CN117963111A - Underwater robot for marine survey and control system thereof - Google Patents
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Abstract
The invention relates to the technical field of underwater robot control, in particular to an underwater robot for marine survey and a control system thereof, wherein the underwater robot comprises a sealed shell, an underwater power module, a data acquisition module, a communication module and an autonomous detection module, and the communication module comprises a first communication unit and a second communication unit; the second communication unit comprises a second communication shell, a wired communication assembly, a positioning assembly and an upward floating assembly. The invention also provides a control system for the underwater robot for marine surveying, which can efficiently acquire underwater data, draw an underwater map and mark coordinates and ranges of underwater obstacles through the combination of the communication acquisition module, the surveying marking module and the control module, so that marine surveying work is more accurate and rapid.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to an underwater robot for marine survey and a control system thereof.
Background
The underwater robot is a robot with autonomous movement capability and is specially used for executing various tasks in an underwater environment, and the technical background relates to the aspects of advanced underwater positioning and navigation technology, high-precision sensor systems (such as sonar, cameras and the like), complex control algorithms, waterproof design and the like. The underwater robot is widely applied to the fields of ocean science research, submarine exploration, ocean resource development, ocean environment monitoring and the like, improves the efficiency, precision and safety of underwater task execution through continuous technical innovation and optimization, and plays an important role in promoting the development of the ocean science and engineering fields.
Chinese patent publication No. CN114779712B discloses an underwater robot control system comprising: a sensor module; the controller module comprises a main control unit and an FPGA unit; the main control unit receives and analyzes the information detected by the sensor module to acquire the actual state information of the underwater robot, and calculates an error between a reference target value and the actual state information of the underwater robot as an input value of the robust controller; the FPGA unit comprises an FPGA logic end and an HPS end, the FPGA logic end is in bidirectional communication with the main control unit through the HPS end, and the FPGA logic end is used for executing matrix operation of the robust controller in parallel; the main control unit receives the output value of the robust controller, performs torque distribution according to the output value, and outputs a plurality of control signals corresponding to the distributed torque to the plurality of propellers respectively. The invention can lead the underwater robot to realize real-time and stable robust control. It follows that the invention has the following problems: it is not considered how the underwater robot continues the survey task when encountering an obstacle.
Disclosure of Invention
Therefore, the invention provides an underwater robot for marine survey and a control system thereof, which are used for solving the problem that the underwater robot in the prior art is insensitive to reaction when encountering obstacles.
To achieve the above object, in one aspect, the present invention provides an underwater robot for marine surveying, comprising: a sealed housing to resist an underwater high pressure environment and to isolate seawater to protect housing internal components from seawater erosion;
The underwater power module is connected with the shell and is used for providing power for the underwater robot to move in water;
the data acquisition module is connected with the shell and used for collecting underwater data;
The communication module is connected with the data acquisition module and comprises a first communication unit which is arranged inside the sealed shell and connected with the data acquisition module, and a second communication unit which is arranged outside the sealed shell and connected with the first communication unit and used for transmitting the underwater data to a receiving station on the water surface;
The autonomous detection module is respectively connected with the underwater power module, the data acquisition module and the communication module, and is used for controlling the operation of the underwater power module according to a set route, judging whether to trigger the obstacle detection condition according to the underwater data, controlling the communication module to be connected with the water surface receiving station to determine the water surface obstacle detection coordinates when the obstacle detection condition is reached, and determining an obstacle area according to the collected underwater data of the underwater obstacle detection position.
Further, the second communication unit includes:
The second communication shell is arranged outside the sealed shell and is a sealed shell;
the wired communication assembly is arranged inside the second communication shell and connected with the first communication unit in a wired communication mode and used for transmitting the underwater data;
the positioning component is connected with the second communication shell and used for determining the current position coordinates of the second communication shell;
the floating assembly is arranged inside the second communication shell and used for controlling the second communication shell to float up to the water surface when the obstacle detection condition is reached so that the positioning assembly can acquire the current position coordinates, and transmitting the underwater data acquired by the wired communication assembly to a receiving station on the water surface.
