Design and Analysis of Positioning Sensor Cable for Deep-Sea Stratum Drilling Robot

摘要

Subsea stratum is rich in natural gas hydrates. The subsea resources are gradually becoming the focus of exploration and development. A deep-sea stratum drilling robot is an emerging exploration equipment in the field of resources exploration in the subsea stratum. It is characterized by low disturbance and high mobility, and it can enter the interior of the strata for in situ exploration. Precise positioning information is a prerequisite for the controlled movement of the robot within the stratum. This article proposes a positioning sensor cable that connects the robot to the subsea base station. The MEMS-IMU nodes are equidistantly and linearly arranged on the positioning sensor cable, and the reconstruction of the positioning sensor cable is realized by monitoring the change information of each Section of the cable. The positioning of the robot in the stratum is achieved with the assistance of the positioning sensor cable. The experimental setup is built to verify the design principle of the positioning sensor cable and the reconstruction theory. The accuracy of the positioning sensor cable in the trajectory experiment meets the actual working conditions of the deep-sea stratum drilling robot.