CN112923920B - Fault marking and navigation method and device, electronic equipment and storage medium - Google Patents
Fault marking and navigation method and device, electronic equipment and storage medium Download PDFInfo
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- CN112923920B CN112923920B CN202110108246.0A CN202110108246A CN112923920B CN 112923920 B CN112923920 B CN 112923920B CN 202110108246 A CN202110108246 A CN 202110108246A CN 112923920 B CN112923920 B CN 112923920B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The fault marking method comprises the following steps of: after the remote-control unmanned submersible enters a water conveying pipeline, detecting the position of a first acoustic tag by the remote-control unmanned submersible in an acoustic distance measurement mode; driving the unmanned underwater vehicle to reach the first acoustic tag position according to the first acoustic tag position; the first acoustic label is the position of a fault point; the invention adopts the convenience of acoustic positioning navigation and the non-accumulative nature of errors, and can realize accurate navigation guidance by utilizing the acoustic label without presetting a marker, thereby reducing the labor cost and the economic cost.
Description
Technical Field
The invention relates to the field of water pipeline detection, in particular to a fault marking and navigation method, a fault marking and navigation device, electronic equipment and a storage medium.
Background
A large number of long-distance water pipelines exist in China, and the requirements of fault detection and maintenance are increasingly urgent in recent years. In the process, how to mark the fault sound mark point after the fault sound mark point is found for the first time and how to navigate to the fault sound mark point quickly and accurately becomes one of the key points for improving the fault detection and maintenance efficiency. And because the long-distance water pipeline generally comprises an underground closed pipeline, the traditional GPS positioning equipment can not be used for positioning and navigation, and the technical field is in a blank state at present, and the more common method comprises the following steps: positioning and navigating an underwater robot, and positioning and navigating the underwater robot by combining a preset marker; large error, complex construction process and high construction cost.
Disclosure of Invention
The invention aims to provide a fault marking method, a navigation device, electronic equipment and a storage medium, which can adopt the convenience of acoustic positioning navigation and the non-accumulative property of errors, realize accurate navigation guidance by using an acoustic label without presetting a marker, and reduce the labor cost and the economic cost.
In a first aspect, the present invention provides a fault navigation method, including:
after the remote-control unmanned submersible enters a water conveying pipeline, detecting the position of a first acoustic tag by the remote-control unmanned submersible in an acoustic distance measurement mode;
driving the unmanned underwater vehicle to reach the first acoustic tag position according to the first acoustic tag position; the first acoustic tag is the position of the fault point.
In a preferred technical solution of the present invention, after the remotely operated unmanned underwater vehicle enters the water pipeline, the remotely operated unmanned underwater vehicle adopts an acoustic ranging method, and the detecting a position of the first acoustic tag includes:
after the remote control unmanned submersible vehicle enters a water conveying pipeline, judging whether a first acoustic tag position can be detected or not at present, and directly driving the unmanned submersible vehicle to reach the first acoustic tag position when the first acoustic tag position is detected;
after the remote control unmanned submersible vehicle enters the water conveying pipeline, detecting the position information of a second acoustic tag associated with the first acoustic tag: the associated second acoustic tag is an auxiliary acoustic tag to the detected first acoustic tag;
detecting the position of the first acoustic tag according to the position information associated with the second acoustic tag;
the remotely operated unmanned vehicle reaches the first acoustic tag.
In a preferred embodiment of the present invention, the detecting unit detects a position of the first acoustic tag according to position information associated with the second acoustic tag;
the remotely operated drone to reach the first acoustic tag includes:
after the remote control unmanned underwater vehicle enters the water conveying pipeline, the remote control unmanned underwater vehicle detects the distance between the unmanned underwater vehicle and the second acoustic tag in an acoustic ranging mode and moves to the second acoustic tag, and the remote control unmanned underwater vehicle moves to the second acoustic tag;
the remotely operated unmanned vehicle detects a distance to the first acoustic tag and then moves toward the first acoustic tag until the first acoustic tag is reached.
In a second aspect, the present invention provides a fault marking method, including: the unmanned submersible carries an acoustic tag and an acoustic distance measuring device, the remote control unmanned submersible enters a water conveying pipeline, the remote control unmanned submersible starts to detect faults existing in the water conveying pipeline, and the first acoustic tag is placed to mark when the faults are detected.
Based on the second aspect, in a preferred technical solution of the present invention, the fault marking method further includes designating a direction of the water pipeline, and when the remote-controlled unmanned submersible detects the designated direction, the detection distance is represented by a positive number; in the case of non-specified direction detection, the detection distance is represented by a negative number.
Based on the second aspect, in a preferred embodiment of the present invention, the method for starting the remote-controlled unmanned underwater vehicle to detect a fault in a water pipeline and placing a first acoustic tag for marking when the fault is detected includes:
when the moving distance of the unmanned submersible reaches a measurement threshold value of the acoustic ranging device, a fault point is not detected, a second acoustic tag is placed at the measurement threshold value, and the second acoustic tag is associated with the first acoustic tag;
the remotely operated unmanned vehicle continues to detect based on the relative position of the second acoustic tag until a fault is detected, at which point the first acoustic tag is placed.
