CN106426159B - The control system of cavitation jet cleaning hull robot - Google Patents
The control system of cavitation jet cleaning hull robot Download PDFInfo
- Publication number
- CN106426159B CN106426159B CN201610353385.9A CN201610353385A CN106426159B CN 106426159 B CN106426159 B CN 106426159B CN 201610353385 A CN201610353385 A CN 201610353385A CN 106426159 B CN106426159 B CN 106426159B
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- robot
- crawler belt
- obstacle detouring
- control
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The present invention provides a kind of control system of cavitation jet cleaning hull robot, belongs to robotic technology field.The control system of robot includes control microcomputer, communication system and the power controller connected by bus, wherein, communication system its be used for and host computer carry out data interaction, it is characterized in that, power controller is used to receive the rotary speed instruction of the robot that control microcomputer provides or so sprocket wheel, and instruction resolving and control algolithm resolving are completed, instruction current signal is then generated to motor servo driver, to drive underwater robot or so servo motor to reach the revolving speed and torque of setting.The control precision of cavitation jet cleaning hull robot control system provided by the invention is high, the degree of modularity is high, maintenance and upgrading are convenient.
Description
Technical field
The present invention relates to a kind of control systems of cavitation jet cleaning hull robot, belong to embedded system technology field
With ship protection technology field.
Background technique
The advantages such as sea-freight is the important mode of transportation of one of international trade, has carrying cargo amount big, and freight is low,
But aquatic organism is many kinds of in ocean, and ship navigates by water in water throughout the year, and a large amount of marine growths can be attached on hull.Ship is come
It says, the attachment of marine organisms can generate many detrimental effects: 1) it increases the degree of roughness of hull surface, increases ship
The resistance navigated by water in water.By measuring, when the speed of a ship or plane is that 2-9 is saved, hull aufwuch can make the ship resistance of ship
Increase by 3 times；2) marine organisms adhere on propeller makes the effective output of propeller be reduced to original 80%；3) hull
Aufwuch increases the invalid load of Shipping with the extension of time, its quality can constantly increase；4)
Hull aufwuch and iron bacteria, sulfate reducing bacteria show faintly acid by synergy in briny environment, can be right
The protective layer of hull surface generates very strong electrochemical corrosion effect, may finally lead to the strong corrosion of hull plate.
In order to extend the service life of ship, guarantee that the safe navigation of ship, ship must regularly carry out dock inspection.
But dock lazy weight, the problems such as cleaning repair time is long, virtually increase the cost loss of ship and when non-operation
Between.So carry out hull under-water cleaning operation, improve underwater clean automatization level have very important practical significance and
Commercial value.In order to overcome the problems referred above, disclose in the prior art a kind of for cleaning the robot of hull, control system is adopted
With traditional centerized fusion, core CPU receives other sensors signal and control instruction, and resolves control instruction and pass to electricity
Machine driver realizes motion planning and robot control to control motor speed.This mode poor reliability, high failure rate, system extension
Property and maintainability are poor.
Summary of the invention
To overcome disadvantage existing in the prior art, goal of the invention of the invention is to provide that a kind of control precision is high, module
Change degree height, the convenient robot control system of upgrade maintenance.
To realize that the goal of the invention, the present invention provide a kind of control system of robot comprising connected by bus
Control microcomputer, communication system and power controller, wherein it is used for and host computer carries out data interaction communication system, special
Sign is that power controller is used to receive the rotary speed instruction of the robot that control microcomputer provides or so sprocket wheel, and completes instruction solution
It calculates and control algolithm resolves, then generate instruction current signal to motor servo driver, to drive underwater robot or so to watch
Take revolving speed and torque that motor reaches setting.
Preferably, the control system of robot further includes sensing equipment manager, wherein sensing equipment manager for pair
Sensor adopts incuded signal and is acquired and handles, and is sent to control microcomputer, controls microcomputer according to sensing collected
The information that device is incuded carries out analytical operation with navigation instruction information, obtains the rotary speed instruction of robot or so sprocket wheel.
Preferably, sensor includes that depth transducer, velocity sensor, attitude transducer, barrier inductor and camera shooting are set
It is standby.
The control system of robot further includes energy management device, energy management device control all electricity consumption portions, robot
Part is controlled for power-off.
The control system of robot further includes contingency management device, wherein real-time reception controls microcomputer, power controller, biography
The information that sense equipment manager and energy management device are transmitted judges robot current operating environment according to the received information of institute
Risk status, when judging that machine is in emergency, issue emergency parachute, triggering receive control microcomputer, power controller, biography
The emergency mechanism program of equipment manager and energy management device is felt to execute the emergency action of robot.
