CN112124516A - Control system of underwater ship body cleaning robot and working method thereof - Google Patents
Control system of underwater ship body cleaning robot and working method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses a control system of an underwater ship body cleaning robot and a working method thereof, wherein the control system comprises a data acquisition module, a control module and an upper computer; the control module is respectively connected with the data acquisition module, the crawler belt module, the cavitation jet flow cleaning module, the rotary brush cleaning module and the driving module through data lines, and the control module is connected with an upper computer through a power carrier line; the data acquisition module comprises a camera, an inertial navigation platform, a gyroscope and a pressure sensor; the control module is arranged in the sealed control cabin and comprises a main controller, a fault protection coprocessor, an information processor and a power line carrier communication module A. The invention can automatically approach and adsorb when approaching the surface of the ship body in water, can automatically plan a cleaning path in the cleaning process, and automatically adjust the adsorption force according to the ocean current intensity, thereby solving the problem that the robot is not flexible to clean due to the slow reaction speed of an operator.
Description
Technical Field
The invention relates to an ROV technology, in particular to a control system of an underwater ship body cleaning robot and a working method thereof.
Background
Marine organisms are attached to the surface of the ship for a long time, so that the ship resistance is greatly increased, the ship speed is reduced by about 10%, the oil consumption is increased by 40% to the maximum extent, the navigation period is delayed seriously, and the operation cost is increased. The number of large docks in China is insufficient, the dock repairing period is long, and cleaning of attachments on the surface of a ship body is a main means for achieving energy conservation and emission reduction of the ship at present. And the worldwide ship industry costs nearly 100 billion dollars per year for ship cleaning. The cost of cleaning large cargo ships in dry dock is up to 30 ten thousand yuan. As a temporary measure, many shippers send divers to inspect the hull and remove biofouling, which manually clean the hull using scrapers and scrubbers, and the underwater cleaning operation is characterized by an extremely harsh working environment. In addition, the diver has limited body bearing capacity under water, and the operation time and range are also limited, so that the working efficiency is low, the cleaning quality is difficult to ensure, and once the antifouling paint is damaged, a large amount of toxic substances are released, so that the ship is more easily polluted by organisms. There are also disease and accident hazards, which are time consuming, labor intensive and risky. Fuel consumption is not the only threat posed by biological contamination. A portion of the marine life can fix itself on the ship and travel to other areas. Although sometimes harmless, this may lead to species invasion.
In order to improve the cleaning efficiency and cleaning effect of the underwater ship body, chinese patent CN201620916527.3 discloses an underwater ship body cleaning robot, which comprises a plurality of adsorption assemblies, a robot body, a plurality of wheel assemblies, a cleaning mechanism and a control mechanism; the adsorption component comprises a permanent magnet, a guide rod spring and a plurality of universal bearings. The utility model discloses simple structure, low cost, it adopts non-contact permanent magnetism adsorption mode, uses wheeled structure to move simultaneously, and the energy consumption can reduce by a wide margin, and wheeled structure motion is fast simultaneously, and the turn is nimble, can improve the cleaning efficiency by a wide margin.