Further, the data acquisition module comprises a sonar device for executing multi-beam sounding, an underwater camera which is positioned at the head of the underwater robot and used for shooting an obstacle photo when the robot encounters an obstacle during underwater activities, a pressure sensor group and a line length sensor, wherein the pressure sensor group is used for calculating the relative positions of the first communication unit and the second communication unit by measuring tensile sensing data of the wired communication assembly.
Further, the autonomous detection module determines whether to trigger the obstacle detection condition according to whether the number of the obstacles detected by the sonar device at the preset angle exceeds the preset number;
If the number of the obstacles detected by the sonar device is greater than or equal to the preset number, judging to trigger obstacle detection conditions and controlling the data acquisition module to shoot obstacle photos of the underwater obstacles;
And if the number of the obstacles detected by the sonar device is smaller than the preset number, judging that the obstacle detection condition is not triggered.
In another aspect, the invention also provides a control system for an underwater robot for marine surveying, comprising:
The communication acquisition module is connected with a second communication unit which is arranged outside the underwater robot sealing shell and used for sending underwater data to the water surface receiving station and used for acquiring the underwater data transmitted by the underwater robot and the water surface communication position coordinates of the underwater robot;
A survey marking module connected with the communication acquisition module for drawing an underwater map according to the underwater data so as to mark coordinates and range of the underwater obstacle;
The control module is respectively connected with the communication acquisition module and the survey marking module and is used for determining underwater obstacle measurement position coordinates according to the underwater data and the water surface communication position coordinates of the underwater robot, determining underwater obstacle distribution states and distribution ranges according to the obstacle concentration in the underwater data and determining a survey strategy of the underwater robot according to the obstacle distribution states;
the underwater data comprise submarine topography, temperature, water flow speed, water flow direction, obstacle photos, pressure sensing data and line length data between the underwater robot body and a water surface communication component which is connected with the underwater robot body in a wired mode.
Further, the control module determines the relative position between the underwater robot and the water surface communication component according to the acquired pressure sensing data, the water flow direction and the length of the wired communication line, and determines the underwater obstacle measuring position coordinates according to the relative position and the water surface communication position.
Further, the control module determines whether the obstacle is an actual obstacle in the range of the movement route of the underwater robot according to the obstacle photo;
The range of the movement route of the underwater robot is the preset width widened on the left side and the right side of the preset route of the underwater robot.
Further, the control module determines an obstacle distribution state according to the obstacle concentration of the actual obstacle and determines a survey strategy of the underwater robot;
if the obstacle concentration is in a first preset range, the control module judges that the obstacle concentration is in a first preset obstacle distribution state and determines a survey strategy as penetrating into a survey;
and if the obstacle concentration is in a second preset range, the control module judges that the obstacle concentration is in a second preset obstacle distribution state and determines a survey strategy as bypassing the survey.
Further, the control module controls the underwater robot to move and keep the second communication unit to float upwards according to the survey strategy, determines whether the length of the wired communication line is accurate according to the difference between the moving distance of the underwater robot under water and the moving distance of the second communication unit, and calculates the deviation of the coordinates of the underwater obstacle.
Further, the control module determines the obstacle concentration according to the number of other actual obstacles in a standard circle in a preset radius with each actual obstacle as a circle center.
Compared with the prior art, the underwater robot provided by the invention has the beneficial effects that the underwater environment adaptability and the autonomous control capability of the underwater robot are strong, and the communication efficiency and the data transmission efficiency are improved by whether to trigger the obstacle detection condition so as to improve the efficiency of marine survey: through the information collection of the set route of the autonomous detection module and the data acquisition module, more efficient and accurate marine survey can be realized, and the survey efficiency and accuracy are improved; the design of the sealing shell and the underwater power module ensures that the robot can work in a severe underwater high-pressure environment, effectively resists seawater erosion and enhances the adaptability of the robot to various underwater environments; the autonomous detection module enables the robot to autonomously perform route control and obstacle detection without excessive manual intervention, so that the autonomy and flexibility of the robot are improved; the communication module ensures that the robot can send the acquired data to the water surface receiving station when the obstacle detection condition is triggered, so that effective monitoring and data transmission are realized, and the timeliness and the working efficiency of marine survey are improved.