Compared with prior art, cavitation jet cleaning hull robot control system provided by the invention has following excellent
Point:
(1) robot control system uses distributed embedded systems framework, improves the modularization and standardization journey of system
Degree.
(2) modular layout of robot control system improves the maintainability and upgrading convenience of system, enhances
The reliability of system.
Detailed description of the invention
Fig. 1 is the complete machine schematic diagram of cavitation jet cleaning hull robot provided by the invention；
Fig. 2 is cavitation jet cleaning hull robot obstacle detouring crawler belt luffing mechanism figure provided by the invention
Fig. 3 is cavitation jet cleaning hull robot the system composition block diagram provided by the invention；
Fig. 4 is the schematic diagram of cavitation jet cleaning hull robot remote control monitoring terminal provided by the invention；
Fig. 5 is the control system composition block diagram of cavitation jet cleaning hull robot provided by the invention；
Fig. 6 is the composition block diagram of communication system provided by the invention；
Fig. 7 is the composition block diagram of sensor manager provided by the invention；
Fig. 8 is the composition block diagram of contingency management device provided by the invention；
Fig. 9 is the composition block diagram of power supervisor provided by the invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.The instructions such as term "front", "rear", "left", "right"
It is reference that direction, which is with the orientation of robot setting cleaning rifle, and before the direction of setting cleaning rifle is, opposite to that direction is
Afterwards, it is left side on a left side, is right side on the right side.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be to be connected directly, the connection inside two elements can also can also be, for this field indirectly connected through an intermediary
Those of ordinary skill for, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is the complete machine schematic diagram of cavitation jet cleaning provided by the invention hull under-water robot, as shown in Figure 1, this
The cavitation jet cleaning hull robot that invention provides includes main body frame 1, and the main crawler belt in left side is provided on the left of main body frame
2A and left side obstacle detouring crawler belt 3A is provided with the main crawler belt 2B and right side obstacle detouring crawler belt 3B in right side on the right side of main body frame；The main shoe in left side
Band 2A is connected with left side obstacle detouring crawler belt 3A by transmission mechanism 4A between left track, the main crawler belt 2B in right side and right side obstacle detouring crawler belt 3B
Pass through transmission mechanism 4B connection between right side track.Robot further includes left side obstacle detouring luffing mechanism, right side obstacle detouring luffing mechanism, a left side
Side servo motor 6A and right side servo motor 6B；Left side servo motor 6A passes through the main shoe in left side angular wheel mechanism 7A driving left side
Band 2A, right side servo motor 6B pass through the right side angular wheel mechanism 7B driving main crawler belt 2B in right side.In main body frame 1-rear portion sets
It is equipped with electric sealed box 8, it is interior to carry robot control system circuit board and other auxiliary circuits, connector etc., complete machine
People's motion control, cleaning equipment control, transducing signal are received and are transmitted with the data of remote control monitoring terminal；Electrical sealing
Case 8 passes through data cable and picture pick-up device, sensor device, power-equipment etc. and connect.In main body frame 1-3 skies of front carrying
Change jet stream cleaning deskitte (referred to as: cavitation disk) 9A, 9B, 9C, is arranged in " triangular form " and robot body main body frame is set
Lower part；In the front end of main body frame 1, two side positions is provided with 2 cavitation jet cleaning rifles (referred to as: cavitation rifle) 10A, 10B, in fact
The cleaning of existing robot crawler belt forward region and crawler belt and cavitation dish gap forward region.Cavitation jet provided by the invention is clear
Clean hull robot at least further includes two video cameras, is respectively arranged with the front and back of main body frame.