However, this patent is the same with the clear robot of most hull on the market, need be controlled by the operator, the operator passes through the camera and acquires the image of wasing under water, but the environment is complicated and the camera visual angle is limited under water, this kind of semi-automatization's control form has very big drawback such as, the cleaning process is influenced by operator's self condition great, lead to very easily wasing unclean, the long-time manual operation of operator can lead to the attention to descend simultaneously, the reaction rate slows down, can not in time respond when meetting emergency, produce unnecessary loss, the robot position can't confirm simultaneously, make its cleaning process more chaotic.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to design a control system of an underwater ship body cleaning robot capable of automatically planning a cleaning path and having machine vision and a working method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows: a control system of an underwater ship body cleaning robot comprises a crawler module, a cavitation jet cleaning module, a rotating brush cleaning module, a driving module, a sealing control cabin and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules are respectively arranged on the left side and the right side of the main body; the electromagnet is fixedly arranged in the crawler belt module and is connected with the control module through a control line; permanent magnets are fixedly arranged at concave teeth on the outer surface of the rubber track of the track module;
the cavitation jet flow cleaning module is arranged below the head part;
the rotary brush cleaning module comprises two rotary brush cleaning wheels which are transversely arranged below the main body side by side;
the driving module comprises five vertical propellers, two forward propellers and two lateral propellers; the five vertical thrusters comprise a head vertical thruster and four main body vertical thrusters, the head vertical thruster is vertically arranged on the central axis of the head, and the four main body vertical thrusters are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters are transversely arranged at the head part; the vertical thruster, the longitudinal thruster and the lateral thruster are all bidirectional thrusters;
the two sealed control cabins are arranged at the upper part of the main body;
the control system comprises a data acquisition module, a control module and an upper computer;
the control module is respectively connected with the data acquisition module, the crawler belt module, the cavitation jet flow cleaning module, the rotary brush cleaning module and the driving module through data lines, and the control module is connected with an upper computer through a power carrier line;
the data acquisition module comprises a camera, an inertial navigation platform, a gyroscope and a pressure sensor, wherein the camera is arranged above the head of the robot and is used for monitoring the surface of the ship body and acquiring depth point cloud information;
the gyroscope is horizontally arranged in the sealed control cabin and is used for acquiring three current acceleration components and three current rotation angular velocities of the robot;
the inertial navigation platform is arranged in the sealed control cabin and is used for positioning the position of the robot on the ship body;
the pressure sensor is arranged on the outer side of the tail of the sealed control cabin and used for measuring the water pressure at the current position;
control module install inside the sealed control cabin, including main control unit, fault protection coprocessor, information processor and power line carrier communication module A, pressure sensor and gyroscope be connected with main control unit respectively, main control unit and fault protection coprocessor through different serial ports and information processor parallel connection, when main control unit trouble became invalid, fault protection coprocessor will automatic start, replace main control unit, information processor analyzes the data that main control unit sent simultaneously, then packs data, rethread power line carrier communication module A, power line carrier communication module B on-shore send for the host computer.
Furthermore, the head part is a rhombohedron formed by fixedly connecting a head part top plate and two head part side plates, and a 135-degree included angle is formed at the junction of the head part top plate and the main body top plate; the head side plates at two sides are fixed with the main body side plate, and the joint of the head side plate and the main body side plate forms an included angle of 135 degrees.
Furthermore, an ubuntu system is installed on the upper computer, a robot operating system ROS is installed on the information processor, the robot operating system ROS is developed based on the ubuntu system, and the robot operating system ROS supports a slam navigation function, an opencv image processing function and a gazebo physical simulation function.
Furthermore, the main controller adopts an STM32F767 chip, the fault protection coprocessor adopts an STM32F103C8T6 chip, the information processor adopts an Nvidia Jetson TX2 chip, the power carrier communication module adopts an Atheros chip,
a working method of a control system of an underwater ship body cleaning robot comprises the following steps:
A. close to the surface of the ship body
The upper computer sends a ship body approaching instruction to the information processor, the main controller sends the obtained information of the pressure sensor and the gyroscope to the information processor, the information processor obtains the pose information of the robot by analyzing the received gyroscope information, the depth of the robot under water is obtained according to the depth information obtained by the pressure sensor, the pose information of the nearest ship body surface is calculated according to the depth under water and the known ship body structure, the pose information is compared with the current pose information of the robot, and the pose of the robot is controlled by a PID algorithm to be finally close to the pose of the ship body wall surface and finally close to the ship body surface.
