The invention relates to a positioning system and method of an underwater robot and an underwater robot assembly. The positioning system of the underwater robot comprises a buoy, a depth sensor and a processing module, and the buoy comprises a buoy positioning module used for determining the position of the buoy; the cable is used for connecting the underwater robot; the cable is wound on the tension cable shaft, and the tension cable shaft enables the extended cable to be kept tensioned; the length counter is used for metering the length of the extended cable; the angle sensor is used for detecting an included angle between the extended cable and a standard position in the horizontal direction; the depth sensor is used for detecting the diving depth of the underwater robot; the processing module is used for determining the position of the underwater robot. According to the invention, the position of the underwater robot is determined through superposition of the buoy position and the offset position of the underwater robot relative to the buoy, and low-cost and high-precision positioning of the underwater robot is realized.
本申请涉及一种水下机器人的定位系统、定位方法及水下机器人组件。水下机器人的定位系统包括:浮标、深度传感器和处理模块,浮标包括:浮标定位模块,用于确定浮标的位置;线缆,用于连接水下机器人;张力缆轴,线缆缠绕在张力缆轴上,张力缆轴使延伸出的线缆保持张紧;计米器,计量延伸出的线缆的长度;角度传感器,用于检测延伸出的线缆与标准位置在水平方向的夹角;深度传感器用于检测水下机器人的下潜深度;处理模块用于确定水下机器人的位置。本申请通过浮标位置叠加水下机器人相对浮标偏移的位置确定水下机器人的位置,实现对水下机器人低成本、高精度的定位。
Underwater robot positioning system, positioning method and underwater robot assembly
水下机器人的定位系统、定位方法及水下机器人组件
2022-03-18
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |