depth information of the position where the length of the two nozzles is zero in the process of moving the underwater vehicle up and down, obtaining the vertical height information of the nozzles through operation, and comparing the obtained data with the inherent width and height dimensions of the underwater vehicle to judge whether the transverse pipe nozzle can enable the underwater vehicle to enter.
Compared with the prior art, the invention has the beneficial effects that:
according to the underwater vehicle, two mechanical type circular sonar are arranged at 90 degrees, namely one mechanical type circular sonar is arranged perpendicular to the horizon, the other mechanical type circular sonar is arranged horizontally, and the two sonars are matched with each other, so that the positioning and the posture discrimination of the data on the space of the underwater vehicle can be obtained, an operator can easily obtain the relative position of the underwater vehicle in a well chamber, and the efficiency of underwater detection work is improved.
According to the scheme of the invention, the process of entering the transverse pipe by the underwater robot can be automated, and the well chamber can be reconstructed in real time by using a three-dimensional reconstruction technology.
Drawings
Fig. 1: the invention relates to a structural schematic diagram of a submarine vehicle capable of automatically navigating in a well room.
Fig. 2: the internal structure of the submarine is schematically shown.
Fig. 3: the installation structure of the submarine is schematically shown.
Fig. 4: the installation structure of the battery compartment is schematically shown.
Fig. 5: the use flow diagram of the submarine is shown in the schematic diagram.
Fig. 6: schematic flow chart of automatic scanning of submarine.
Fig. 7: and (5) controlling a relation diagram.
Fig. 8: find the horizontal pipe mouth schematic diagram.
In the figure: 1-electric cabin, 2-battery cabin, 3-vertical duct propeller, 4-horizontal duct propeller, 5-horizontal sonar, 6-vertical sonar, 7-upper shell, 8-lower shell, 9-front view camera, 10-upper view camera, 11-light supplementing lamp, 12-mounting plate, 13-depth sensor, 14-gram head, 15-mechanical wave, 16-cabin cover, 17-cabin body, 18-fixed notch and 19-aviation plug.
Detailed Description
The above-described matters of the present invention will be further described in detail by way of examples, but it should not be construed that the scope of the above-described subject matter of the present invention is limited to the following examples, and all techniques realized based on the above-described matters of the present invention are within the scope of the present invention.
The orientation or positional relationship therein is based on the relationship shown in the drawings for convenience of description and simplification of the description only, and is not indicative or implying that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
The invention provides a submarine vehicle capable of automatically navigating in a well room, which is shown in figures 1 and 2 and comprises an electric cabin 1, a battery cabin 2, a vertical conduit propeller 3, a horizontal conduit propeller 4, sonar, an upper shell 7, a lower shell 8, a front-view camera 9, an upper-view camera 10, a light supplementing lamp 11 and a mounting plate 12; a front-view camera 9, an upper-view camera 10 and a light supplementing lamp 11 are arranged in the electric cabin 1; the electric cabin 1, the upper shell 7 and the lower shell 8 are jointly fixed on a mounting plate 12, the battery cabin 2 is fixed on the lower shell 8, and a vertical guide pipe propeller 3, a horizontal guide pipe propeller 4 and two mechanical circular sonar are fixed on the mounting plate 12; the two mechanical circular-scan sonar devices are arranged vertically, one sonar device is arranged horizontally, the axis of the one sonar device coincides with the advancing direction of the submarine, and the other sonar device is arranged vertically.
The sonar which is horizontally arranged is used for obtaining certain vertical section information of the well chamber, such as the distance between the submersible vehicle and the bottom of the well chamber at the moment and the distance between the two sides of the submersible vehicle and the side wall of the well chamber; the vertically arranged sonar is used for obtaining information of a certain horizontal section in the well chamber, such as the section shape and the size of the well chamber at the height of the submarine, so that the direction and the space coordinate of the submarine in the well chamber can be accurately obtained.
The water inlets and the water outlets of the two horizontal propellers are symmetrically distributed on two sides of the underwater vehicle, and the horizontal propellers are used for controlling the underwater vehicle to realize forward and backward rotation and in-situ 360-degree rotation.
As a preferable scheme, the two horizontal thrusters form an included angle of 10 degrees, so that the water inlet range of the horizontal thrusters is enlarged.
The three vertical thrusters are used for controlling pitching, left-right overturning and floating and submerging of the underwater vehicle, and the underwater vehicle can maintain a horizontal posture in a pipeline with a certain flow rate according to real-time posture feedback of the posture sensor and a PID algorithm.