B. Adsorbed on the surface of the ship body
After the robot approaches the surface of the ship body, an onshore operator selects an adsorption form according to the material of the surface of the ship body, and if the surface of the ship body is a ferrous metal surface, a mixed adsorption form is adopted; otherwise, adopting a thrust adsorption form; the mixed adsorption form comprises a thrust adsorption form and a magnetic adsorption form; the thrust adsorption mode is that the vertical thruster generates thrust opposite to the surface of the ship body to press the robot on the surface of the ship body; the magnetic adsorption mode is that the electromagnet assembled by the crawler belt module is electrified to generate attraction force or the attraction force generated by the permanent magnet adsorbs the robot on the surface of the ship body, when the distance between the robot and the surface of the ship body is about 150mm, the permanent magnet actively attracts the robot to the surface of the ship body,
C. cleaning the surface of a ship's hull
C1, path planning: the information processor processes data collected by the inertial navigation platform and acceleration information collected by the gyroscope, positions the robot by using a Kalman filtering algorithm, and automatically plans the path of the robot after determining the position of the robot on the surface of the ship body;
c2, cleaning: the control module controls the cavitation jet cleaning module to remove large attachments on the surface of the ship body and simultaneously controls the rotary brush cleaning module to remove small attachments; the upper computer processes the image of the surface of the ship body acquired by the camera, judges the cleaning effect and controls the cleaning module, if the path after cleaning has residual attachments, the cleaning force is enhanced, otherwise, the original cleaning force is maintained; or manually by an onshore operator;
c3, moving: if the robot is moving on the surface of the ship body, turning to step C31; if the robot is moving in the water off the hull surface, go to step C32;
c31, the main controller controls the rotating speed of the caterpillar tracks by controlling the rotating speed of the speed reducing motor, thereby controlling the moving speed of the robot on the surface of the ship body and controlling the robot to rotate, move forwards or backwards in situ, at the moment, the longitudinal propeller and the lateral propeller are comprehensively believed to stop working, and the working form of the vertical propeller is determined by the adsorption form; in the automatic cleaning process, the width of the current cleaning path of the robot is overlapped with one half of the width of the previous cleaning path;
c32, when the robot moves in water, the robot is driven to move in different combination forms by 8 propellers in different directions, wherein the motions comprise advancing, retreating, rotating around a Z axis, rotating around a Y axis (the head of the robot points to the Y axis) and rotating around an X axis;
D. end up
And the upper computer controls the robot to leave the surface of the ship body, and the cleaning is finished.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the host computer uses the ubuntu system, so that operation and secondary development of operators and developers are facilitated, a Robot Operating System (ROS) is installed in the ubuntu system, compared with a large amount of domestic ardussub systems, the ROS provides more sensor interfaces for more convenient secondary development, and meanwhile, a gazebo virtual simulation platform is provided inside the ROS, so that the simulation process is more convenient;
2. the invention can automatically approach and adsorb when approaching the surface of the ship body in water, can automatically plan a cleaning path in the cleaning process, and automatically adjust the adsorption force according to the ocean current intensity, thereby solving the problem that the robot is not flexible to clean due to the slow reaction speed of an operator.
3. According to the invention, the Nvidia Jetson TX2 is selected as the information processor, compared with a raspberry group which is used in a large amount, the TX2 has stronger calculation power, can perform a large amount of image processing work, and can perform more complex path planning processing;
4. according to the invention, a 32-bit STM32F767 microcontroller of Italian semiconductor company is selected as a main controller, and an STM32F103C8T6 microcontroller is adopted as a fault protection coprocessor, so that when the main controller fails, the coprocessor can take over the work of the main controller, and the robot can be better guaranteed to work underwater;
5. the normal Ethernet transmission distance is less than 100 meters under the ideal condition, so the invention designs the power carrier communication module, adopts the Atheros main chip for design, has 12V working voltage, can provide the transmission rate of 200Mbps, and has the transmission distance of 300 meters.
6. Because the invention uses the camera, the operator on shore can set the cleaning force and speed according to the actual situation of the attachment on the surface of the ship body.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic bottom view of FIG. 1;
FIG. 3 is a side cross-sectional view of FIG. 1;
FIG. 4 is a rear schematic view of the tail of FIG. 1;
FIG. 5 is a schematic view of a track module of the present invention;
FIG. 6 is a schematic diagram of the control system of the present invention.
In the figure: 1. the device comprises a main body vertical propeller, 2, a sealed control cabin, 3, a main body side plate, 4, a rubber track, 5, a track module, 6, a cavitation jet flow cleaning module, 7, a head side plate, 8, a head top plate, 9, a head vertical propeller, 10, a camera, 11, a permanent magnet, 12, a lateral propeller, 13, a rotary brush cleaning module, 14, a longitudinal propeller, 15 and an electromagnet.
