CN117346792A - Positioning method for underwater robot in ocean engineering environment - Google Patents

Abstract

This application provides a method for positioning an underwater robot in a marine engineering environment, which includes: obtaining the initial position of the underwater robot based on a satellite and hydroacoustic positioning system; and determining an initial position corresponding to the initial position in a set of coded cooperative targets. Coded cooperation targets, wherein the coded cooperation target set includes coded cooperation targets pre-set on underwater structures; based on the initial coded cooperation targets, use underwater photogrammetry technology to determine the instantaneous precise position and instantaneous position of the underwater robot Accurate posture; based on the operating path composed of the initial coded cooperation target, determine the next coded cooperation target that the underwater robot leaves the initial coded cooperation target and goes to as the destination coded cooperation target; according to the instantaneous precise position and the instantaneous precise attitude, combined with the inertial navigation system for positioning and navigation, thereby achieving underwater long-endurance positioning in the marine engineering environment.

Description

A method for positioning underwater robots in marine engineering environments

Technical field

The present application relates to the technical field of underwater robots, and in particular to a positioning method for underwater robots in a marine engineering environment.

Background technique

Typical marine projects include the construction of submarine immersed tube tunnels, port terminal construction, offshore wind power plant construction, etc. Take the construction of submarine immersed tube tunnels, which have the most stringent positioning requirements so far, as an example. Due to the large geometric scale of the immersed tubes, the complex construction environment and the great impact of the construction process on the surrounding water bodies, in order to meet the high-precision positioning requirements, divers are required to conduct continuous underwater operations. operation, the safety risk is high. It has become a development trend to use underwater robots to replace divers for underwater observation and operations.

Accurate positioning is a prerequisite for the normal operation of underwater robots. Currently, underwater robots are usually equipped with inertial navigation systems for positioning. However, the error of the inertial navigation system diverges with navigation time. The longer the navigation time, the greater the error of the inertial navigation system, making it difficult for underwater robots to maintain high-precision positioning.

Contents of the invention

The purpose of the embodiments of this application is to provide a method for positioning an underwater robot in a marine engineering environment, which can extend the accuracy maintenance time of an underwater robot equipped with an inertial navigation system and enable the underwater robot to maintain high-precision positioning.

In order to solve the above technical problems, embodiments of the present application provide a method for positioning an underwater robot in a marine engineering environment, which includes: obtaining the initial position of the underwater robot based on satellites and an underwater acoustic positioning system; and determining the initial position of the underwater robot in the coded cooperation target set. An initial coded cooperation target corresponding to the initial position, wherein the coded cooperation target set includes coded cooperation targets pre-set on underwater structures; based on the initial coded cooperation target, use underwater photogrammetry technology to determine the water The instantaneous precise position and instantaneous precise posture of the underwater robot; based on the operation path composed of the initial coded cooperation target, determine the next coded cooperation target that the underwater robot leaves the initial coded cooperation target and goes to as the purpose coded cooperation target ; According to the instantaneous precise position, the instantaneous precise attitude and the working path, positioning and navigation are performed in combination with an inertial navigation system.

In the embodiment of this application, by arranging coded cooperative targets on underwater structures, using underwater photogrammetry technology, the instantaneous precise position and instantaneous precise attitude of the underwater robot are obtained based on the coded cooperative targets, combining the instantaneous precise position and instantaneous precise attitude. The attitude and operating path of the underwater robot can form a long-endurance, high-precision underwater robot positioning method based on the inertial navigation system.

Description of drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some of the embodiments recorded in this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 shows a schematic flow chart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application;

Figure 2 shows a schematic diagram of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application;

Figure 3 shows another schematic flow chart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application;

Figure 4 shows another schematic flow chart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application;

Figure 5 shows another schematic diagram of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application;

Figure 6 shows a schematic structural diagram of an underwater robot positioning device in a marine engineering environment provided by an embodiment of the present application.

Detailed ways

As mentioned before, due to constraints such as cost, volume, and load, underwater robots are generally equipped with inertial navigation of a certain performance, and are positioned through auxiliary inertia such as surface satellites, underwater sonar, and vision. This multi-source combined positioning method is used in It has been widely used in underwater observation and operations. However, hydroacoustic positioning is prone to multipath effects, which affects the accuracy of hydroacoustic positioning; disturbances to the water body during the construction process will change the water quality of the local environment, resulting in poor underwater visibility, which greatly affects the imaging distance and imaging quality. Affects visual matching and positioning accuracy. In this engineering environment, the above-mentioned multi-source combined positioning method is difficult to meet the requirements for high-precision positioning of underwater robots. Therefore, obtaining more reliable and higher-precision specific positioning data and providing auxiliary correction information when inertial navigation needs it is still the most likely way to position underwater robots. Based on this, this application proposes a positioning method for underwater robots in marine engineering environments.