Further, the data transmission reliability of the second communication unit is enhanced through the wired communication assembly underwater, and the accuracy of coordinates of the underwater obstacle measuring position and the water surface obstacle measuring position of the underwater robot is improved; through the arrangement of the wired communication assembly in the second communication shell, the stable and reliable transmission of underwater data can be ensured, and the possible problems of interference or signal weakening in wireless communication are avoided; the positioning component is connected with the second communication shell, so that the current position coordinate of the second communication shell can be accurately determined, and more accurate position information is provided for underwater exploration and obstacle detection; the second communication shell can quickly float to the water surface when the obstacle detection condition is triggered by the arrangement of the floating assembly, so that the positioning assembly can acquire the current position coordinates, and underwater data are transmitted to the outside, and support is provided for the subsequent surveying and analyzing work of the robot.
Furthermore, the control system of the underwater robot provided by the invention can efficiently acquire underwater data, draw an underwater map and mark coordinates and ranges of underwater obstacles through the combination of the communication acquisition module, the survey marking module and the control module, so that the marine survey work is more accurate and rapid; the control module determines the position coordinates of the underwater obstacle measurement, the obstacle distribution state and the range according to the underwater data and the position information of the underwater robot, and formulates a surveying strategy of the underwater robot, so that intelligent support is provided to optimize the surveying process and result; the system also monitors the position of the underwater robot and measures environmental parameters through information such as pressure sensing data, line length data and the like, so that the autonomy and adaptability of the robot in the underwater environment are enhanced, and the comprehensiveness and reliability of the survey are improved.
Drawings
FIG. 1 is a block diagram of an underwater robot for marine surveying according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating a second communication unit according to an embodiment of the present invention;
FIG. 3 is a connection diagram of a control system of an underwater robot for marine surveying according to an embodiment of the present invention;
FIG. 4 is a flowchart of the operation of the control system of the underwater robot for marine surveying according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring now to FIG. 1, a block diagram of an underwater robot for marine surveying according to an embodiment of the present invention is shown. In one aspect, the invention provides an underwater robot for marine surveying, comprising:
A sealed housing to resist an underwater high pressure environment and to isolate seawater to protect housing internal components from seawater erosion;
An underwater power module connected to the housing (disposed outside the housing) for providing power for the underwater robot to move in the water to move in the underwater environment; in practice, an electric propeller is used;
a data acquisition module connected to the housing (mounted outside the housing) for collecting underwater data;
The communication module is connected with the data acquisition module and comprises a first communication unit which is arranged inside the sealed shell and connected with the data acquisition module, and a second communication unit which is arranged outside the sealed shell and connected with the first communication unit and used for transmitting the underwater data to a receiving station on the water surface;
The autonomous detection module is respectively connected with the underwater power module, the data acquisition module and the communication module, and is used for controlling the operation of the underwater power module according to a set route, judging whether to trigger the obstacle detection condition according to the underwater data, controlling the communication module to be connected with the water surface receiving station to determine the water surface obstacle detection coordinates when the obstacle detection condition is reached, and determining an obstacle area according to the collected underwater data of the underwater obstacle detection position.
It will be appreciated that the sealed housing of the underwater robot may be of any shape, and is not limited in this disclosure.
In one embodiment, the underwater robot provided by the invention is used for a submarine topography survey task, the robot moves in a submarine region according to a preset route, submarine topography data are collected through a data collection module, and meanwhile, an autonomous detection module is utilized to judge whether an obstacle appears; once the number of the detected obstacles is greater than or equal to the preset number, the robot automatically triggers the obstacle detection condition, the second communication unit in the communication module floats upwards to the water surface to send data from the data acquisition unit to the water surface receiving station through the first communication unit and the second communication unit, the underwater obstacle detection position is determined by determining the obstacle detection coordinates of the water surface and the underwater data, and the obstacle position and the obstacle area are determined, so that the seabed surveyor is helped to better know the seabed topography, and the surveying efficiency and safety are improved.