Detailed Description
The invention is further described below with reference to the accompanying drawings: as shown in fig. 1-6, a control system of an underwater hull cleaning robot comprises a crawler module 5, a cavitation jet cleaning module 6, a rotating brush cleaning module 13, a driving module, a sealed control cabin 2 and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules 5 are respectively arranged on the left side and the right side of the main body; the electromagnet 15 is fixedly installed in the crawler belt module 5, and the electromagnet 15 is connected with the control module through a control line; permanent magnets 11 are fixedly arranged at concave teeth on the outer surface of the rubber track 4 of the track module 5;
the cavitation jet flow cleaning module 6 is arranged below the head part;
the rotating brush cleaning module 13 comprises two rotating brush cleaning wheels which are transversely arranged below the main body side by side;
the driving module comprises five vertical thrusters, two longitudinal thrusters 14 and two lateral thrusters 12; the five vertical thrusters comprise a head vertical thruster 9 and four main body vertical thrusters 1;
the number of the sealed control cabins 2 is two, and the two sealed control cabins 2 are arranged at the upper part of the main body;
the control system comprises a data acquisition module, a control module and an upper computer;
the control module is respectively connected with the data acquisition module, the crawler belt module 5, the cavitation jet cleaning module 6, the rotating brush cleaning module 13 and the driving module through data lines, and is connected with an upper computer through a power carrier line;
the data acquisition module comprises a camera 10, an inertial navigation platform, a gyroscope and a pressure sensor, wherein the camera 10 is arranged above the head of the robot and is used for monitoring the surface of the ship body and acquiring depth point cloud information;
the gyroscope is horizontally arranged in the sealed control cabin 2 and is used for acquiring three current acceleration components and three current rotation angular velocities of the robot;
the inertial navigation platform is arranged in the sealed control cabin 2 and is used for positioning the position of the robot on the ship body;
the pressure sensor is arranged on the outer side of the tail part of the sealed control cabin 2 and used for measuring the water pressure at the current position;
control module install inside sealed control cabin 2, including main control unit, fault protection coprocessor, information processor and power line carrier communication module A, pressure sensor and gyroscope be connected with main control unit respectively, main control unit and fault protection coprocessor through different serial ports and information processor parallel connection, when main control unit trouble became invalid, fault protection coprocessor will automatic start, replace main control unit, and information processor analyzes the data that main control unit sent simultaneously, then packs data, and the power line carrier communication module B of rethread power line carrier communication module A, power line carrier and bank sends for the host computer.
Further, the head vertical thruster 9 is vertically arranged on the central axis of the head, and the four main body vertical thrusters 1 are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters 14 are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters 12 are transversely arranged at the head part; the vertical thruster, the longitudinal thruster 14 and the lateral thruster 12 are all bidirectional thrusters.
Furthermore, the head part is a rhombohedron formed by fixedly connecting a head part top plate 8 and two head part side plates 7, and a 135-degree included angle is formed at the junction of the head part top plate 8 and the main body top plate; the two side head side plates 7 are fixed with the main body side plate 3, and the joint of the head side plate 7 and the main body side plate 3 forms an included angle of 135 degrees.
Furthermore, an ubuntu system is installed on the upper computer, a robot operating system ROS is installed on the information processor, the robot operating system ROS is developed based on the ubuntu system, and the robot operating system ROS supports a slam navigation function, an opencv image processing function and a gazebo physical simulation function.
Furthermore, the main controller adopts an STM32F767 chip, the fault protection coprocessor adopts an STM32F103C8T6 chip, the information processor adopts an Nvidia Jetson TX2 chip, the power carrier communication module adopts an Atheros chip,
a working method of a control system of an underwater ship body cleaning robot comprises the following steps:
A. close to the surface of the ship body
The upper computer sends a ship body approaching instruction to the information processor, the main controller sends the obtained information of the pressure sensor and the gyroscope to the information processor, the information processor obtains the pose information of the robot by analyzing the received gyroscope information, the depth of the robot under water is obtained according to the depth information obtained by the pressure sensor, the pose information of the nearest ship body surface is calculated according to the depth under water and the known ship body structure, the pose information is compared with the current pose information of the robot, and the pose of the robot is controlled by a PID algorithm to be finally close to the pose of the ship body wall surface and finally close to the ship body surface.