In a third aspect, the invention provides a fault marking and navigating device, which comprises a main control platform, a remote control unmanned submersible, and an acoustic tag and an acoustic ranging device which are arranged on the remote control unmanned submersible;
the main control platform controls the unmanned underwater vehicle, the acoustic tag and the acoustic distance measuring device;
the master control platform: recording the position of each acoustic tag, controlling the movement of the remote control unmanned submersible, and receiving detection information of the acoustic ranging device;
the remote control unmanned submersible is characterized in that: detecting a fault point by the action of executing response according to the method, and placing an acoustic tag;
the acoustic tag: marking each point and communicating with an acoustic distance measuring device;
the acoustic ranging apparatus: the distance between the remote-controlled unmanned submersible vehicle and the acoustic tag is detected.
In a fourth aspect, the present invention provides an electronic device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions being executable by the processor to perform the steps of the fault navigation method.
In a fifth aspect, the present invention provides an electronic device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions being executable by the processor to perform the steps of the fault navigation method.
In a sixth aspect, the present invention provides a computer readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the fault navigation method and the fault marking method.
The invention has the following beneficial effects: the invention adopts the convenience of acoustic positioning navigation and the non-accumulative nature of errors, and can realize accurate navigation guidance by utilizing the acoustic label without presetting a marker, thereby reducing the labor cost and the economic cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a basic flow diagram of a fault navigation method of the present invention;
FIG. 2 is a flow chart of a fault navigation method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a specific embodiment of the fault marking method of the present invention;
FIG. 4 is a schematic diagram of the acoustic ranging of the present invention;
FIG. 5 is a diagram of the internal components of the acoustic tag of the present invention;
FIG. 6 is a block diagram of an acoustic ranging device of the present invention;
fig. 7 is a block diagram of another acoustic distance measuring device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The conduit is the important equipment of water delivery system, if it breaks down then seriously influences water delivery system's normal work, so need overhaul conduit, when overhauing conduit, specifically have two kinds of maintenance modes:
the first maintenance mode is divided into two processes, wherein the first process is a process of detecting a fault point; the second process is a process of rechecking the failure point.
The process of detecting the failure point is as follows:
step 1, carrying out initial position calibration at a place with satellite signals before the unmanned submersible starts working;
step 2, placing the unmanned submersible at a detection inlet of a water pipeline, and detecting whether the current position of the unmanned submersible breaks down or not while the unmanned submersible moves; the current position of the unmanned submersible vehicle is determined in the pipeline in an inertial positioning mode; a detection inlet of the water conveying pipeline is a preset opening for overhauling the water conveying pipeline;
step 3, recording the inertia positioning position of the fault point as a fault marking point after the unmanned submersible finds the fault; the inertial positioning position is a position calculated by an inertial navigation device, and the specific calculation process is as follows: calculating the position of a fault marking point relative to a detection inlet of a water pipeline by the aid of relevant parameters of an accelerometer and a gyroscope of an inertial navigation device and by combining the initial position of the unmanned submersible vehicle;
the process of rechecking the fault point is as follows:
step 1, placing the unmanned submersible vehicle from the detection inlet of the water pipeline again;
and 2, moving the unmanned submersible to the fault marking point according to the position of the fault marking point relative to the detection inlet of the water pipeline by adopting an inertial positioning navigation technology.
By adopting the working mode, the deviation of the inertial positioning navigation technology is larger and larger along with the increase of the service time, and the positioning precision of the inertial positioning navigation technology cannot meet the fault marking and navigation of the long-distance water pipeline.
Second maintenance mode
The underwater robot combines the preset markers for positioning and navigation:
step 1, arranging markers at specific intervals when a water pipeline is constructed;
step 2, carrying out initial position calibration at a place with satellite signals before the unmanned submersible starts working;
step 3, placing the unmanned submersible vehicle from the detection inlet of the water conveying pipeline, and detecting the fault position while the unmanned submersible vehicle moves; the inertial positioning position is the position calculated by an inertial navigation device, specifically, the position of the detection inlet relative to the water pipeline is obtained by calculation through the relevant parameters of an accelerometer and a gyroscope of the inertial navigation device and the combination of the initial position of the unmanned submersible vehicle;
step 4, recording each marker of the unmanned submersible vehicle passing through the pipeline, and carrying out inertial navigation position correction; after finding the fault marking point, knowing where the point is near the marker, recording the inertial positioning position of the point as the fault marking point;
when the fault marking point needs to be reexamined and maintained;
and placing the unmanned submersible vehicle from the detection inlet of the water conveying pipeline, and approaching the recorded fault marking point by the unmanned submersible vehicle by adopting an inertial positioning navigation technology through the known marker and the recorded fault position.
By adopting the working mode, the underwater robot can correct the positioning accuracy by combining the preset marker, but the marker needs to be preset in advance, and most of domestic long-distance water pipelines are not arranged; the preset marker causes the problems of complex construction and higher cost.
The invention provides a method for quickly marking and acoustically navigating a fault marking point of a long-distance water pipeline.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a fault navigation method: the method comprises the following steps:
s100, after the remote-control unmanned submersible enters a water conveying pipeline, detecting the position of a first acoustic tag by the remote-control unmanned submersible in an acoustic ranging mode;
s200, driving the unmanned submersible to reach the first acoustic tag position according to the first acoustic tag position; the first acoustic label is the position of a fault point;
unmanned Vehicle (Remote Operated Vehicle, abbreviated as ROV): the device is unmanned diving equipment, also called as a diving robot or an underwater robot, and is integrated with a driving device, a fault detection device and the like, and is used for moving and fault position detection in a long-distance water conveying pipeline.
A water delivery pipeline: refers to the general term of a pipe or channel that transports water from a remote source to a point of use; or a long-distance whole water delivery system, and the water delivery pipeline comprises a pipeline, an open channel, a closed channel, a tunnel and the like.
An acoustic distance measuring device: and a device for collecting sound signals and calculating the distance according to the product of the time and the speed of sound transmission.
Acoustic tag: a sound source emitting an acoustic signal; the acoustic tag emits an acoustic signal, the acoustic ranging device collects the acoustic signal emitted by the acoustic tag, and then the distance between the acoustic tag and the acoustic ranging device is calculated according to the time and the speed of sound transmission.
And (4) fault point: fault position of water pipeline; the fault can be blockage, pipe explosion, leakage and the like of a water pipeline, and the fault position is detected by the unmanned submersible according to the mode of pressure in the pipe and the like.
Aiming at the defects in the prior art, in the step S100, after the unmanned submersible enters the water conveying pipeline, an acoustic ranging device is adopted to detect the distance between a first acoustic tag and the current position of the unmanned submersible, after the position of the first acoustic tag is detected, main control software drives the unmanned submersible to move towards the direction of reducing the detection distance of the first acoustic tag until the unmanned submersible reaches the position of the first acoustic tag, the fault position can be found, and then the fault is maintained;
after the remote control unmanned submersible vehicle enters the water pipeline, if the position of the first acoustic tag cannot be detected, namely under the condition that the distance between the fault position and the inlet of the water pipeline is greater than the detection threshold value of the acoustic ranging device, the following mode can be adopted:
step 101, after the remote-control unmanned underwater vehicle enters a water conveying pipeline, detecting the distance between the unmanned underwater vehicle and a second acoustic tag by the remote-control unmanned underwater vehicle in an acoustic ranging mode, moving the remote-control unmanned underwater vehicle to the second acoustic tag, and moving the remote-control unmanned underwater vehicle to the second acoustic tag;
102, detecting the distance between the remote control unmanned submersible vehicle and the first acoustic tag according to the position of the second acoustic tag, and then moving the remote control unmanned submersible vehicle to the first acoustic tag until the first acoustic tag is reached;
101, 102, when the unmanned underwater vehicle is specifically implemented, after the unmanned underwater vehicle enters a water pipeline, starting an acoustic ranging device to detect a sound signal, detecting the sound signal, comparing the position information of the received sound signal with the position information of a first acoustic tag by main control software, wherein the position information of the sound signal is inconsistent with the position information of the first acoustic tag, but the position information of the detected sound signal is associated with the position information of the first acoustic tag, sending the position information of a second acoustic tag, which is associated with the first acoustic tag, to the main control software by the acoustic ranging device, and driving the unmanned underwater vehicle to move towards the second acoustic tag by the main control software; after the unmanned submersible vehicle carries the acoustic ranging device to reach the second acoustic tag, the acoustic ranging device continues to detect the sound signal, at the moment, the acoustic ranging device can detect the sound signal of the first acoustic tag, the main control software compares the received sound signal position information with the first acoustic tag position information, the detected sound signal position information is consistent with the first acoustic tag position information, at the moment, the control software drives the unmanned submersible vehicle to move towards the first acoustic tag, and the maintenance personnel is guided to come to the fault position for maintenance;
after the unmanned underwater vehicle enters the water conveying pipeline, the acoustic ranging device is started to detect the sound signal, the sound signal is detected, the main control software does not enable the address of the received sound signal to be inconsistent with the address of the second acoustic tag, the detected sound signal address is not related to the second acoustic tag, and then the main control software cannot drive the unmanned underwater vehicle to move to the position of the sound signal.
The navigation method adopts the convenience of acoustic positioning navigation and the non-accumulative nature of errors, and has higher accuracy compared with the traditional inertial positioning method in which the deviation is larger and larger along with the increase of time.
The fault navigation method is a method for guiding maintenance personnel to find a fault position by the aid of the fact that the unmanned submersible enters the water conveying pipeline again, the acoustic tags are placed when the unmanned submersible enters the water conveying pipeline for the first time to detect faults, and the fault marking method for the unmanned submersible entering the water conveying pipeline for the first time comprises the following steps:
step 300, carrying an acoustic tag and an acoustic distance measuring device by the unmanned submersible, enabling the remote-controlled unmanned submersible to enter a water conveying pipeline, placing a zero-number acoustic tag at the entering position of the unmanned submersible, starting to detect the fault of the water conveying pipeline by the remote-controlled unmanned submersible, and placing a first acoustic tag for marking when the fault is detected;
step 300, in concrete implementation, the unmanned submersible carries an acoustic tag and an acoustic ranging device to enter a water pipeline, a zero acoustic tag is placed at the inlet of the water pipeline, the zero acoustic tag sends out a sound signal, the acoustic detection device receives the sound signal sent out by the zero acoustic tag, the acoustic ranging device sends the detected sound signal to main control software, and the main control software calculates the distance according to the time and the speed of sound transmission; detecting the water pipeline by using a detection device of the unmanned submersible, for example, detecting the leakage of the water pipeline by the pressure detection device of the unmanned submersible; when the unmanned submersible detects the fault position of the water conveying pipeline, the unmanned submersible places a first acoustic tag to mark the fault point;
if the distance between the position of the fault and the inlet of the water conveying pipeline of the unmanned underwater vehicle is larger than the measurement threshold value, namely after the unmanned underwater vehicle enters the water conveying pipeline, the distance between the unmanned underwater vehicle and the zero-order acoustic tag is larger than the measurement threshold value, and the fault position is not detected, the following operation steps are carried out:
step 401, the unmanned submersible placing a second acoustic tag at a measurement threshold and associating the second acoustic tag with the first acoustic tag;
step 402, the remote unmanned submersible continues to detect according to the relative position of the second acoustic tag until a fault is detected, and a first acoustic tag is placed at the fault position;
the measurement threshold is the maximum value of the sound signal which can be detected by the acoustic measurement device of the unmanned submersible vehicle;
when the steps 401 and 402 are specifically implemented, the unmanned submersible enters a water pipeline for fault detection, the distance between the distance detected by the acoustic distance measuring device and the zero-number acoustic tag is sent to the main control software in real time, the main control software compares the distance between the acoustic distance measuring device and the zero-number acoustic tag with a measurement threshold value, if the distance between the unmanned submersible and the zero-number acoustic tag is equal to the measurement threshold value and the unmanned submersible does not detect a fault, the main control software controls the unmanned submersible to place a second acoustic tag at the measurement threshold value and sends the position information of the second acoustic tag to the main control software, and the main control software records the position information of the second acoustic tag as associated information of reaching the first acoustic tag;
the acoustic ranging device receives the acoustic signal sent by the second acoustic tag, and then the distance between the acoustic ranging device and the second acoustic tag is calculated through main control software; the unmanned underwater vehicle continues to detect according to the distance between the unmanned underwater vehicle and the second acoustic tag, if the distance between the unmanned underwater vehicle and the second acoustic tag is smaller than the measurement threshold value, a fault is detected, and the unmanned underwater vehicle places a first acoustic tag at the fault position; if the fault location has not been detected when the distance between the unmanned vehicle and the second acoustic tag is equal to the measurement threshold, the above operations are repeated.
The water pipe is long, if only one relative distance is given, two points can be found at the designated origin of the water pipe, the positions are not unique, and in order to determine the uniqueness of the positions in the water pipe, the marking method further comprises the following steps:
step 500, the direction of the water pipeline is appointed, and when the remote control unmanned submersible detects in the appointed direction, the detection distance is represented by a positive number; in the case of non-specified direction detection, the detection distance is represented by a negative number.
500, in specific implementation, a certain point of the water pipeline is designated as an original point, and the position information of the original point is recorded in main control software, the main control software can judge whether the acoustic label is located in the designated direction or the non-designated direction of the original point according to the position information of each acoustic label, the detection distance of the acoustic detection device is represented by a positive number in the designated direction, and the detection distance is represented by a negative number in the non-designated direction, so that the same distance and different directions can be represented by positive and negative numbers, and the only point in the water pipeline can be determined; for example, the inlet of the water conveying pipeline is designated as an original point, a zero acoustic tag is placed at the position of the original point, the right side of the water conveying pipeline is designated as a positive direction, the fault position is three meters (assuming that the measurement threshold is ten meters) on the left side of the inlet of the water conveying pipeline, the unmanned submersible enters the water conveying pipeline for fault detection, and when the fault position is detected, the detection distance between the acoustic ranging device and the zero acoustic tag is indicated as "-3 meters".
According to the fault marking method, the acoustic label is used for marking, so that the method can be suitable for the existing water pipeline, a marker does not need to be preset on the basis of the existing water pipeline, and labor cost and economic cost are reduced.