The underwater environment of the underwater robot is strong in adaptability and autonomous control capability, and communication efficiency and data transmission efficiency are improved by triggering obstacle detection conditions or not, so that marine survey efficiency is improved: through the information collection of the set route of the autonomous detection module and the data acquisition module, more efficient and accurate marine survey can be realized, and the survey efficiency and accuracy are improved; the design of the sealing shell and the underwater power module ensures that the robot can work in a severe underwater high-pressure environment, effectively resists seawater erosion and enhances the adaptability of the robot to various underwater environments; the autonomous detection module enables the robot to autonomously perform route control and obstacle detection without excessive manual intervention, so that the autonomy and flexibility of the robot are improved; the communication module ensures that the robot can send the acquired data to the water surface receiving station when the obstacle detection condition is triggered, so that effective monitoring and data transmission are realized, and the timeliness and the working efficiency of marine survey are improved.
Fig. 2 is a block diagram of a second communication unit according to an embodiment of the invention. The second communication unit includes: the second communication shell is arranged outside the sealed shell and is a sealed shell;
the wired communication assembly is arranged inside the second communication shell and is used for being connected with the first communication unit in a wired communication mode and transmitting the underwater data;
the positioning component is connected with the second communication shell and used for determining the current position coordinates of the second communication shell;
the floating assembly is arranged inside the second communication shell and used for controlling the second communication shell to float up to the water surface when the obstacle detection condition is reached so that the positioning assembly can acquire the current position coordinates, and transmitting the underwater data acquired by the wired communication assembly to a receiving station on the water surface.
In one embodiment, the underwater robot provided by the invention encounters an unexpected obstacle when performing a task at ocean depths; when the autonomous detection module triggers the obstacle detection condition, the second communication shell can quickly float upwards to the water surface by the floating component in the second communication unit, meanwhile, the positioning component accurately acquires the current position coordinate of the second communication shell, then the underwater data collected by the first communication unit is transmitted to the second communication unit through the wired communication component and then is sent to the water surface receiving station, support is provided for the subsequent surveying and analysis work of the robot, and the safety and the timeliness of the data transmission of the underwater robot under the condition of triggering the obstacle detection condition are guaranteed.
The second communication unit provided by the invention enhances the reliability of data transmission through the wired communication assembly underwater, and improves the accuracy of coordinates of the underwater obstacle measuring position and the water surface obstacle measuring position of the underwater robot; through the arrangement of the wired communication assembly in the second communication shell, the stable and reliable transmission of underwater data can be ensured, and the possible problems of interference or signal weakening in wireless communication are avoided; the positioning component is connected with the second communication shell, so that the current position coordinate of the second communication shell can be accurately determined, and more accurate position information is provided for underwater exploration and obstacle detection; the second communication shell can quickly float to the water surface when the obstacle detection condition is triggered by the arrangement of the floating assembly, so that the positioning assembly can acquire the current position coordinates, and underwater data are transmitted to the outside, and support is provided for the subsequent surveying and analyzing work of the robot.
It will be appreciated that the floatation assembly includes, but is not limited to, a bubble generator, an air bladder arrangement, and a controllable hydraulic system; the bubble generator may be installed in the second communication unit to generate bubbles by compressing air or gas, thereby providing sufficient buoyancy to float the second communication unit; or an integrated air bag device is arranged on the second communication unit, and when the floating is needed, the air bag is inflated to increase the buoyancy; a controllable hydraulic system is adopted, and the density and the buoyancy of the second communication unit are changed by adjusting the state of liquid in the second communication unit so as to realize the floating function; or in the simplest form, the second communication housing is supported by a low density material (including but not limited to foam, hollow plastic, polyethylene, foam glass) and is automatically floated by density and buoyancy when the second communication unit is detached from the underwater robot.
Specifically, the data acquisition module comprises a sonar device for executing multi-beam sounding, an underwater camera which is positioned at the head of the underwater robot and used for shooting an obstacle photo when the robot encounters an obstacle during underwater activities, a pressure sensor group and a line length sensor, wherein the pressure sensor group is used for calculating the relative positions of the first communication unit and the second communication unit by measuring tensile sensing data of the wired communication assembly.
It will be appreciated that a line length sensor is typically provided in the second communication unit in connection with the priority communication assembly to determine the extension length of the wired communication assembly (i.e. the wired communication line length).
In practice, the sensor group comprises two distance sensors which are respectively arranged at the left side and the right side of the shell and used for determining the distance between the underwater robot and the obstacle when the underwater robot passes the obstacle, a pressure sensor which is arranged at the tail part of the shell and used for measuring the water pressure, and a weight sensor which is arranged at the tail part of the shell.
