The invention provides an underwater robot positioning device and method suitable for pool wall operation. The device comprises a shore base, a winch body is installed at the top end of the shore base, an umbilical cable is installed in the winch body, and a robot body is installed at the end, away from the winch body, of the umbilical cable. In the process of winding and unwinding the umbilical cable by the winch body, the winding and unwinding length of the umbilical cable can be accurately measured through the action of an encoder, so that the projection distance between the winch body and the underwater robot body can be reversely deduced by combining the depth value measured on the robot body on the basis of the length data of the umbilical cable; and meanwhile, an attitude sensor on the robot body is combined, so that the underwater coordinate position of the robot body can be positioned, and the physical property of the length of the umbilical cable is fully utilized, so that the positioning cost is reduced, and meanwhile, a relatively economical positioning method is obtained.
本发明公开了一种适用于池壁作业的水下机器人定位装置及方法,包括岸基,所述岸基的顶端安装有绞车主体,且绞车主体的内部安装有脐带缆,所述脐带缆远离绞车主体的一端安装有机器人主体。本发明通过在绞车主体收放脐带缆的过程中,通过编码器的作用可以准确测量脐带缆的收放长度,从而在脐带缆绳长数据的基础上结合机器人主体上测量的深度值,可反推绞车主体与水下机器人主体的投影距离,同时结合机器人主体上的姿态传感器,便可定位出机器人主体在水下的坐标位置,从而通过对脐带缆长度物理属性的充分利用,以降低定位成本且同时获得较为经济的定位方法。
Underwater robot positioning device and method suitable for pool wall operation
一种适用于池壁作业的水下机器人定位装置及方法
2021-11-12
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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