Aiming at the disclosed fault navigation method, a specific example is provided below, please refer to fig. 2, which discloses a specific implementation mode of fault navigation, the system applied in the scheme is a fault detection mark, the navigation system comprises an unmanned submersible, an acoustic distance measuring device and a main control software, and the main control software controls the unmanned submersible and the acoustic distance measuring device; the navigation method is carried out after the marking mode is marked, and comprises the following steps:
step 601, setting the address of the navigation target acoustic tag: inputting first acoustic tag position information needing navigation and second acoustic tag position information associated with the first acoustic tag into main control software, wherein the main control software sets the first acoustic tag position information as a navigation target position; the main control software: various general or special programs for realizing process control by a computer control system or an intelligent regulator;
step 602, the main control software automatically plans a navigation path, namely the main control software automatically plans the navigation path according to the position information of the zero-number acoustic tag, the first acoustic tag and the second acoustic tag associated with the first acoustic tag;
step 603, enabling the unmanned submersible to enter a detection inlet and starting an acoustic distance measurement navigation mode;
in the acoustic ranging navigation mode, main control software specifies position information of a first acoustic tag to be detected, and plans a mode that an acoustic ranging device can detect an acoustic signal of the first acoustic tag, namely the acoustic ranging device is required to detect a second acoustic tag first, the main control software drives the unmanned underwater vehicle to come to the second acoustic tag, and the acoustic ranging device can detect the first acoustic tag at the position of the second acoustic tag;
step 604, the acoustic ranging device gradually guides the unmanned underwater vehicle to a target point in a navigation mode by associating a second acoustic tag with the first acoustic tag on the path from near to far;
605, the acoustic distance measuring device measures the distance of the first fault position, and the unmanned submersible travels along the direction of decreasing distance;
step 606, the main control software receives that the measured distance between the acoustic distance measuring device and the first fault position is zero, and judges whether the navigation is stopped when the target point is reached or the navigation is continued by switching to the next fault position; and if the navigation is continued by switching the fault position to move downwards, repeating the step 1.
In order to implement the foregoing fault navigation method, there is provided a fault marking method, including:
step 701, carrying an acoustic tag and an acoustic distance measuring device by the unmanned underwater vehicle, remotely controlling the unmanned underwater vehicle to enter a water pipeline, and placing a zero-number acoustic tag at the entering position of the unmanned underwater vehicle;
step 702, the remote-control unmanned submersible starts to detect the fault of the water pipeline, and a first acoustic tag is placed for marking when the fault is detected.
In the above steps, before the unmanned submersible enters the water pipe, the method further comprises:
703, appointing the direction of the water pipeline, and when the remote-control unmanned submersible detects the appointed direction, the detection distance is expressed by positive numbers; in the case of non-specified direction detection, the detection distance is represented by a negative number.
After the unmanned underwater vehicle enters the water conveying pipeline, the distance between the unmanned underwater vehicle and the zero-number acoustic tag reaches the measurement threshold value of the acoustic ranging device, and when a fault point is not detected, the method comprises the following steps:
step 704, placing a second acoustic tag at the measurement threshold and associating the second acoustic tag with the first acoustic tag;
in step 705, the remotely operated unmanned vehicle continues to detect based on the relative position of the second acoustic tag until a fault is detected, at which point the first acoustic tag is placed.
For the above disclosed fault marking method, a specific example is provided below, and referring to fig. 3, a specific implementation of the fault marking is disclosed:
step 801, main control software designates a water pipeline detection inlet as a position original point, the main control software drives an unmanned submersible to place a zero-number acoustic tag at the water pipeline inlet, the main control software designates the positive and negative direction of the pipeline, and the following scheme designates the right side of the pipeline detection inlet as the positive direction for description;
step 802, the unmanned submersible enters an inlet of a water pipeline, starts to move, carries out fault detection operation, and simultaneously starts an acoustic distance measuring device to measure the distance so as to detect the distance between the current position of the unmanned submersible and a zero-number acoustic tag;
step 803, after the unmanned submersible enters the water conveying pipeline, when the unmanned submersible moves to the right side of the inlet of the water conveying pipeline, the unmanned submersible is in a specified forward direction pipeline, and at the moment, the acoustic distance measuring device detects that the distance between the unmanned submersible and the zero acoustic tag is a positive number; after the unmanned submersible vehicle enters the water conveying pipeline, when the unmanned submersible vehicle moves to the left side of the inlet of the water conveying pipeline, the unmanned submersible vehicle is in a specified negative direction pipeline, and at the moment, the acoustic distance measuring device detects that the distance between the unmanned submersible vehicle and the zero-order acoustic tag is a negative number;
specifically, referring to fig. 4, assuming that the coordinate origin is (0, 0), the position (x, y) of the target relative to the coordinate origin needs to be determined in the conventional positioning; due to the particularity of the water conveying pipeline, the water conveying pipeline can be regarded as a curved line segment; if the detection entry is position 0 on the line segment, the detection is negative toward the left and positive toward the right. As long as the distance value of the determined target position relative to the position 0 is determined, a unique position can be found on the line segment, namely, the detected target 1 is at the position-400, and the detected target 2 is at the position + 300.