In the implementation, the tail part of the shell is provided with a cabin body with a known volume and capable of containing water, the cabin body is filled with water after the robot is used for launching, and a weight sensor connected with the cabin body measures the weight of the water in the cabin body and then determines the water area density of the water area where the underwater robot is located.
It can be understood that the multi-beam sounding sonar device is an advanced ocean sounding technology, and the working principle of the sonar device comprises:
Transmitting an acoustic beam: a multibeam sounding sonar device emits multiple sound beams through an internal sound source device (typically a piezoelectric crystal or speaker). These acoustic beams may propagate underwater at different angles and directions.
Acoustic wave reflection: once the acoustic beams encounter an underwater object or the sea floor, they are reflected back to the sonar device. The shape, density and characteristics of different objects can lead to different reflection patterns and intensities of sound waves.
Receiving and processing signals: a receiving device (such as a hydrophone) inside the sonar device receives the reflected acoustic signals and converts them into electrical signals. These electrical signals, when amplified and processed, can provide information about the position, shape and distance of the underwater object.
Multi-beam processing: because the multi-beam sonar device can simultaneously transmit and receive a plurality of acoustic beams, underwater information in different directions and angles can be obtained at the same time. By processing the reflected signals of multiple acoustic beams simultaneously, more comprehensive and accurate underwater topography data can be provided.
Depth calculation: according to the propagation speed of the sound wave and the time delay of the received reflected signal, the sonar device can calculate the depth and the position of the underwater object. By combining the data of different acoustic beams, a three-dimensional image of the subsurface topography can be created.
Specifically, the autonomous detection module determines whether to trigger the obstacle detection condition according to whether the number of the obstacles detected by the sonar device at the preset angle exceeds the preset number;
If the number of the obstacles detected by the sonar device is greater than or equal to the preset number, judging to trigger obstacle detection conditions and controlling the data acquisition module to shoot obstacle photos of the underwater obstacles;
And if the number of the obstacles detected by the sonar device is smaller than the preset number, judging that the obstacle detection condition is not triggered.
In practice, the preset number is set to 2.
In implementation, the preset angle is determined according to a preset route of the underwater robot, and the preset angle is equal to the maximum steering angle in the preset route of the underwater robot; the underwater robot rotates from the current advancing direction to the angle difference of the next advancing direction; since the underwater robot draws a preset path before performing the survey task, the maximum steering angle in the preset path of the underwater robot should be known before the underwater robot performs the underwater survey, so that the preset angle of the underwater robot is determined before performing the survey task. It will be appreciated that the predetermined course will vary with the survey mission of the underwater robot and thus the predetermined angle will vary with each time.
Referring now to FIG. 3, therein is shown a connection diagram of a control system for an underwater robot for marine surveying according to an embodiment of the present invention. In another aspect, the invention also provides a control system for an underwater robot for marine surveying, comprising:
The communication acquisition module is connected with a second communication unit which is arranged outside the underwater robot sealing shell and used for sending underwater data to the water surface receiving station and used for acquiring the underwater data transmitted by the underwater robot and the water surface communication position coordinates of the underwater robot;
A survey marking module connected with the communication acquisition module for drawing an underwater map according to the underwater data so as to mark coordinates and range of the underwater obstacle;
The control module is respectively connected with the communication acquisition module and the survey marking module and is used for determining underwater obstacle measurement position coordinates according to the underwater data and the water surface communication position coordinates of the underwater robot, determining underwater obstacle distribution states and distribution ranges according to the obstacle concentration in the underwater data and determining a survey strategy of the underwater robot according to the obstacle distribution states;
the underwater data comprise submarine topography, temperature, water flow speed, water flow direction, obstacle photos, pressure sensing data and line length data between the underwater robot body and a water surface communication component which is connected with the underwater robot body in a wired mode.