B. Adsorbed on the surface of the ship body
After the robot approaches the surface of the ship body, an onshore operator selects an adsorption form according to the material of the surface of the ship body, and if the surface of the ship body is a ferrous metal surface, a mixed adsorption form is adopted; otherwise, adopting a thrust adsorption form; the mixed adsorption form comprises a thrust adsorption form and a magnetic adsorption form; the thrust adsorption mode is that the vertical thruster generates thrust opposite to the surface of the ship body to press the robot on the surface of the ship body; the magnetic force adsorption mode is that the electromagnet 15 assembled on the crawler belt module 5 is electrified to generate attraction force or the permanent magnet 11 generates attraction force to adsorb the robot on the surface of the ship body, when the distance between the robot and the surface of the ship body is about 150mm, the permanent magnet 11 actively attracts the robot to the surface of the ship body,
C. cleaning the surface of a ship's hull
C1, path planning: the information processor processes data collected by the inertial navigation platform and acceleration information collected by the gyroscope, positions the robot by using a Kalman filtering algorithm, and automatically plans the path of the robot after determining the position of the robot on the surface of the ship body;
c2, cleaning: the control module controls the cavitation jet cleaning module 6 to remove large attachments on the surface of the ship body and simultaneously controls the rotary brush cleaning module 13 to remove small attachments; the upper computer processes the images of the surfaces of the ship bodies acquired by the camera 10, judges the difficulty degree of cleaning attachments, controls the cleaning module, enhances the cleaning force if the attachments remain on the cleaned path, and otherwise maintains the original cleaning force; or manually by an onshore operator;
c3, moving: if the robot is moving on the surface of the ship body, turning to step C31; if the robot is moving in the water off the hull surface, go to step C32;
c31, the main controller controls the rotating speed of the caterpillar tracks by controlling the rotating speed of the speed reducing motor, thereby controlling the moving speed of the robot on the surface of the ship body and controlling the robot to realize in-situ rotation, forward movement or backward movement, at the moment, the longitudinal propeller 14 and the lateral propeller 12 are comprehensively informed to stop working, and the working form of the vertical propeller is determined by the adsorption form; in the automatic cleaning process, the width of the current cleaning path of the robot is overlapped with one half of the width of the previous cleaning path;
c32, when the robot moves in water, the robot is driven to move in different combination forms by 8 propellers in different directions, wherein the motions comprise advancing, retreating, rotating around a Z axis, rotating around a Y axis (the head of the robot points to the Y axis) and rotating around an X axis;
D. end up
And the upper computer controls the robot to leave the surface of the ship body, and the cleaning is finished.
The following briefly describes the selection and role of the device of the present invention:
1. the invention adopts an inertial navigation platform, a gyroscope, a pressure sensor, an STM32F767, an STM32F103C8T6, an Nvidia Jetson TX2 and an Atheros controller, because the working environment of the controller is influenced by the random characteristic of sea waves and has strong uncertainty, the inertial navigation platform is required to detect the attitude of the underwater robot in real time, and parameters are transmitted to a main controller, so that the controller can conveniently control and adjust the underwater robot in real time. The invention employs a gyroscope and a pressure sensor. Each parameter of the gyroscope adopts a redundant acquisition mode, so that the angular velocity parameter acquired by the gyroscope is guaranteed in real time, and the noise interference of the triaxial acceleration parameter acquired by the gyroscope and the acquired geomagnetic field parameter is minimized. Meanwhile, the main controller can detect data of the sensor in real time, add the data into a kinematic equation set of the robot, and output control signals in time according to the motion posture of the underwater robot so as to ensure the relative stability of the robot. The invention selects a 32-bit STM32F767 microcontroller of Italian semiconductor company as a main controller, simultaneously adopts an STM32F103C8T6 microcontroller as a fault protection coprocessor for controlling input signal acquisition so as to ensure the relative stability of the work of the robot, simultaneously selects Nvidia Jetson TX2 as an information processor, integrates the motion parameters of the robot and a usb camera, and sends the motion parameters to an upper computer through a power carrier communication system, thereby realizing the design of the control and sensing system of the hull outer plate cleaning robot.
2. Various parameters and image data of the hull cleaning robot are required to be returned to the upper computer in practical engineering application, so that an operator can know the real-time state of the current robot conveniently, and the operator can perform further operation and control conveniently. Because the robot needs to take a shore-based control box as a center and carry out hull plate cleaning operation around a hull underwater, all data information needs to be transmitted for a long distance to finish effective transmission. Relatively speaking, the normal Ethernet transmission distance is less than 100 meters under the ideal condition, so the invention designs the power carrier communication module, adopts the Atheros main chip for design, has 12V working voltage, can provide the transmission rate of 200Mbps, and has the transmission distance of 300 meters. Through actual repeated launching tests, the working performance is stable, the performance is reliable, and the heating value and the power consumption are extremely low and can be lower than 1W. Through this power line carrier module, can turn into 2 core communication cables with the ethernet interface, carry out effective communication through take-up reel and the bank base master control case of installing the sliding ring additional.