In order to enable those in the technical field to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

Figure 1 shows a schematic flow chart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application. As shown in the figure, the method may include the following steps.

Step S110: Obtain the initial position of the underwater robot based on the satellite and hydroacoustic positioning system.

For example, the initial position of the underwater robot is obtained based on the multi-source combined positioning of the Global Navigation Satellite System (GNSS) and the hydroacoustic system. This initial position is also used as the rough positioning position of the underwater robot. Satellites can obtain high-precision positions in the geodetic coordinate system, especially centimeter-level positioning through differentiation; satellites and hydroacoustics can be combined to obtain the position of underwater robots. Hydroacoustic positioning includes long baseline, short baseline, ultra-short baseline, etc.

Inertial navigation systems (also called inertial sensors) navigate based on initial positions obtained from satellites and hydroacoustic systems. Specifically, it navigates based on the initial position by measuring acceleration and angular velocity, and combines the acceleration and angular velocity with navigation time respectively to achieve navigation. The initial position can be expressed as the coordinates of the underwater robot in the geodetic coordinate system, such as g(x ₀ , y ₀ , z ₀ ). The initial position obtained through this method is affected by navigation time. The longer the navigation time, the greater the error in the initial position.

Step S120: Determine the initial coding cooperation target corresponding to the initial position in the coding cooperation target set.

The initial encoding cooperation target and the initial position satisfy the position correspondence relationship. For example, the initial encoding cooperation target is located within a preset range of the initial position, or the distance between the initial encoding cooperation target and the initial position satisfies a predetermined relationship or meets a predetermined threshold.

The set of coded cooperation targets includes coded cooperation targets (referred to as cooperation targets) pre-set on underwater structures. Underwater structures are buildings with fixed underwater positions, such as tunnel immersed tubes, bridge piers, etc. that have been laid out. The cooperative target is set at a sensing location on the underwater structure, such as on the surface of an immersed tube. The location of the cooperative target on the underwater structure is known. Since the position of the underwater structure is fixed and the position of the cooperative target on the underwater structure is known, the position of the cooperative target can be determined. For example, the coordinates of the cooperative target in the geodetic coordinate system can be expressed as Ci(x _i , y _i , z _i ).

Through this step, the coded cooperation target used to obtain the precise position of the underwater robot can be determined.

Step S130: Based on the initial encoded cooperation target, use underwater photogrammetry technology to determine the instantaneous precise position and instantaneous precise attitude of the underwater robot.

Underwater photogrammetry is used to measure underwater targets photographically to determine the shape, size, location and nature of underwater targets. Equipment used for underwater photogrammetry, such as vision sensors, can be located above or underwater, and there is no restriction here.

When the position of the cooperative target is known, by photographing the cooperative target, the position and attitude of the underwater robot can be calculated, that is, the instantaneous precise position and instantaneous precise attitude.

Optionally, according to measurement needs, only one of the instantaneous precise position and the instantaneous precise attitude can be determined based on the initial encoding cooperative target.

Step S140: Based on the operation path composed of the initial coding cooperation target, determine the next coding cooperation target to which the underwater robot leaves the initial coding cooperation target as the destination coding cooperation target.

The operation path may include the order in which the underwater robot passes through multiple coded cooperation targets; and based on this order, the target coded cooperation target may be determined.

Step S150: Perform positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude and the working path, combined with an inertial navigation system.

The initial position can be corrected or replaced based on the instantaneous precise position and the instantaneous precise attitude. The inertial navigation system uses the instantaneous precise position and the instantaneous precise attitude to perform navigation and positioning along the working path. When the initial position is not accurate enough, positioning based on the precise position and instantaneous precise attitude can enable the underwater robot to maintain high positioning accuracy. In other words, the positioning accuracy of the underwater robot can be made independent of navigation time.