Fig. 2 is cavitation jet cleaning hull robot obstacle detouring crawler belt luffing mechanism figure provided by the invention, as shown in Fig. 2,
Robot obstacle detouring crawler belt luffing mechanism includes at least obstacle detouring crawler belt connecting rod 39, plays distance between axles positioning and mechanics invigoration effect obstacle detouring
Crawler belt connecting rod 39, which has, is parallel to the stringer board of guide plate and two two spreaders being vertically set on stringer board in obstacle detouring crawler belt, and two
Spreader is fixedly connected by connecting plate.Stringer board front-end and back-end are respectively arranged with pilot hole, and the driving shaft 22 of obstacle detouring crawler belt is arranged
In the pilot hole of front end, the driven shaft of obstacle detouring crawler belt is arranged in the pilot hole of rear end.Obstacle detouring crawler belt luffing mechanism at least further includes
The through-hole of rear end is coaxially connected on one sleeve, with stringer board, and the driven shaft of obstacle detouring crawler belt is successively from rear end on sleeve and stringer board
Pilot hole pass through.Robot obstacle detouring crawler belt luffing mechanism at least further includes 46 He of turnover pressing plate being vertically installed on sleeve
Worm screw connector 45.Robot obstacle detouring crawler belt luffing mechanism at least further includes deceleration turbine mechanism 44, worm screw connector 45 with subtract
The output worm screw of fast turbine mechanism 44 forms worm mechanism.Robot obstacle detouring crawler belt luffing mechanism at least further includes driving motor,
It is arranged in connector 38, and motor output shaft passes through the input axis connection of shaft coupling and deceleration turbine mechanism 44, deceleration turbine
The output worm screw of mechanism 44 connect with worm screw connector 45.Motor rotation driving deceleration turbine mechanism 44 rotates as a result, deceleration whirlpool
It takes turns mechanism 44 and exports the up and down motion of worm screw rotate driving worm screw connector 45, to drive the up and down motion of obstacle detouring crawler belt axis, i.e.,
The pitching of obstacle detouring crawler belt；Turnover pressing plate 46 plays mechanism preload and positioning action after assembling spring.Robot obstacle detouring pitching machine
Structure uses so that obstacle detouring crawler belt ability swing at a certain angle, when enabling to robot obstacle detouring, obstacle detouring crawler belt is in master
It is intended to be adsorbed wall surface under dynamic control, the obstacle climbing ability and the Stability and dependability during obstacle detouring for enhancing robot.
Fig. 3 is cavitation jet cleaning hull robot the system composition block diagram provided by the invention, as shown in figure 3, sky provided by the invention
Change jet stream cleaning hull robot system include cavitation jet clean robot ontology 11(referred to as: robot body), long-range behaviour
Control monitoring terminal 12, cavitation supply equipment 13, connection robot body and remote control monitoring terminal powered communication cable 14 with
And the water supply cable 15 of connection robot body and its cavitation supply equipment, wherein robot body 11 is system core unit, is taken
It carries cavitation cleaning equipment and executes clean up task；Remote control monitoring terminal 12 executes mission planning, movement to robot body
Control, Stateful Inspection etc.；It is empty that the cavitation cleaning equipment that cavitation supply equipment 13 then carries for robot body provides required high pressure
Change water flow；Remote control monitoring terminal is communicated by powered communication cable 14 with robot body, and is mentioned for robot body
For electric energy；It is supplied water by water supply cable 15 to robot body.
Fig. 4 is cavitation jet cleaning hull robot remote control monitoring terminal schematic diagram provided by the invention, such as Fig. 4 institute
Show, the control system of cavitation jet cleaning hull robot provided by the invention is packaged in electric sealed box 8, and passes through power supply
Signal cable 14 is connect with robot remote control monitoring terminal, and robot remote control monitoring terminal provided by the invention includes
Manipulate computer 16, display equipment 17, motor performance device 18 and communication module (serial ports) 19, wherein robot remote manipulation
Monitoring terminal realizes data interaction by the communication cable 14 of connection communication module 19 and robot body 11；Manipulate computer 16
Operation upper computer software realization shows the motion control of robot body 11 and status information.
Fig. 5 is the schematic diagram of cavitation jet cleaning hull robot control system provided by the invention, as shown in figure 5, this
The control system for inventing the robot provided includes control microcomputer 20, communication system 21 and the power controller connected by bus
25, wherein it is used to carry out data interaction with host computer to communication system 21, and power controller 25 is mentioned for receiving control microcomputer 20
The rotary speed instruction of robot of confession or so sprocket wheel, and instruction resolving and control algolithm resolving are completed, then generate instruction current letter
Number give power drill/driver, to drive robot or so servo motor to reach the revolving speed and torque of setting.
The control system of robot further includes sensing equipment manager 23, wherein sensing equipment manager 23 is used for biography
Sensor adopts incuded signal and is acquired and handles, and is sent to control microcomputer, controls microcomputer according to sensor collected
The information incuded carries out analytical operation with navigation instruction information, obtains the rotary speed instruction of robot or so sprocket wheel.Sensor packet
Depth transducer 29, velocity sensor 30, attitude transducer 28, barrier inductor 32 and picture pick-up device 32 are included, wherein camera shooting is set
It is standby to include at least two, it is separately positioned on the front-end and back-end of machine.
The control system of body robot further includes energy management device 22, and the energy management device 22 is connected with power cable 34
With being controlled for power-off for control all electrical components of robot.