Step 804, judging whether the maximum distance measurement value is reached;
the method comprises the following steps that when the unmanned submersible detects a fault, the acoustic ranging device measures the distance between the unmanned submersible and a zero acoustic tag, the acoustic ranging device sends detected data to main control software, and the main control software compares the distance between the unmanned submersible and the zero acoustic tag with the maximum ranging value of the acoustic ranging device;
step 805, when the distance between the unmanned underwater vehicle and the acoustic tag No. zero measured by the acoustic ranging device is smaller than the maximum ranging value of the acoustic ranging device, if the unmanned underwater vehicle detects a fault, the unmanned underwater vehicle places a first acoustic tag (fault point) at the fault position;
step 806, when the distance between the unmanned underwater vehicle and the acoustic tag No. zero measured by the acoustic ranging device is equal to the maximum ranging value of the acoustic ranging device, if the unmanned underwater vehicle does not detect the fault, the main control software drives the unmanned underwater vehicle to place a second acoustic tag (a common point) at the maximum ranging value of the acoustic ranging device No. zero, and associates the second acoustic tag with the first acoustic tag; associating the second acoustic tag with the first acoustic tag, namely recording the position information of the second acoustic tag as an auxiliary point on a path for searching the first acoustic tag by main control software; the drone continues to move and detect the fault, but the acoustic ranging device now detects the distance between the drone and the second acoustic tag;
step 807, judging whether the stop mark or the continue mark is according to the actual work requirement, and returning to step 804 if the continue mark is detected.
A fault marking and navigating device comprises a main control platform, a remote control unmanned submersible, and an acoustic tag and an acoustic ranging device which are arranged on the remote control unmanned submersible;
the main control platform controls the unmanned submersible, the acoustic tag and the acoustic distance measuring device;
the main control platform: recording the position of each acoustic tag, controlling the movement of the remote-control unmanned submersible, and receiving detection information of the acoustic distance measuring device;
the remote control unmanned submersible: detecting a fault point according to the action of executing response by a fault marking method, and placing an acoustic label; the acoustic distance measuring device is used for searching an acoustic label according to a navigation mode of the acoustic distance measuring device;
acoustic tag: marking each point and communicating with an acoustic distance measuring device;
an acoustic distance measuring device: the distance between the remote-controlled unmanned submersible vehicle and the acoustic tag is detected.
The invention overcomes the problems of the marking of fault sound marking points of long-distance water pipelines and the limitation of navigation precision and distance, adopts the convenience of acoustic positioning navigation and the non-accumulative property of errors, and can realize the same marking precision and navigation precision at different distances as long as the remote control unmanned submersible can reach the places;
the invention can realize accurate navigation guidance without presetting a marker in the using process, is suitable for various domestic water pipelines, and simultaneously reduces the construction complexity and cost of long-distance water pipelines based on the method;
the invention can quickly and accurately navigate to the fault sound mark point, and the small acoustic label and the acoustic distance measuring device are devices which are easy to realize, have mature technology and lower cost, can be recycled after being used, and greatly reduce the labor cost and the economic cost while improving the fault detection and maintenance efficiency of the long-distance water conveying pipeline.
Referring to fig. 5, the acoustic tag includes a processor, a watchdog circuit, a power management, a transmitter, a receiver, a transceiver, a sound head, a watertight housing, a data interface, and a power supply interface;
the processor is connected with a watchdog circuit, power management, a transmitter and a receiver;
an ADC is arranged between the receiver and the processor;
the transmitter and the receiver are connected with a receiving and transmitting device which is also connected with a sound head; the sound head is arranged outside the watertight shell, and other devices are arranged inside the watertight shell.
The power management is connected with a battery and a power interface, the battery is connected with the power interface, and the power interface is connected with a battery pack;
a processor: receiving the information of a watchdog circuit, power management, a transmitter and a receiver and a final execution list of program operation;
watchdog circuit: the internal condition of the chip is checked regularly, and a restarting signal is sent to the processor once an error occurs, so that the failure and downtime of the acoustic tag are avoided;
power management: effectively distributing power to different components of the system to provide electric energy for all parts of the acoustic tag;
a transmitter: modulation of useful low-frequency signals on high-frequency carriers is completed, the high-frequency carriers are changed into electromagnetic waves which have certain bandwidth on certain central frequency and are suitable for being transmitted through an antenna, and processing signals sent by a processor are received and converted;
a receiver: receiving an electromagnetic signal, converting the electromagnetic signal through an ADC (analog to digital converter) and transmitting the electromagnetic signal to a processor;
receiving and sending combination: receiving the signal of the transmitter and the sound head signal, processing the sound signal, and transmitting the processed signal to the receiver;
an acoustic head: transmitting a sound signal to an acoustic distance measuring device for detection;
ADC: the abbreviation Analog-to-Digital Converter refers to an Analog-to-Digital Converter or an Analog-to-Digital Converter. Refers to a device that converts a continuously variable analog signal into a discrete digital signal.
The acoustic tag provided by the invention is provided with a battery, can be kept stand by underwater for two years, continuously works and emits for 100 ten thousand times, and after all operations are completed, the remote control unmanned submersible can recycle all the distributed acoustic tags under the navigation of the acoustic ranging device.