The control system of the underwater robot provided by the invention can efficiently acquire underwater data, draw an underwater map and mark the coordinates and the range of underwater obstacles through the combination of the communication acquisition module, the survey marking module and the control module, thereby helping the marine survey work to be more accurate and rapid; the control module determines the position coordinates of the underwater obstacle measurement, the obstacle distribution state and the range according to the underwater data and the position information of the underwater robot, and formulates a surveying strategy of the underwater robot, so that intelligent support is provided to optimize the surveying process and result; the system also monitors the position of the underwater robot and measures environmental parameters through information such as pressure sensing data, line length data and the like, so that the autonomy and adaptability of the robot in the underwater environment are enhanced, and the comprehensiveness and reliability of the survey are improved.
Specifically, the control module determines the relative position between the underwater robot and the water surface communication component according to the acquired pressure sensing data, the water flow direction and the length of the wired communication line, and determines the underwater obstacle measuring position coordinates according to the relative position and the water surface communication position.
In implementation, the underwater robot is connected with the water surface communication component through a telescopic data line, the port, connected with the data line, of the underwater robot is provided with pressure sensors distributed in an annular mode, the stretching direction of the data line can be sensed, the tension sensors for detecting the stress of the data line along the extending direction of the data line are further arranged, and likewise, the port, connected with the data line, of the underwater robot is provided with the pressure sensors distributed in an annular mode, the stretching direction of the data line can be sensed, and the tension sensors for detecting the stress of the data line along the extending direction of the data line are further arranged. Also, the length of the data line can be detected by the length sensor.
The step of determining the relative position comprises: (1) Determining the water pressure received by the underwater robot according to the data of the pressure sensor, and determining the underwater depth of the underwater robot according to the water pressure; (2) And determining the relative position between the underwater robot and the water surface communication component according to the underwater depth, the water flow direction and the length of the wired communication line.
In implementation, according to the fact that the tensile force applied to the data line of wired communication along the extending direction of the data line lasts for at least 5 minutes in a fixed certain direction as a judging condition that the data line is tightened, determining the line length at the moment, taking the length of the wired communication line as a bevel edge, taking the depth from the underwater obstacle measuring position of the underwater robot to the horizontal plane as a first right-angle side (the underwater depth of the underwater robot), and determining the length of a second right-angle side of the perpendicular foot of the underwater obstacle measuring position to the water surface and the water surface communication position according to the Pythagorean theorem; then, a plane for calculating the obstacle measuring position is determined according to the pressure direction of the pressure sensors with the data lines distributed in an annular mode, coordinates of the foot drop are determined on the plane for calculating the obstacle measuring position according to the position of the second communication unit on the water surface, the water flow direction and the length of the second right-angle side, and then the coordinates of the underwater obstacle measuring position are determined according to the coordinates of the foot drop and the underwater depth of the underwater robot.
Specifically, the control module determines whether the obstacle is an actual obstacle in the range of the movement route of the underwater robot according to the obstacle photo;
The range of the movement route of the underwater robot is the preset width widened on the left side and the right side of the preset route of the underwater robot.
In practice, the preset width is determined according to the distance between the left and right sides of the underwater robot, preferably the preset width=5×the distance between the left and right sides of the underwater robot (the width of the underwater robot), and an obstacle in the range of this movement path may affect the survey of the underwater robot due to the influence of ocean currents and underwater organisms, and is thus called an actual obstacle.
Specifically, the control module determines an obstacle distribution state according to the obstacle concentration of the actual obstacle and determines a survey strategy of the underwater robot;
if the obstacle concentration is in a first preset range, the control module judges that the obstacle concentration is in a first preset obstacle distribution state and determines a survey strategy as penetrating into a survey;
and if the obstacle concentration is in a second preset range, the control module judges that the obstacle concentration is in a second preset obstacle distribution state and determines a survey strategy as bypassing the survey.
Specifically, the control system determines the obstacle concentration according to the number of other actual obstacles in a standard circle in a preset radius with each actual obstacle as a center.
It will be appreciated that the preset radius is determined according to the width between the left and right sides of the housing of the underwater robot, the preset radius being equal to three times the width between the left and right sides of the housing of the underwater robot. The standard circle defined by this preset radius may allow the underwater robot to pass between obstacles without friction and collision.
Therefore, if the number of other actual obstacles in the corresponding standard circle with any actual obstacle as the circle center is less than or equal to 2, the control system judges that the obstacle concentration is in a first preset range;
If the number of other actual obstacles in the corresponding standard circle with each actual obstacle as the circle center is greater than 2, the control system judges that the obstacle concentration is in a second preset range.