The control system of robot further includes contingency management device 24, wherein real-time reception controls microcomputer 20, power controller
25, the information that sensing equipment manager 23 and energy management device 22 are transmitted judges that robot is current according to received information
The risk status of working environment issues emergency parachute when judging that machine is in emergency, and triggering is received control microcomputer 20, moved
The emergency mechanism program of force controller 25, sensing equipment manager 23 and energy management device 22 answers jerking movement with execute robot
Make, the working condition of the movement controller control servo motor 27.
In the present invention, energy management device 22, power controller 25, control microcomputer 20,24 sensing equipment pipe of contingency management device
Reason device 23 and communication system 21 are communicated by bus 33, the preferred CAN bus of bus.In the present invention, contingency management device
24 also with energy management device 22, power controller 25, control microcomputer 20, sensing equipment manager 23 and the direct line of communication system 21
Road is connected, and to prevent when bus breaks down, contingency management device 24 passes through route from energy management device 22, power controller
25, microcomputer 20, sensing equipment manager 23 and communication system 21 is controlled to obtain signal and control their working condition.
Fig. 6 is the composition block diagram of communication system provided by the invention, as shown in fig. 6, communication system packet provided by the invention
Include processor, bus interface and serial communication interface, wherein the preferred CAN interface of bus interface, when sending data, bus
Interface obtains data to be sent from CAN bus, and sends processor to, and the processor is beaten data to be sent
Packet obtains data frame to be uploaded and then sends serial communication interface to, encoded by letter interface data to be sent,
Modulation is then sent to host computer by cable.When receiving data, serial communication interface solves the information that host computer transmits
The data frame that tune, decoding are passed down is then supplied to processor, and the processor connects received data frame transmission bus
Mouthful, received data frame is transmitted in bus by bus interface.The processor is also used to serial communication interface and CAN bus
Interface is controlled.
Fig. 7 is the composition block diagram of contingency management device provided by the invention, as shown in Figure 7.Wherein, sensing equipment manager 23
For mainly completing depth transducer 29, velocity sensor 30, attitude transducer 28, barrier inductor 31 and picture pick-up device 32
Signal acquisition, modulation and filtering processing, and control microcomputer 20, communication system 21, power controller 25 are sent to by bus 33
And contingency management device 24, then communication system 21 controls microcomputer 20 to host computer real-time Transmission robot pose and forward traveling
It is carried out analytical operation according to sensor feedback status information and navigation instruction information, show that the execution of robot driving mechanism refers to
It enables, to complete the control of creeping of robot.Sensing equipment manager 23 includes processing computer, signal acquisition circuit and CAN total
Line communication interface, wherein depth transducer 29, velocity sensor 30, attitude transducer 28, barrier inductor 31 and picture pick-up device
32 are connected to signal processing computer by signal acquisition circuit, and signal processing computer is used for signal provided by sensor
It is filtered, and fault diagnosis and communication control is carried out to the letter number of adopting Acquisition Circuit, each sensor and bus communication interface.
Fig. 8 is the composition block diagram of contingency management device provided by the invention, as shown in figure 8, contingency management provided by the invention
Device includes MCU control circuit and CAN bus communication interface, and it is total that MCU control circuit by CAN bus communication interface is connected to CAN
Line is also directly connected by route with sensor manager, power controller, power supervisor, control microcomputer, such structure,
Signal can be obtained from multiple channels.Contingency management device is by sensor manager to depth transducer, attitude transducer, speed
Spend sensor, barrier inductor carries out data acquisition.Robot current operating environment is judged according to sensing data collected
Risk status, in the case where meeting certain condition, such as ultra-deep, hypervelocity, course substantial deviation, the obstacle that can not be crossed or track interrupt
Emergency issues emergency parachute, triggers the emergency mechanism program of other control management modules to execute answering for underwater robot
Jerking movement is made or interrupts move ahead, remote handling system is prompted to switch to be remotely controlled creep mode.
Fig. 9 is the composition block diagram of power supervisor provided by the invention, as shown in figure 9, power supervisor is mainly by powering
It controls computing unit DSP, CAN bus Transmit-Receive Unit, formed after electric drive, relay etc., be mainly responsible for robot communication control
The program of each functional module is for power-off and the transmission and distribution of information in system.