Referring to fig. 6, the acoustic ranging apparatus includes a processor, a data interface, a watertight interface, a watchdog circuit, a power management, a transmitter, a receiver, a transceiver, a sound head, and a watertight housing;
a processor: receiving the information of the watchdog circuit, the power supply management, the transmitter and the receiver and a final execution list of program operation;
watchdog circuit: the internal condition of the chip is checked regularly, and a restarting signal is sent to the processor once an error occurs, so that the failure and downtime of the acoustic tag are avoided;
power management: the power supply is effectively distributed to different components of the system to provide electric energy for all parts of the acoustic tag;
a transmitter: modulation of useful low-frequency signals on high-frequency carriers is completed, the high-frequency carriers are changed into electromagnetic waves which have certain bandwidth on certain central frequency and are suitable for being transmitted through an antenna, and processing signals sent by a processor are received and converted;
a receiver: receiving an electromagnetic signal, converting the electromagnetic signal through an ADC (analog to digital converter) and transmitting the electromagnetic signal to a processor;
receiving and sending combination: receiving the signal of the transmitter and the sound head signal, processing the sound signal, and transmitting the processed signal to the receiver;
acoustic head: receiving an acoustic tag sound signal;
ADC: the abbreviation of Analog-to-Digital Converter refers to an Analog-to-Digital Converter or an Analog-to-Digital Converter. Refers to a device that converts a continuously variable analog signal into a discrete digital signal.
The present invention further provides another acoustic ranging apparatus, please refer to fig. 7, which is different from the above acoustic ranging apparatus in that the acoustic ranging apparatus is provided with two sound heads, and the two sound heads are respectively connected to a processor through a receiver.
The acoustic ranging device with the double sound heads can not only measure distance, but also judge the direction of the acoustic tag relative to the ROV through the ranging difference of the double sound heads, namely, the method is realized by increasing the deformation modes such as the sound heads and the like, and is an alternative method.
The embodiment of the present application provides a computer device, configured to execute the fault marking and navigating method in the present application, where the device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the fault marking and navigating method when executing the computer program.
Specifically, the memory and the processor may be general-purpose memory and processor, which are not limited in particular, and when the processor runs the computer program stored in the memory, the fault marking and navigation method can be performed.
Corresponding to the fault marking and navigation method in the present application, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the fault marking and navigation method.
In particular, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and when the computer program on the storage medium is executed, the above-mentioned fault marking and navigation method can be executed.
The elements of the memory and processor are electrically connected to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The fault marking and navigation device comprises at least one software functional module which can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the service terminal. The processor is used to execute executable modules stored in the memory, such as fault markers, software functional modules comprised by the navigation device, and computer programs.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The memory is used for storing programs, and the processor executes the programs after receiving the execution instructions.
A fault marking and navigating method comprises the following steps:
the direction of the water pipeline is appointed, and when the remote control unmanned submersible is detected in the appointed direction, the detection distance is represented by a positive number; when the non-specified direction is detected, the detection distance is represented by a negative number;
the unmanned submersible carries an acoustic tag and an acoustic distance measuring device, the remote control unmanned submersible enters a water conveying pipeline, the remote control unmanned submersible starts to detect the fault of the water conveying pipeline, and if the fault is detected, a first acoustic tag is placed for marking;
if the distance between the unmanned submersible vehicle and the zero-number acoustic tag reaches the acoustic ranging device measurement threshold value, a fault point is not detected, a second acoustic tag is placed at the measurement threshold value, and the second acoustic tag is associated with the first acoustic tag;
the remote control unmanned submersible continues to detect according to the relative position of the second acoustic tag until a fault is detected, and a first acoustic tag is placed at the fault position;
after the remote control unmanned submersible vehicle enters a water conveying pipeline, detecting the position of a first acoustic tag by the remote control unmanned submersible vehicle in an acoustic distance measurement mode;
if the first acoustic tag position can be directly detected by the entry, driving the unmanned underwater vehicle to reach the first acoustic tag position; the first acoustic label is the position of a fault point;
if the position of the first acoustic tag cannot be detected after the remote-control unmanned submersible vehicle enters the water conveying pipeline, detecting the position information of a second acoustic tag associated with the first acoustic tag: the associated second acoustic tag is an auxiliary acoustic tag of the detected first acoustic tag;
detecting the position of the first acoustic tag according to the position information associated with the second acoustic tag;
the remotely controlled unmanned submersible reaches the first acoustic tag;
after the unmanned vehicle moves to the second acoustic tag, the distance to the first acoustic tag is detected, and then the unmanned vehicle moves to the first acoustic tag until the first acoustic tag is reached.
The invention adopts acoustic equipment to realize the marking and navigation of the fault sound marking point, and can also select other equipment such as magnetic equipment, electric equipment and the like to adopt the method in the invention; i.e. any different processing platform, including but not limited to acoustic devices, are alternatives to enable the invention.