3. The operation and implementation of the robot of the invention require an upper computer to acquire and process data so as to facilitate corresponding operation of operators. The upper computer of the invention adopts a computer architecture, so that the operation and secondary development of operators and developers are facilitated. The basic structure of the upper computer is provided with a mainboard, a central processing unit, a memory, a hard disk, a power supply, a management circuit thereof, a display and the like. The computer system is composed of the mainboard, the central processing unit, the memory and the hard disk, the operating system and the Robot Operating System (ROS) are installed on the computer system, and the Robot Operating System (ROS) contains an image fusion and splicing algorithm, so that an operator can easily perform real-time detection and control on attitude data of the robot. And the power supply and the management circuit thereof are responsible for supplying power to the upper computer and the robot.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (6)
1. A control system of an underwater hull cleaning robot is characterized in that: the underwater ship body cleaning robot comprises a crawler module (5), a cavitation jet flow cleaning module (6), a rotating brush cleaning module (13), a driving module, a sealing control cabin (2) and a frame;
the frame comprises a head part and a main body, wherein the head part is a rhombohedron, the main body is a cuboid, and the head part is fixedly connected with the main body;
the two crawler belt modules (5) are respectively arranged on the left side and the right side of the main body; an electromagnet (15) is fixedly installed in the crawler belt module (5), and the electromagnet (15) is connected with the control module through a control line; permanent magnets (11) are fixedly arranged at concave teeth on the outer surface of the rubber track (4) of the track module (5);
the cavitation jet cleaning module (6) is arranged below the head part;
the rotating brush cleaning module (13) comprises two rotating brush cleaning wheels which are transversely arranged below the main body side by side;
the number of the sealed control cabins (2) is two, and the two sealed control cabins (2) are arranged at the upper part of the main body;
the control system comprises a data acquisition module, a control module and an upper computer;
the control module is respectively connected with the data acquisition module, the crawler module (5), the cavitation jet cleaning module (6), the rotating brush cleaning module (13) and the driving module through data lines, and the control module is connected with an upper computer through a power carrier line;
the data acquisition module comprises a camera (10), an inertial navigation platform, a gyroscope and a pressure sensor, wherein the camera (10) is arranged above the head of the robot and is used for monitoring the surface of the ship body and acquiring depth point cloud information;
the gyroscope is horizontally arranged in the sealed control cabin (2) and is used for acquiring three current acceleration components and three current rotation angular velocities of the robot;
the inertial navigation platform is arranged in the sealed control cabin (2) and is used for positioning the position of the robot on the ship body;
the pressure sensor is arranged on the outer side of the tail part of the sealed control cabin (2) and used for measuring the water pressure at the current position;
control module install inside sealed control cabin (2), including main control unit, fault protection coprocessor, information processor and power line carrier communication module A, pressure sensor and gyroscope be connected with main control unit respectively, main control unit and fault protection coprocessor through different serial ports and information processor parallel connection, when main control unit trouble became invalid, fault protection coprocessor will automatic start, replace main control unit, and information processor analyzes the data that main control unit sent simultaneously, then packs data, and the power line carrier communication module B of rethread power line carrier communication module A, power line carrier and bank sends for the host computer.
2. The control system of an underwater hull cleaning robot according to claim 1, wherein: the driving module comprises five vertical thrusters, two longitudinal thrusters (14) and one lateral thruster (12); the five vertical thrusters comprise a head vertical thruster (9) and four main body vertical thrusters (1); the head vertical thruster (9) is vertically arranged on the central axis of the head, and the four main body vertical thrusters (1) are respectively vertically arranged at four corners of the main body; the two longitudinal thrusters (14) are respectively and symmetrically arranged at two sides of the tail part of the main body, and the lateral thrusters (12) are transversely arranged at the head part; the vertical propeller, the longitudinal propeller (14) and the lateral propeller (12) are all bidirectional propellers.