Above in conjunction with attached drawing, the working principle of the invention is described in detail.But those skilled in the art should
Understand, specification is only for interpreting the claims.But protection scope of the present invention is not limited to specification.It is any to be familiar with
In the technical scope that the present invention discloses, the variation or replacement that can be readily occurred in should all be contained those skilled in the art
Lid is within protection scope of the present invention.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (5)
1. a kind of control system of robot comprising control microcomputer, communication system and the power controller connected by bus,
Wherein, communication system is used to carry out data interaction with host computer, which is characterized in that power controller is mentioned for receiving control microcomputer
The rotary speed instruction of robot of confession or so sprocket wheel, and instruction resolving and control algolithm resolving are completed, then generate instruction current letter
Number to power drill/driver to drive robot or so servo motor to reach the revolving speed and torque of setting, robot further includes obstacle detouring
Luffing mechanism, obstacle detouring crawler belt luffing mechanism include at least obstacle detouring crawler belt connecting rod, and obstacle detouring crawler belt connecting rod, which has, is parallel to obstacle detouring crawler belt
The stringer board of interior guide plate and two two spreaders being vertically set on stringer board, two spreaders are fixedly connected by connecting plate, stringer board
Front-end and back-end are respectively arranged with pilot hole, and the driving shaft of obstacle detouring crawler belt is arranged in the pilot hole of front end, obstacle detouring crawler belt it is driven
Axis is arranged in the pilot hole of rear end；Obstacle detouring crawler belt luffing mechanism at least further includes the through-hole of rear end on a sleeve, with stringer board
Coaxially connected, the driven shaft of obstacle detouring crawler belt is successively passed through from the pilot hole of rear end on sleeve and stringer board；Robot obstacle detouring crawler belt is bowed
Facing upward mechanism at least further includes the turnover pressing plate being vertically installed on sleeve, worm screw connector and deceleration turbine mechanism；Worm screw connects
The output worm screw of fitting and deceleration turbine mechanism forms worm mechanism；Robot obstacle detouring crawler belt luffing mechanism at least further includes driving
Motor, motor output shaft by the input axis connection of shaft coupling and deceleration turbine mechanism, the output worm screw of deceleration turbine mechanism and
The connection of worm screw connector.
2. the control system of robot according to claim 1, which is characterized in that further include sensing equipment manager, wherein
Sensing equipment manager is acquired and handles for adopting incuded signal to sensor, and is sent to control microcomputer, controls
The information that microcomputer is incuded according to sensor collected carries out analytical operation with navigation instruction information, obtains robot or so chain
The rotary speed instruction of wheel.
3. the control system of robot according to claim 2, which is characterized in that sensor includes depth transducer, speed
Sensor, attitude transducer, barrier inductor and picture pick-up device.
4. the control system of robot according to claim 2, which is characterized in that further include energy management device, the energy
Source manager control all electrical components of robot are controlled for power-off.
5. the control system of robot according to claim 4, which is characterized in that further include contingency management device, wherein real
When receive control microcomputer, the information that power controller, sensing equipment manager and energy management device are transmitted, it is received according to institute
Information judges the risk status of robot current operating environment, when judging that machine is in emergency, issues emergency parachute, touching
Hair receives the emergency mechanism program of control microcomputer, power controller, sensing equipment manager and energy management device to execute robot
Emergency action.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610353385.9A CN106426159B (en) | 2016-05-19 | 2016-05-19 | The control system of cavitation jet cleaning hull robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610353385.9A CN106426159B (en) | 2016-05-19 | 2016-05-19 | The control system of cavitation jet cleaning hull robot |
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| CN106426159B true CN106426159B (en) | 2019-04-30 |
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| CN111673736A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | Robot system control method, equipment and storage medium |
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| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
| CN104290095A (en) * | 2013-11-12 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | High-altitude cleaning robot control system and method based on RC |
| CN105407774A (en) * | 2013-07-29 | 2016-03-16 | 三星电子株式会社 | Auto-cleaning system, cleaning robot and method of controlling the cleaning robot |
| CN105459128A (en) * | 2016-01-13 | 2016-04-06 | 陈子伟 | Automatic cleaning device |
| CN205889191U (en) * | 2016-05-19 | 2017-01-18 | 西安天和海防智能科技有限公司 | Control system of clean hull robot of cavitation jet |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204002853U (en) * | 2014-08-15 | 2014-12-10 | 山东科技大学 | A kind of obstacle detouring shotcrete robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
| CN105407774A (en) * | 2013-07-29 | 2016-03-16 | 三星电子株式会社 | Auto-cleaning system, cleaning robot and method of controlling the cleaning robot |
| CN104290095A (en) * | 2013-11-12 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | High-altitude cleaning robot control system and method based on RC |
| CN105459128A (en) * | 2016-01-13 | 2016-04-06 | 陈子伟 | Automatic cleaning device |
| CN205889191U (en) * | 2016-05-19 | 2017-01-18 | 西安天和海防智能科技有限公司 | Control system of clean hull robot of cavitation jet |
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