公开(公告)号：US10677919B2

公开(公告)日：2020-06-09

申请号：US15938363

申请日：2018-03-28

申请人： NANJING HYDRAULIC RESEARCH INSTITUTE

发明人： Yan Xiang ,  Zhuo Li ,  Jinbao Sheng ,  Yunqing Tang ,  Chengdong Liu ,  Guangya Fan ,  Haifei Sha ,  Xiaolei Zhan ,  Kai Zhang ,  Guangze Shen

IPC分类号： G01S15/08 ,  B63G8/00 ,  B63G8/24 ,  E02B7/00 ,  G05D1/02 ,  E02B7/04 ,  G01S15/88 ,  G01S15/46 ,  G01C21/20 ,  G05D1/04 ,  E02B17/00

摘要： The present invention provides a self-positioning system of a deepwater underwater robot of an irregular dam surface of a reservoir, including cross reflection metal plates arranged on the irregular dam surface, and an underwater robot provided with a control motherboard, a water level indicator and a sonar system, wherein the water level indicator and the sonar system are respectively connected with the control motherboard, and the control motherboard is connected with a computer via a cable. The cross reflection metal plate has known coordinates and has four quadrants. A sonar signal emitted by the sonar system is reflected by the cross reflection metal plate to generate sonar reflection signals of four quadrants, and the sonar signals in the effective quadrants correspond to known coordinate parameters of the cross reflection metal plate so as to obtain the horizontal distance between the underwater robot and the irregular dam surface. The water level indicator is used for calculating the vertical position of the underwater robot. The computer calculates accurate positioning of the underwater robot according to the horizontal position and the vertical position. The present invention has the beneficial effects of being able to accurately obtain the positioning coordinates of the underwater robot in the deepwater of the irregular dam surface of the reservoir.