In the embodiment, a depth-setting sensor 13 is also fixed on the mounting plate 12, and is used for providing depth data of the submarine, and realizing the depth-setting function under the control of an algorithm.
In the embodiment, the electric cabin 1 is also provided with a mechanical wave 15, the mechanical wave 15 is fixed at a groove on the electric cabin shell and is pressed by using a clamp, sound waves with a certain frequency can be emitted and penetrate through soil to reach the ground, the ground is provided with a ground receiving device matched with the mechanical wave, the ground receiving device can receive the sound waves emitted by the mechanical wave, and the position and the depth of the mechanical wave are judged according to the intensity of the sound waves.
In the embodiment, the grids are arranged at the water inlet and outlet of all the propellers so as to prevent massive sundries from entering and damaging propeller blades, so that power loss is caused, even the propellers are burnt, and the design of the grids is tangential to water flow, so that garbage or floaters can smoothly slide away.
The front view camera 9 and the upper view camera 10 are used for supplementing the water, when the water quality is good, the pipeline is observed through the cameras, and the pipeline wall with a small range can be seen under the condition of being very close to the pipeline wall.
And carrying out three-dimensional reconstruction in real time through the obtained sonar data, and displaying the sonar data on a display.
As shown in fig. 3, all external devices: sonar, front light 11, propeller, upper computer communication cable, etc. are all connected with the electric cabin 1 through the gram head 14 and reach the waterproof level of IP 68.
As shown in fig. 4, the battery compartment 2 has quick-change capability, and can effectively prolong the external construction time. The battery compartment 2 is formed by a compartment cover 16, a compartment body 17, an aviation plug 19 and a lithium battery. The hatch 16 and the hatch body 17 are sealed by O-shaped rings and are connected together by bolts, and the waterproof grade of IP68 is achieved as a whole. The battery compartment 2 is internally provided with a drying agent to prevent short circuit of the battery caused by condensation of water vapor in the air. The battery capacity of 240wh can support the operation of the submarine for 1-2 hours. The hatch 16 and the hatch body 17 are also characterized by two fixing recesses 18 distributed at both ends of the long side, and the battery compartment 2 is fixed on the lower shell 8 through the fixing recesses 18.
The invention also provides a using method of the submersible vehicle capable of automatically navigating in the well room, as shown in fig. 5, comprising the following steps:
a) After the submersible vehicle is started, the submersible vehicle is hoisted into a well chamber, and the submersible vehicle performs autonomous action to recover the horizontal posture of the machine;
b) After the autonomous action is finished, receiving an operation end command, and after parameters such as speed, direction and the like are set, the submersible vehicle can scan the well chamber;
c) When the submarine is submerged to a certain depth, the sonar is automatically started to scan, and an operator pays attention to images of the two sonars on the display of the operation end; in the process of scanning the submarine, the automatic flow of the submarine can be interrupted at any time, and a certain feature can be scanned at multiple angles.
As shown in fig. 6, the automatic scanning process of the submarine is as follows:
when the submarine receives the scanning starting instruction, the submarine dives in the forward direction set by an operator, and after the submarine reaches the set depth, the horizontal sonar 6 and the vertical sonar are started to scan the well room. Wherein the zero point of the vertical sonar 6 coincides with the advancing direction of the submarine, and the zero point of the horizontal sonar 5 points right above. The zero point direction of the vertical sonar 6 is the direction of the submarine aircraft set by the operator. In the engineering of submerging scanning of the submerging device, the submerging device is disturbed by turbulent flow, so that the main control can always stabilize the direction and the gesture of the submerging device in real time according to the feedback of the gesture sensor by using a PID algorithm in the whole process. Taking data acquired by the horizontal sonar 5 at 180 degrees as the height of the submarine from the bottom of the well chamber, and preventing the submarine from bumping into the bottom of the well chamber; meanwhile, data at other angles are used as obstacle avoidance, and when the distance at a certain angle reaches the warning range, the main control controls the submarine to transversely move left and right, ascend and dive to avoid possible collision. The data of the vertical sonar 6 is also used as obstacle avoidance, and when the distance at a certain angle reaches the warning range, the main control controls the submarine to advance, retreat and transversely move left and right so as to avoid possible collision. The images of the horizontal sonar 5 and the vertical sonar 6 are displayed on a display of the control end in real time, so that an operator has visual knowledge of the shape and the size of the well chamber. When the submarine is moved for obstacle avoidance or other reasons, in order to prevent missing details, the submarine needs to be floated or submerged at a newly arrived position, and then continues scanning after reaching the height where obstacle avoidance begins. When the vertical sonar 6 does not receive data at a certain angle, it may be that a transverse pipe orifice is found, and this phenomenon appears on the display as a certain section of side line disappears, and a gap appears in the closed outline. It should be noted that the sonar has its inherent dead zone and the way in which the vertical sonar 6 is mounted, which results in the submersible vehicle not being able to scan the bottom of the well, and when it is submerged to a certain height from the bottom of the water, it will not be submerged any more, and if there is too much fouling at the bottom of the well, the submersible vehicle may not find the pipe orifice. This requires the submarine to move back and forth, scanning the features of the bottom of the well with a horizontal sonar 5; after one direction scan is completed, the submarine is required to rotate 90 degrees to scan again by using the horizontal sonar 5.
Because the vertical sound is arranged above the submarine, the whole well chamber cannot be completely scanned, a certain dead zone exists, and the submarine is scanned in a diving scanning process by moving forwards and backwards twice: when the horizontal sonar prompts reach the warning distance, the submarine is not lowered any more, but advances to the warning distance of the vertical sonar, and then the horizontal sonar scanning is utilized reversely; when the submarine is retreated to the warning distance of the vertical sonar, the submarine horizontally rotates for 90 degrees, starts to advance and scans by using the horizontal sonar so as to obtain a more complete three-dimensional point cloud picture of the well chamber.
The method for finding the pipe orifice of the submarine comprises the following steps: when the pipe orifice exists, data missing (out of range) can occur when a sonar wave beam sweeps the pipe orifice, and the direction of the pipe orifice in the submarine is determined by judging which angles the data missing occurs.
After the pipe orifice is found, judging whether the submarine can pass through the pipe orifice or not by the method of: aligning the submarine to the found pipe orifice, wherein the vertical sonar is opposite to the pipe orifice, the distance from the left end of the pipe orifice and the distance from the right end of the pipe orifice are in an error range, and the length of the position of the pipe orifice can be calculated through a trigonometric function by using the angle and the distance of two data; moving the submarine aircraft up and down, repeatedly judging the pipe orifice length, comparing the obtained pipe orifice length to obtain the maximum value, and recording depth information and height information of the maximum pipe orifice length; and (3) recording the height information and the depth information of the position where the length of the two nozzles is zero in the process of moving the underwater vehicle up and down, obtaining the vertical height information of the nozzles through operation, and comparing the obtained data with the inherent width and height dimensions of the underwater vehicle to judge whether the transverse pipe nozzle can enable the underwater vehicle to enter.
The present invention is not limited to the preferred embodiments, and any simple modification, equivalent replacement, and improvement made to the above embodiments by those skilled in the art without departing from the technical scope of the present invention, will fall within the scope of the present invention.
Claims (8)
1. The use method of the submarine vehicle capable of automatically navigating in the well room is characterized by comprising the following steps of: the submarine comprises an electric cabin, a battery cabin, a vertical guide pipe propeller, a horizontal guide pipe propeller, sonar, an upper shell, a lower shell, a front-view camera, an upper-view camera, a light supplementing lamp and a mounting plate; a front-view camera, an upper-view camera and a light supplementing lamp are arranged in the electric cabin; the electric cabin, the upper shell and the lower shell are fixed on the mounting plate together, the battery cabin is fixed on the lower shell, and the vertical guide pipe propeller, the horizontal guide pipe propeller and the two mechanical circular sonar are fixed on the mounting plate; the two mechanical circular-scan sonar devices are arranged vertically, one sonar device is arranged horizontally, the axis of the one sonar device coincides with the advancing direction of the submarine, and the other sonar device is arranged vertically;
the use method of the submarine comprises the following steps:
a) After the submersible vehicle is started, the submersible vehicle is hoisted into a well chamber, and the submersible vehicle performs autonomous action to recover the horizontal posture of the machine;
b) After the autonomous action is finished, receiving an operation end command, and after the speed and direction parameters are set, the submarine can scan the well chamber;
c) When the submarine is submerged to a certain depth, the sonar is automatically started to scan, and an operator pays attention to images of the two sonars on the display of the operation end; in the process of scanning the submarine, the automatic flow of the submarine can be interrupted at any time, and a certain feature is scanned at multiple angles;
the method for finding the pipe orifice of the submarine comprises the following steps: when the pipe orifice exists, data loss occurs when a sonar wave beam sweeps the pipe orifice, and the direction of the pipe orifice in the submarine is determined by judging which angles are data loss;
after the pipe orifice is found, judging whether the submarine can pass through the pipe orifice or not by the method of: aligning the submarine to the found pipe orifice, wherein the vertical sonar is opposite to the pipe orifice, the distance from the left end of the pipe orifice and the distance from the right end of the pipe orifice are in an error range, and the length of the position of the pipe orifice can be calculated through a trigonometric function by using the angle and the distance of two data; moving the submarine aircraft up and down, repeatedly judging the pipe orifice length, comparing the obtained pipe orifice length to obtain the maximum value, and recording depth information and height information of the maximum pipe orifice length; and (3) recording the height information and the depth information of the position where the length of the two nozzles is zero in the process of moving the underwater vehicle up and down, obtaining the vertical height information of the nozzles through operation, and comparing the obtained data with the inherent width and height dimensions of the underwater vehicle to judge whether the transverse pipe nozzle can enable the underwater vehicle to enter.
2. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: the sonar which is horizontally arranged is used for obtaining certain vertical section information of the well chamber; the vertically arranged sonar is used for obtaining information of a certain horizontal section in the well chamber, so that the direction and the space coordinate of the submarine in the well chamber can be accurately obtained.
3. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: the water inlets and the water outlets of the two horizontal guide pipe thrusters are symmetrically distributed on two sides of the underwater vehicle, and the horizontal guide pipe thrusters are used for controlling the underwater vehicle to realize forward and backward rotation and in-situ 360-degree rotation; the two horizontal conduit thrusters form an included angle of 10 degrees so as to enlarge the water inlet range of the horizontal conduit thrusters.
4. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: the three vertical guide pipe thrusters are used for controlling pitching, left-right overturning and floating and submerging of the submerged aircraft, and the submerged aircraft can maintain a horizontal posture in a pipeline with a certain flow rate according to real-time posture feedback of the posture sensor and a PID algorithm.
5. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: the front-view camera and the upper-view camera play a role in supplementing, and when the water quality is good, the pipeline is observed through the cameras; carrying out three-dimensional reconstruction in real time through the obtained sonar data, and displaying the sonar data on a display; a depth setting sensor is also fixed on the mounting plate and used for providing depth data of the submarine, and the depth setting function is realized under the control of an algorithm; the electric cabin is also provided with mechanical waves, and the mechanical waves are fixed at the groove on the outer shell of the electric cabin and are matched with a ground receiving device for mapping the trend of the underground pipeline.
6. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: and the grids are arranged at the water inlet and outlet of the vertical guide pipe propeller and the horizontal guide pipe propeller so as to prevent large sundries from entering, and the design of the grids is tangential to water flow.
7. The method of using a submersible vehicle automatically navigatable in a well as recited in claim 1 wherein the automatic scanning process of the submersible vehicle is as follows:
when the submarine receives an instruction for starting scanning, the submarine dives in the forward direction set by an operator, and after the submarine reaches the set depth, horizontal and vertical sonar are started to start scanning a well chamber; wherein the zero point of the vertical sonar coincides with the advancing direction of the submarine, and the zero point of the horizontal sonar points to the right upper side; the zero point direction of the vertical sonar is the direction of the submarine aircraft set by an operator;
during the submerging scanning process of the submerging device, the submerging device is interfered by turbulent flow, so that the main control always stabilizes the direction and the gesture of the submerging device in real time according to the feedback of the gesture sensor by a PID algorithm in the whole process; taking data acquired by the horizontal sonar at 180 degrees as the height of the submarine from the bottom of the well chamber so as to prevent the submarine from bumping into the bottom of the well chamber; meanwhile, data at other angles are used as obstacle avoidance, and when the distance at a certain angle reaches the warning range, the main control controls the submarine to transversely move left and right, ascend and descend so as to avoid possible collision; the data of the vertical sonar are used as obstacle avoidance at the same time, when the distance at a certain angle reaches the warning range, the main control controls the submarine to move forwards, backwards and transversely to avoid possible collision;
displaying images of the horizontal sonar and the vertical sonar on a display of a control end in real time; when the submarine is moved for obstacle avoidance or other reasons, in order to prevent missing details, the submarine is floated or submerged at a newly arrived position, and continues scanning after reaching the height where obstacle avoidance begins.
8. The method of using a submersible vehicle automatically navigable in a well as recited in claim 1, wherein: and (3) performing twice forward and backward movement scanning in the submerging scanning process of the submerging device: when the horizontal sonar prompts reach the warning distance, the submarine is not lowered any more, but advances to the warning distance of the vertical sonar, and then the horizontal sonar scanning is utilized reversely; when the submarine moves back to the warning distance of the vertical sonar, the submarine rotates horizontally by 90 degrees, and starts to move forward and scan by using the horizontal sonar.
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