The present invention has been described in terms of the preferred embodiment, and it is not intended to be limited to the embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A fault navigation method, comprising:
after the remote-control unmanned submersible enters a water conveying pipeline, detecting the position of a first acoustic tag by the remote-control unmanned submersible in an acoustic distance measurement mode;
driving the unmanned underwater vehicle to reach the first acoustic tag position according to the first acoustic tag position; the first acoustic label is the position of a fault point;
after the unmanned underwater vehicle of remote control got into conduit, the unmanned underwater vehicle of remote control adopts the mode of acoustics range finding, and it includes to detect first acoustics label position:
after the remote control unmanned submersible vehicle enters a water conveying pipeline, judging whether a first acoustic tag position can be detected or not at present, and directly driving the unmanned submersible vehicle to reach the first acoustic tag position when the first acoustic tag position is detected;
after the remote control unmanned submersible vehicle enters the water conveying pipeline, detecting the position information of a second acoustic tag associated with the first acoustic tag: the associated second acoustic tag is an auxiliary acoustic tag to the detected first acoustic tag;
detecting a location of the first acoustic tag based on location information associated with the second acoustic tag,
the remotely operated unmanned vehicle reaches the first acoustic tag.
2. The fault navigation method according to claim 1, wherein the detecting a location of the first acoustic tag based on location information associated with the second acoustic tag,
the remotely operated unmanned vehicle reaching the first acoustic tag comprises:
after the remote-control unmanned submersible enters the water conveying pipeline, detecting the distance between the unmanned submersible and the second acoustic tag by the remote-control unmanned submersible in an acoustic ranging mode, moving the remote-control unmanned submersible to the second acoustic tag, and moving the remote-control unmanned submersible to the second acoustic tag;
the remotely operated unmanned vehicle detects a distance to the first acoustic tag and then moves toward the first acoustic tag until the first acoustic tag is reached.
3. A fault flagging method, comprising: the unmanned submersible carries an acoustic tag and an acoustic distance measuring device, the unmanned submersible is remotely controlled to enter a water conveying pipeline, a zero acoustic tag is placed at the entering position of the unmanned submersible, the remote-controlled unmanned submersible starts to detect the fault existing in the water conveying pipeline, and a first acoustic tag is placed for marking when the fault is detected;
the remote control unmanned underwater vehicle starts to detect the fault of the water pipeline, and a first acoustic tag is placed for marking when the fault is detected, wherein the remote control unmanned underwater vehicle comprises:
when the distance between the unmanned submersible vehicle and the zero-number acoustic tag reaches a measurement threshold value of the acoustic ranging device, and a fault point is not detected, placing a second acoustic tag at the measurement threshold value, and associating the second acoustic tag with the first acoustic tag;
the remotely operated unmanned vehicle continues to detect based on the relative position of the second acoustic tag until a fault is detected, at which point the first acoustic tag is placed.
4. The fault marking method according to claim 3, further comprising designating a direction of the water pipeline, wherein a detection distance is represented by a positive number when the remotely operated unmanned vehicle detects in the designated direction; in the case of non-specified direction detection, the detection distance is represented by a negative number.
5. A fault marking and navigating device is characterized by comprising a main control platform, a remote control unmanned submersible, and an acoustic tag and an acoustic ranging device which are arranged on the remote control unmanned submersible;
the main control platform controls the unmanned underwater vehicle, the acoustic tag and the acoustic distance measuring device;
the main control platform: recording the position of each acoustic tag, controlling the movement of the remote control unmanned submersible, and receiving detection information of the acoustic ranging device;
the remote control unmanned submersible is characterized in that: -detecting a point of failure by performing an action responsive to the method according to any of claims 1-4, placing an acoustic tag;
the acoustic tag: marking each point and communicating with an acoustic distance measuring device;
the acoustic ranging apparatus: the distance between the remote-controlled unmanned submersible vehicle and the acoustic tag is detected.
6. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the fault navigation method of any of claims 1 to 2.
7. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the fault flagging method according to any of claims 3 to 4.
8. A computer-readable storage medium, having stored thereon a computer program for performing the steps of the fault navigation method, the fault marking method as claimed in any one of claims 1 to 4 when executed by a processor.
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| CN106679662B (en) * | 2015-11-06 | 2019-10-25 | 中国科学院沈阳自动化研究所 | A Single Beacon Integrated Navigation Method for Underwater Robot Based on TMA Technology |
| CN105607050A (en) * | 2015-12-31 | 2016-05-25 | 中国海洋石油总公司 | Submarine cable positioning method and device |
| CN107728627B (en) * | 2017-10-13 | 2021-04-16 | 中国船舶重工集团公司七五0试验场 | Underwater robot return control method, computer and storage medium |
| CN108614258B (en) * | 2018-05-09 | 2022-04-08 | 天津大学 | An underwater positioning method based on single underwater acoustic beacon distance measurement |
| CN110187302A (en) * | 2019-06-17 | 2019-08-30 | 北京航空航天大学 | A single-beacon-based self-navigation method for underwater frogmen |
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