3. The control system of an underwater hull cleaning robot according to claim 1, wherein: the head part is a rhombohedron formed by fixedly connecting a head part top plate (8) and two head part side plates (7), and a 135-degree included angle is formed at the junction of the head part top plate (8) and the main body top plate; the head side plates (7) on the two sides are fixed with the main body side plate (3), and the joint of the head side plate (7) and the main body side plate (3) forms an included angle of 135 degrees.
4. The control system of an underwater hull cleaning robot according to claim 1, wherein: the system comprises an upper computer, an information processor and a robot operating system ROS, wherein the upper computer is provided with a ubuntu system, the information processor is provided with the robot operating system ROS, and the robot operating system ROS is developed based on the ubuntu system and supports a slam navigation function, an opencv image processing function and a gazebo physical simulation function.
5. The control system of an underwater hull cleaning robot according to claim 1, wherein: the main controller adopts an STM32F767 chip, the fault protection coprocessor adopts an STM32F103C8T6 chip, the information processor adopts an Nvidia Jetson TX2 chip, and the power carrier communication module adopts an Atheros chip.
6. A working method of a control system of an underwater ship body cleaning robot is characterized in that: the method comprises the following steps:
A. close to the surface of the ship body
The upper computer sends a ship body approaching instruction to the information processor, the main controller sends the obtained information of the pressure sensor and the gyroscope to the information processor, the information processor obtains the pose information of the robot by analyzing the received gyroscope information, the depth of the robot under water is obtained according to the depth information obtained by the pressure sensor, the pose information of the nearest ship body surface is calculated according to the underwater depth and the known ship body structure, the pose information is compared with the current pose information of the robot, and the pose of the robot is controlled by a PID algorithm to be finally close to the pose of the ship body wall surface and finally close to the ship body surface;
B. adsorbed on the surface of the ship body
After the robot approaches the surface of the ship body, an onshore operator selects an adsorption form according to the material of the surface of the ship body, and if the surface of the ship body is a ferrous metal surface, a mixed adsorption form is adopted; otherwise, adopting a thrust adsorption form; the mixed adsorption form comprises a thrust adsorption form and a magnetic adsorption form; the thrust adsorption mode is that the vertical thruster generates thrust opposite to the surface of the ship body to press the robot on the surface of the ship body; the magnetic adsorption mode is that the electromagnet (15) assembled by the crawler belt module (5) is electrified to generate attraction force or the robot is adsorbed on the surface of the ship body by the attraction force generated by the permanent magnet (11), when the distance between the robot and the surface of the ship body is about 150mm, the permanent magnet (11) actively attracts the robot to the surface of the ship body,
C. cleaning the surface of a ship's hull
C1, path planning: the information processor processes data collected by the inertial navigation platform and acceleration information collected by the gyroscope, positions the robot by using a Kalman filtering algorithm, and automatically plans the path of the robot after determining the position of the robot on the surface of the ship body;
c2, cleaning: the control module controls the cavitation jet cleaning module (6) to remove large attachments on the surface of the ship body and controls the rotary brush cleaning module (13) to remove small attachments at the same time; the upper computer processes the images acquired by the camera (10) on the surface of the ship body, judges the difficulty degree of cleaning the attachments, controls the cleaning module, enhances the cleaning force if the attachments remain on the cleaned path, and otherwise maintains the original cleaning force; or manually by an onshore operator;
c3, moving: if the robot is moving on the surface of the ship body, turning to step C31; if the robot is moving in the water off the hull surface, go to step C32;
c31, the main controller controls the rotating speed of the caterpillar tracks by controlling the rotating speed of the speed reducing motor, thereby controlling the moving speed of the robot on the surface of the ship body and controlling the robot to realize in-situ rotation, forward movement or backward movement, at the moment, the longitudinal propeller (14) and the lateral propeller (12) stop working, and the working form of the vertical propeller is determined by the adsorption form; in the automatic cleaning process, the width of the current cleaning path of the robot is overlapped with one half of the width of the previous cleaning path;
c32, when the robot moves in water, the robot is driven to move in different combination forms by 8 propellers in different directions, wherein the different combination forms comprise forward movement, backward movement, rotation around a Z axis, rotation around a Y axis and rotation around an X axis;
D. end up
And the upper computer controls the robot to leave the surface of the ship body, and the cleaning is finished.
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