Nanjing Hydraulic Research Institute

Haifei Sha

Kai Zhang

Zhuo Li

Jinbao Sheng

Guangze Shen

Chengdong Liu

Yan Xiang

Guangya Fan

Xiaolei Zhan

Yunqing Tang

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.

Self-positioning system and self-positioning identification method of deepwater underwater robot of irregular dam surface of reservoir

Growing community of inventors

Nanjing, China

Haifei Sha