It will be appreciated that when the number of other actual obstacles in the standard circle is less than or equal to 2, the difficulty in passing the underwater robot through the obstacle to continue the survey is suitable, and if the number of other actual obstacles in the standard circle is too large, it is difficult for the underwater robot to find a suitable route to pass through the obstacle to continue the survey task.
Therefore, when the obstacle density corresponding to any obstacle is in a first preset range, the control system determines that the obstacle density is a first preset obstacle distribution state, wherein the first preset obstacle distribution state represents that the obstacles are not very dense, and the underwater robot can pass through the middle of the obstacles; and when the obstacle intensity corresponding to all the obstacles is in a second preset range, the control system determines that the obstacle intensity is in a second preset obstacle distribution state, wherein the second preset obstacle distribution state represents that the obstacles are dense, and the underwater robot cannot pass through the middle of the obstacles.
In practice, the strategy of penetrating the survey includes: determining one practical obstacle a with the minimum number of other practical obstacles in a standard circle taking the practical obstacle as a circle center; determining the direction in which no other obstacle exists in the actual obstacle a; the control system controls the underwater robot to change the preset movement direction to pass through the barrier group in the direction without other barriers in the actual barrier a; meanwhile, distance sensors at two sides of the underwater robot keep working so as to monitor the distance between the underwater robot and an obstacle in real time and avoid collision between the underwater robot and the obstacle a and other obstacles; until passing the obstacle a.
The strategy for bypassing the survey is to consider all obstacles as a whole, and choose to bypass the whole alongside it.
In the implementation, if the sonar device detects an obstacle but does not trigger an obstacle detection condition, the underwater robot continues to survey according to a preset route, and the autonomous detection module controls the distance sensor to keep in a working state so as to avoid collision between the underwater robot and the obstacle; meanwhile, if the sonar device detects that the distance between a certain obstacle and the underwater robot is smaller than the safety distance (the distance is twice the length of the underwater robot, and the underwater robot can make timely response to the obstacle) when the obstacle detection condition is not triggered, the obstacle detection condition is automatically triggered.
Specifically, the control module controls the underwater robot to move and keep the second communication unit to float upwards according to a survey strategy, determines whether the length of the wired communication line is accurate according to the difference between the moving distance of the underwater robot under water and the moving distance of the second communication unit, and calculates the deviation of the coordinates of the underwater obstacle.
It can be understood that the moving distance of the second communication unit should be equal to the moving distance of the underwater robot when the length of the wired communication line is unchanged; if the moving distance of the second communication unit is not equal to the moving distance of the underwater robot, the control module judges that the length of the wired communication line is inaccurate, and the length of the wired communication line is redetermined; and determining the coordinates of the underwater obstacle measuring position determined before according to the length of the wire communication line determined again, determining a coordinate deviation value according to the current coordinates of the underwater obstacle measuring position and the coordinates of the underwater obstacle measuring position calculated before, and updating the coordinates of the underwater obstacle according to the coordinate deviation value and the coordinates of the obstacle determined before.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An underwater robot for marine surveying, comprising:
A sealed housing to resist an underwater high pressure environment and to isolate seawater to protect housing internal components from seawater erosion;
The underwater power module is connected with the shell and is used for providing power for the underwater robot to move in water;
the data acquisition module is connected with the shell and used for collecting underwater data;
The communication module is connected with the data acquisition module and comprises a first communication unit which is arranged inside the sealed shell and connected with the data acquisition module, and a second communication unit which is arranged outside the sealed shell and connected with the first communication unit and used for transmitting the underwater data to a receiving station on the water surface;
The autonomous detection module is respectively connected with the underwater power module, the data acquisition module and the communication module, and is used for controlling the operation of the underwater power module according to a set route, judging whether to trigger the obstacle detection condition according to the underwater data, controlling the communication module to be connected with the water surface receiving station to determine the water surface obstacle detection coordinates when the obstacle detection condition is reached, and determining an obstacle area according to the collected underwater data of the underwater obstacle detection position.
2. The underwater robot of claim 1, wherein the second communication unit comprises:
the second communication shell is arranged outside the sealed shell and is of a sealed shell structure;
the wired communication assembly is arranged inside the second communication shell and connected with the first communication unit in a wired communication mode and used for transmitting the underwater data;
the positioning component is connected with the second communication shell and used for determining the current position coordinates of the second communication shell;
the floating assembly is arranged inside the second communication shell and used for controlling the second communication shell to float up to the water surface when the obstacle detection condition is reached so that the positioning assembly can acquire the current position coordinates, and transmitting the underwater data acquired by the wired communication assembly to a receiving station on the water surface.
3. The underwater robot of claim 2, wherein the data acquisition module comprises a sonar device for performing multi-beam sounding, an underwater camera located at the head of the underwater robot for taking a photograph of an obstacle when the robot encounters the obstacle while moving underwater, a pressure sensor group for calculating the relative positions of the first communication unit and the second communication unit by measuring stretch sensing data of the wired communication assembly, and a line length sensor.
4. The underwater robot of claim 1, wherein the autonomous detection module determines whether to trigger an obstacle detection condition according to whether the number of obstacles detected by the sonar device at a preset angle exceeds a preset number;
If the number of the obstacles detected by the sonar device is greater than or equal to the preset number, judging to trigger obstacle detection conditions and controlling the data acquisition module to shoot obstacle photos of the underwater obstacles;
And if the number of the obstacles detected by the sonar device is smaller than the preset number, judging that the obstacle detection condition is not triggered.
5. A control system for application to an underwater robot for marine surveys as claimed in any of claims 1 to 4, comprising:
The communication acquisition module is connected with a second communication unit which is arranged outside the underwater robot sealing shell and used for sending underwater data to the water surface receiving station and used for acquiring the underwater data transmitted by the underwater robot and the water surface communication position coordinates of the underwater robot;
A survey marking module connected with the communication acquisition module for drawing an underwater map according to the underwater data so as to mark coordinates and range of the underwater obstacle;
The control module is respectively connected with the communication acquisition module and the survey marking module and is used for determining underwater obstacle measurement position coordinates according to the underwater data and the water surface communication position coordinates of the underwater robot, determining underwater obstacle distribution states and distribution ranges according to the obstacle concentration in the underwater data and determining a survey strategy of the underwater robot according to the obstacle distribution states;
the underwater data comprise submarine topography, temperature, water flow speed, water flow direction, obstacle photos, pressure sensing data and line length data between the underwater robot body and a water surface communication component which is connected with the underwater robot body in a wired mode.
6. The control system for an underwater robot for marine surveying of claim 5, wherein the control module determines a relative position between the underwater robot and the surface communication component based on the acquired pressure sensing data, the direction of the water flow, and the length of the wired communication line, and determines underwater obstacle detection position coordinates based on the relative position and the surface communication position.
7. The control system for an underwater robot for marine surveying of claim 6, wherein the control module determines from the obstacle photograph whether an obstacle is an actual obstacle within a range of motion routes of the underwater robot;
The range of the movement route of the underwater robot is the preset width widened on the left side and the right side of the preset route of the underwater robot.
8. The control system for an underwater robot for marine surveying of claim 7, wherein the control module determines an obstacle distribution status from an obstacle concentration of the actual obstacle and determines a survey strategy of the underwater robot;
if the obstacle concentration is in a first preset range, the control module judges that the obstacle concentration is in a first preset obstacle distribution state and determines a survey strategy as penetrating into a survey;
and if the obstacle concentration is in a second preset range, the control module judges that the obstacle concentration is in a second preset obstacle distribution state and determines a survey strategy as bypassing the survey.
9. The control system for an underwater robot for marine surveying according to claim 8, wherein the control module controls the underwater robot to move and keep the second communication unit to float up according to a surveying strategy, the control module determines whether the length of the wired communication line is accurate according to a difference between a distance the underwater robot moves under water and a distance the second communication unit moves, and calculates a deviation of coordinates of the underwater obstacle.
10. The control system for an underwater robot for marine surveys of claim 7, wherein said control module determines said obstacle concentration based on the number of other actual obstacles within a standard circle within a predetermined radius centered around each of said actual obstacles.
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