In the embodiment of the present application, the initial position of the underwater robot is obtained based on the satellite and hydroacoustic positioning system; in the coded cooperation target set, the initial coded cooperation target corresponding to the initial position is determined, wherein the coded The cooperative target set includes coded cooperation targets pre-set on underwater structures; based on the initial coded cooperation targets, underwater photogrammetry technology is used to determine the instantaneous precise position and instantaneous precise attitude of the underwater robot; based on the initial coded The operation path composed of cooperative targets determines the next encoded cooperative target that the underwater robot leaves the initial encoded cooperative target and goes to as the destination encoded cooperative target; according to the instantaneous precise position, the instantaneous precise attitude and the operation Path, combined with the inertial navigation system for positioning and navigation, can achieve the instantaneous precise position and instantaneous precise attitude determined by photogrammetry based on the coded cooperative target, and can assist the inertial navigation system with photogrammetry, thereby achieving long endurance based on the inertial navigation system. , High-precision underwater robot positioning method.

In a possible implementation, step S130 includes: performing photogrammetry resection on the initially coded cooperation target through the visual sensor of the underwater robot, and determining the position of the visual sensor relative to the initial coded cooperation target. pose relationship; determine the instantaneous precise position and the instantaneous precise posture of the underwater robot based on the target position of the initially encoded cooperative target, the target posture of the initially encoded cooperative target, and the pose relationship.

Vision sensors are mounted on underwater robots and can be used to photograph cooperative targets. The vision sensor is a camera or video camera that can be adapted for underwater use. The number of visual sensors may be one or multiple, and is not limited here. The cooperative target can be a passive reflective target or an active luminous target, which can provide position and attitude information. Because in the marine engineering construction environment, the water body is turbid and there are many plankton, the water body has poor optical imaging quality. If only a visual sensor is used, the imaging effect is poor and the accuracy of the visual information provided is low. By cooperating with reflective or luminous targets and visual sensors for joint testing, accurate underwater robot positioning information, such as the position and attitude of the underwater robot, can be obtained in the construction environment.

Optionally, the layout of cooperative targets needs to consider the underwater structural characteristics, structure-induced field characteristics, and the control performance of the underwater robot. In addition, after placing targets on underwater structures, the position and attitude of each target in the geodetic coordinate system can be obtained through traditional engineering measurement methods.

Determining the position and orientation relationship of the visual sensor relative to the cooperative target through photogrammetry resection, which may include, for example, the transformation relationship between the camera coordinate system, the target coordinate system and the earth coordinate system, and the position of the underwater robot in the target coordinate system. The position below determines the pose relationship of the visual sensor relative to the cooperative target.

Optionally, the cooperative target can also be an acoustic cooperative target, used with acoustic sensors for underwater measurement.

Referring to FIG. 2 , in a possible implementation, the encoding cooperation target 200 includes at least three reference points 201 for the visual sensor. Step S130 further includes: determining the reference pose relationship of the visual sensor relative to each of the reference points 201; based on the reference point position of each of the reference points 201, the reference point posture of each of the reference points 201 and the corresponding The reference pose relationship is used to determine the instantaneous precise position and the instantaneous precise attitude of the underwater robot.

The reference point 201 is an observable entity point set on the cooperation target. For example, the reference point 201 can be a reflective point or a luminous point. Reference point 201 may serve as a pattern that encodes information. The number and arrangement of the reference points 201 on each coding cooperation target 200 can be designed according to measurement needs. Optionally, the number and/or arrangement of the reference points 201 on different coding cooperation targets 200 are different, so that the coding cooperation targets 200 can be distinguished through the reference points 201 .

Figure 3 shows another schematic flowchart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application. As shown in the figure, the method may include the following steps.

Step S310: Obtain the initial position of the underwater robot based on the satellite and hydroacoustic positioning system.

Step S321: Determine one of the plurality of coding cooperation targets as the initial coding cooperation target according to the distance between each cooperation target in the coding cooperation target set and the initial position.

Optionally, determine the cooperative target closest to the initial position as the initial encoding cooperative target. Moreover, the initial coded cooperation target is a cooperation target that the underwater robot has not yet passed.

For example, the distance between the coded cooperation target A and the initial position is 5 meters, the distance between the coded cooperation target B and the initial position is 3 meters, and the distance between the coded cooperation target C and the initial position is 1 meter; the underwater robot has passed the cooperation target C, If cooperation target A and cooperation target B have not been passed, cooperation target B is determined to be the initial coding cooperation target.

Step S322: Determine the working path of the underwater robot according to the preset working path of the underwater robot and the initial coded cooperation target.

The preset operating path is the preset operating path of the underwater robot. Taking the coordinates of the determined initial coding cooperation target in the geodetic coordinate system as Ci( _xi , yi _, zi ₎ as an example, we obtain the coordinates of the underwater robot with _Ci (xi _, yi _, zi ₎ as the key node. Job path, also called actual job path. The actual operation path can be recorded as p{C _i , C _i+1 ,…, C _n ,…C ₁ }, where i=1,2,…,n, Ci is the initial coding cooperation target, and the initial coding cooperation target is as The initial cooperation target in the actual operation path. Optionally, combined with actual job requirements, calculate and plan the actual path from the initial position to the initial encoding cooperation target Ci (xi _, y _i , z _i ).

Optionally, according to the preset operation path, it can be used to determine the order of passing through different cooperation targets, such as C _i , C _i+1 ,..., C _n . Therefore, the actual operation path determined based on the preset operation path can also be used to determine the sequence of passing different cooperation targets. That is, based on the initial cooperation target, the next cooperation target that the underwater robot will go to after leaving the initial cooperation target can be determined, and the target cooperation target can be determined. For example, based on the determined initial cooperation target _Ci , the target cooperation target Ci ₊₁ can be determined.

Optionally, after the underwater robot reaches the target cooperation target C _i+1 , mark the initial cooperation target C _i as "passed" and repeat the above steps S321-S322. It can be determined that after the underwater robot leaves the target cooperation target, it will go to The next cooperative target, such as cooperative target C _i+2 .

In this way, every time the underwater robot encounters a coded cooperative target, it can obtain an accurate position and attitude; the navigation time of the inertial navigation does not exceed the time of the underwater robot from one cooperative target to the next, and the error of the inertial navigation is always maintained. Between the two coded cooperation targets, long-endurance, high-precision navigation can be guaranteed.

Step S340: Determine the next coding cooperation target to which the underwater robot leaves the initial coding cooperation target and goes to as the destination coding cooperation target.

Step S310, step S340 and subsequent steps can adopt the description of the corresponding steps in the previous embodiment, and achieve the same or corresponding technical effects. Repeatable parts will not be described again here.

In the embodiment of the present application, when the actual operating path of the underwater robot is generated by using the coded cooperation target as a key point, and the underwater robot performs underwater operations along the operating path, the underwater robot can be obtained through each preset coded cooperation target. The current precise position of the underwater robot is continuously provided to the inertial navigation system to further maintain the positioning accuracy of the underwater robot under long navigation time.

Figure 4 shows another schematic flowchart of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application. As shown in the figure, the method may include the following steps.

Step S410: Obtain the initial position of the underwater robot based on the satellite and hydroacoustic positioning system.

Step S420: Determine the initial coding cooperation target corresponding to the initial position.

Steps S410 and S420 may adopt the description of the corresponding steps in the foregoing embodiments and achieve the same or corresponding technical effects. Repeatable parts will not be described again here.

Step S431: Obtain the structured information of the underwater structure.

In the process of the underwater robot traveling to the initial coded cooperation target and/or the target coded cooperation target, the underwater robot acquires the structured information of the underwater structure.

Optionally, use satellites and hydroacoustic positioning to guide the underwater robot to the vicinity of the corresponding cooperative target location. Since underwater photogrammetry is greatly affected by water conditions, when the underwater robot reaches a position closer to the cooperative target, the accuracy of the underwater robot's pose determined by the cooperative target can be further improved. For example, control the underwater robot from the initial position to the initial coding cooperation target, and control the underwater robot from the initial coding cooperation target to the destination coding cooperation target.

Through different types of sensors mounted on underwater robots, structured information of underwater structures can be obtained. This structured information can be used to characterize the morphology of the underwater structure, including, for example, the outline of the underwater structure, the shape of the underwater structure, etc. The standard structured information is, for example, a pre-stored standard structural model of an underwater structure. Since underwater structures are man-made structures and have standard geometric models, their absolute coordinates in the geodetic coordinate system can be obtained underwater. The initial position is in the same coordinate system as the position of the underwater structure. Standard structured information may include pose information of each cooperative target on the underwater structure.

Step S432: Determine the real-time position of the underwater robot.

When the structured information successfully matches the pre-stored standard structured information of the underwater structure, for example, when the outline represented by the structured information can match the outline represented by the standard structured information, or when When the morphology represented by structured information matches the morphology represented by standard structured information, the real-time position of the underwater robot is determined based on the standard structured information.

The real-time position determined based on this method can further improve the accuracy of the position based on the instantaneous precise position and instantaneous attitude, thereby improving the accuracy of long-term navigation.

In a possible implementation, if the structured information fails to match the standard structured information, the underwater robot is controlled to return to the previous cooperative target it has passed or to end the operation.

Optionally, during the process of the underwater robot moving from the initial coded cooperation target to the target coded cooperation target, if the shape of the underwater structure represented by the structured information is different from the shape of the underwater structure in the standard structured information, control The underwater robot returns to the initial coded cooperative target.

Or, in the process of the underwater robot moving from the initial position to the initial coded cooperation target, the morphology of the underwater structure represented by the structured information is different from the morphology of the underwater structure in the standard structured information, because there is no such thing in the operation path. The last cooperative target position instructs the underwater robot to end underwater operations.

Step S440: Control the inertial navigation system to perform positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude, the working path and the real-time position.

On the basis of instantaneous precise position, instantaneous precise attitude and working path, combined with the real-time position obtained based on structured information, the accuracy of position can be further improved, thereby improving the accuracy of long-term navigation.

In the embodiment of the present application, when the underwater robot goes to the initial/destination coded cooperation target, the real-time position is obtained by matching the standardized structural information of the underwater structure, which can further maintain the accuracy of the underwater robot's navigation and positioning.

In a possible implementation, step S431 includes at least one of the following: obtaining visual image information representing the structure of the underwater structure through the visual sensor of the underwater robot; An acoustic sensor acquires sonar image information representing the structure of the underwater structure.

Sonar is suitable for obtaining large-scale three-dimensional structures such as underwater terrain and structures, and performs positioning through feature matching; vision can obtain images or point clouds, and perform feature matching and positioning by extracting the characteristics of the measured object. The acquired visual images and sonar images can be matched with structured information or through other image matching methods.

Due to issues such as water scattering and suspension, underwater optical imaging suffers from poor optical quality and unclear clarity, and commonly used point matching is often difficult to apply. Sonar images also suffer from low resolution and low accuracy due to the multipath effect caused by the collective structure. Point matching is also difficult. However, some features of underwater structures are known, and the locations of features are also known. The robot acquires images during movement and uses structured matching, such as contour matching, to reduce the requirements for image quality. , so as to achieve effective matching.

A schematic diagram of an underwater robot positioning method in a marine engineering environment provided by an embodiment of the present application is shown in conjunction with FIG. 5 . The method includes the following steps:

(1) Obtain target information of all coded cooperation targets preset on underwater structures. Target information includes but is not limited to target location, target attitude, target number, etc.

(2) GNSS and hydroacoustic technology are combined to obtain the initial position coordinates g(x ₀ , y ₀ , z ₀ ) of the underwater robot in the geodetic coordinate system. The initial position is related to the accuracy of hydroacoustic positioning.

(3) Calculate the initial coded cooperative target Ci(xi _, y _i , z _i ) 501 that is closest to the underwater robot but has not been passed by the underwater robot based on the initial position coordinates g(x ₀ , y ₀ , z ₀ ).

(4) According to the preset operating path of the underwater robot, determine the actual operating path of the underwater robot with the initial coded cooperation target 501 as the key node, recorded as p{C _i , C _i+1 ,…, C _n ,…C ₁ }, where i=1,2,…,n, Ci is the initial coding cooperation target 501.

(5) Combined with actual operation requirements, calculate and plan the actual operation path from g(x ₀ , y ₀ , z ₀ ) to Ci( _xi , y _i , z _i ), and guide the water through satellite and hydroacoustic positioning systems The next robot reaches Ci(x _i , y _i , z _i ).

(6) The underwater robot conducts joint testing with the initial coding cooperation target 501 through photogrammetry to obtain the instantaneous precise position and instantaneous precise attitude of the underwater robot, which is used to provide more accurate pose information to the inertial navigation system.

(7) The underwater robot obtains the initial coded cooperation target 501 and the destination coded cooperation target 502 from the path set p, calculates the movement path, movement direction, etc., and starts the navigation operation.

(8) Optionally, in the process of going from the initial encoding cooperation target 501 to the destination encoding cooperation target 502, obtain the real-time position of the underwater robot again through the multi-source positioning method, and extract the underwater position from the standard structural model of the underwater structure. The local structural information of the structure near the real-time position; at the same time, through the visual sensor and acoustic sensor mounted on the underwater robot, the visual image and sonar image of the underwater structure at the real-time position are obtained; the visual image and sonar image are combined with the local structural information Comparison is made, and if the match is successful, the real-time position is determined based on the standard model and the inertial navigation error is further corrected.

(9) After the underwater robot reaches the destination coded cooperation target 502, it marks the initial coded cooperation target 501 as passed, and repeats steps (6) to (9).

(10) Repeat steps (1) to (9) as needed to achieve long-endurance, high-precision positioning of the underwater robot in the marine engineering environment.

In the embodiment of this application, by arranging coded cooperation targets on the structure, the precise position and attitude information provided by the coded cooperation targets are used to assist inertial navigation, and at the same time, the positioning is matched with underwater satellites, hydroacoustic positioning, acoustic and optical images, etc. The synergy of methods can build a high-precision positioning technology framework for underwater robots in marine engineering environments, make full use of the advantages of the artificial environment in marine engineering construction, and form a long-endurance, high-precision positioning method for underwater robots with inertial navigation as the core.

Figure 6 shows a schematic structural diagram of an underwater robot positioning device in a marine engineering environment provided by an embodiment of the present application. The device 600 includes: an acquisition module 610, a first determination module 620, a second determination module 630, a third determination module 640 and a positioning module. Module 650.

The acquisition module 610 is used to obtain the initial position of the underwater robot based on the satellite and hydroacoustic positioning system; the first determination module 620 is used to determine the initial coded cooperation target corresponding to the initial position in the coded cooperation target set, where , the coded cooperation target set includes coded cooperation targets pre-set on underwater structures; the second determination module 630 is used to determine the instantaneous precise position of the underwater robot based on the initial coded cooperation target using underwater photogrammetry technology and the instantaneous precise posture; the third determination module 640 is used to determine, based on the operating path composed of the initial coding cooperation target, that the next coding cooperation target that the underwater robot leaves the initial coding cooperation target and goes to is the purpose coding cooperation Target; the positioning module 650 is used to perform positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude and the working path, combined with an inertial navigation system.

In a possible implementation, the second determination module 630 is configured to perform photogrammetric resection on the initial coding cooperation target through the visual sensor of the underwater robot, and determine the visual sensor relative to the initial coding cooperation target. The pose relationship of the target; based on the target position of the initially encoded cooperative target, the target attitude of the initially encoded cooperative target, and the pose relationship, determine the instantaneous precise position and the instantaneous precise position of the underwater robot attitude.

In a possible implementation, the coding cooperation target includes at least 3 reference points for the visual sensor, and the second determination module 630 is used to determine the reference position of the visual sensor relative to each of the reference points. posture relationship; based on the reference point position of each reference point, the reference point posture of each reference point and the corresponding reference posture relationship, determine the instantaneous precise position and the instantaneous precise position of the underwater robot attitude.

In a possible implementation, the number of the coded cooperation targets is not less than 2, and the first determination module 620 is configured to determine based on the distance between each of the cooperation targets in the coded cooperation target set and the initial position, One of the plurality of coding cooperation targets is determined to be the initial coding cooperation target, wherein the initial coding cooperation target is a coding cooperation target that the underwater robot has not passed.

In a possible implementation, the third determination module 640 is configured to determine the operation path of the underwater robot according to the preset operation path of the underwater robot and the initial coded cooperation target.

In a possible implementation, the device 600 is also configured to acquire the underwater robot through the underwater robot during the process of traveling to the initial encoding cooperation target and/or the destination encoding cooperation target. The structured information of the underwater structure; matching the structured information with the pre-stored standard structured information of the underwater structure; in the case where the structured information matches the standard structured information successfully, Based on the standard structured information, the real-time position of the underwater robot is determined.

In a possible implementation, the device 600 is configured to obtain a visual image representing the structure of the underwater structure through a visual sensor of the underwater robot; and obtain a visual image representing the structure of the underwater structure through an acoustic sensor of the underwater robot. A sonar image representing the structure of the underwater structure.

In a possible implementation, the device 600 is used to control the underwater robot to return to the previous coded cooperation target it has passed or to end the operation if the structured information fails to match the standard structured information. .

In a possible implementation, the positioning module 650 is configured to control the inertial navigation system to perform positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude, the working path and the real-time position.

The device 600 provided in the embodiment of the present application can execute each method described in the previous method embodiment, and realize the functions and beneficial effects of each method described in the previous method embodiment, which will not be described again here.

The above descriptions are only preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application.

It should also be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

Each embodiment in this specification is described in a progressive manner. The same and similar parts between the various embodiments can be referred to each other. Each embodiment focuses on its differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

Claims (9)

1. A method for positioning underwater robots in a marine engineering environment, which is characterized by including: Based on satellite and hydroacoustic positioning systems, obtain the initial position of the underwater robot; In the coded cooperation target set, determine an initial coded cooperation target corresponding to the initial position, wherein the coded cooperation target set includes coded cooperation targets preset on the underwater structure; Based on the initial encoding cooperation target, use underwater photogrammetry technology to determine the instantaneous precise position and instantaneous precise attitude of the underwater robot; Based on the operation path composed of the initial coding cooperation target, determine the next coding cooperation target to which the underwater robot leaves the initial coding cooperation target and goes to as the destination coding cooperation target; Based on the instantaneous precise position, the instantaneous precise attitude and the working path, positioning and navigation are performed in combination with an inertial navigation system. 2. The method according to claim 1, characterized in that, based on the initial encoding cooperation target, using underwater photogrammetry technology to determine the instantaneous precise position and instantaneous precise attitude of the underwater robot includes: Use the visual sensor of the underwater robot to perform photogrammetry resection on the initial coding cooperation target to determine the position and attitude relationship of the visual sensor relative to the initial coding cooperation target; The instantaneous precise position and the instantaneous precise posture of the underwater robot are determined based on the target position of the initially encoded cooperative target, the target posture of the initially encoded cooperative target, and the pose relationship. 3. The method of claim 2, wherein the encoding cooperation target includes at least 3 reference points for the visual sensor, Determining the pose relationship of the visual sensor relative to the initial encoding cooperation target includes: Determine the reference pose relationship of the visual sensor relative to each of the reference points; Determining the instantaneous precise position and the instantaneous precise posture of the underwater robot based on the target position of the initially encoded cooperative target, the target posture of the initially encoded cooperative target, and the pose relationship includes: The instantaneous precise position and the instantaneous precise posture of the underwater robot are determined based on the reference point position of each reference point, the reference point attitude of each reference point, and the corresponding reference pose relationship. 4. The method according to claim 1, characterized in that the number of the coding cooperation targets is not less than 2, and in the coding cooperation target set, determining the initial coding cooperation target corresponding to the initial position includes: According to the distance between each coding cooperation target in the coding cooperation target set and the initial position, one of the plurality of coding cooperation targets is determined as the initial coding cooperation target, wherein the initial coding cooperation target The target is a coded cooperative target that the underwater robot has not passed. 5. The method according to claim 4, characterized in that, based on the operation path composed of the initial coding cooperation target, determining the next coding cooperation to which the underwater robot leaves the initial coding cooperation target. Before coding the target for the purpose of cooperating with the target, also include: The operation path of the underwater robot is determined according to the preset operation path of the underwater robot and the initial coded cooperation target. 6. The method according to claim 1, characterized in that the determination of an initial coding cooperation target corresponding to the initial position or the determination of the next coding cooperation where the underwater robot leaves the initial coding cooperation target and goes to After coding the cooperative target for the target, it also includes: In the process of the underwater robot heading to the initial coded cooperation target or the target coded cooperation target, the structured information of the underwater structure is obtained through the underwater robot; Match the structured information with pre-stored standard structured information of the underwater structure; If the structured information successfully matches the standard structured information, the real-time position of the underwater robot is determined based on the standard structured information. 7. The method according to claim 6, characterized in that, obtaining the structured information of the underwater structure through the underwater robot includes at least one of the following: Obtain visual image information representing the structure of the underwater structure through the visual sensor of the underwater robot; Through the acoustic sensor of the underwater robot, sonar image information representing the structure of the underwater structure is acquired. 8. The method according to claim 6, characterized in that, after matching the structured information with the pre-stored standard structured information of the underwater structure, it further includes: If the structured information fails to match the standard structured information, the underwater robot is controlled to return to the previous coded cooperation target it has passed or to end the operation. 9. The method according to claim 6, wherein the positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude and the working path, combined with an inertial navigation system, includes: The inertial navigation system is controlled to perform positioning and navigation based on the instantaneous precise position, the instantaneous precise attitude, the working path and the real-time position.