CN106585904B - A kind of robot for water surface cleaner - Google Patents
A kind of robot for water surface cleaner Download PDFInfo
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- CN106585904B CN106585904B CN201611157212.6A CN201611157212A CN106585904B CN 106585904 B CN106585904 B CN 106585904B CN 201611157212 A CN201611157212 A CN 201611157212A CN 106585904 B CN106585904 B CN 106585904B
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Classifications
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/046—Collection of oil using vessels, i.e. boats, barges
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Robotics (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Public Health (AREA)
- Ocean & Marine Engineering (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot for water surface cleaner, including control system, driving device, executive device, navigation system, sensor module: where sensor module includes ultrasonic distance-measuring sensor, pressure sensor, visual sensor, power module, wireless communication module.The control system is used for all decision-making treatments；Driving device is used to provide the power of hull and mechanical arm work；Executive device is used to complete the folding and unfolding of rubbish；Navigation system is used to provide the course line of hull traveling；Ultrasonic distance-measuring sensor measures the distance between hull head and barrier；Pressure sensor detection dustbin has accommodated the weight of rubbish；Visual sensor identifies the rubbish on the water surface；Power module provides power supply for entire control system；Wireless communication module is used to clean the information communication between ship and ground control station.There is the present invention high degree of automation, advantage low in energy consumption, convenient for safeguarding to be more energy-saving and environmentally friendly using the dual battery system of solar battery and battery.
Description
Technical field
The invention belongs to unmanned technical field, especially a kind of robot for water surface cleaner.
Background technique
The technology of unmanned ship is related to hydrodynamics, makes decisions on one's own, automatically controls, signal processing, network communication, biography
Sensor technical aspect problem, technical difficulty with higher.Unmanned ship will have stable in complicated, dangerous region
The ability of operational capabilities and reply emergency situations must just accomplish to monitor the equipment operation condition of itself, the extraneous letter of perception in real time
It ceases, make correct decision and strict implement, and these operations will be by the sensing system, advanced interacted with external environment
Other autonomous navigation system, accurately automatic control program and stablize quick network communications technology.Meanwhile unmanned ship
It also needs have the mode switch function independently selected, can be carried out in autonomous navigation, remote control, fail-safe mode autonomous
Ground switching, to ensure the navigation safety of unmanned ship.
With the development of economy, water pollution is also got worse.Have on the water surface in many river and lake all adrift
The rubbish such as polybag, foam, algae seriously polluted the ecological environment in river and lake, and then influence people's lives.Cause
This, the problem for clearing up garbage on water is extremely urgent.Because the water surface in river and lake has the characteristics that area is big, the visual field is wide, and
And traditional cleaning ship is at high cost, consumption human resources are big.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned, energy-saving and environment-friendly robot for water surface cleaner, automatic to realize
Clean rubbish, the function of being maked a return voyage after completion task automatically.
The technical solution for realizing the aim of the invention is as follows: a kind of robot for water surface cleaner, including control system, driving dress
It sets, executive device, navigation system, sensor module；Wherein, sensor module includes ultrasonic distance-measuring sensor, pressure sensing
Device, visual sensor, power module and wireless communication module；
The control system is used for all decision-making treatments of robot for water surface cleaner；The driving device is for providing hull
With the power of manipulator motion；The executive device is used to complete the folding and unfolding of rubbish；The navigation system is for providing hull row
The course line sailed；The ultrasonic distance-measuring sensor measures the distance between hull head and barrier；The pressure sensor inspection
Survey the weight that dustbin has accommodated rubbish；Rubbish on the visual sensor identification water surface；The power module is entire
System provides power supply；The wireless communication module is used to clean the information communication between ship and ground control station.
Further, the control system is connect with driving device, the PWM that driving device is sent out by receiving control system
Signal is controlled, driving motor drives the rotation of propeller, for controlling the movement of hull and mechanical arm；The control system with hold
Luggage sets connection for realizing the crawl and placement movement to rubbish；The control system is connect with navigation system, navigation system
The latitude and longitude information data of acquisition are transferred to control system and are used to provide the course line of hull traveling；The control system and sensing
Device module connection: wherein control system and ultrasonic distance-measuring sensor connection for measure between hull head and barrier away from
From colliding to prevent hull；The control system connect the weight that rubbish is accommodated for detecting dustbin with pressure sensor；
The control system connect the rubbish position on the water surface for identification with visual sensor；The control system and power module connect
It connects for providing electric energy for entire control system, power module determines to enable solar battery still according to battery level information
Battery, and stablize the voltage for 3.3V, 5V, 24V using Voltage stabilizing module；The control system connect use with wireless communication module
Information communication between robot for water surface cleaner and ground control station.
Further, the driving device includes wrist steering engine, forearm steering engine, postbrachium steering engine, motor reducer, turns to cloud
Platform motor, the steering horizontal stage electric machine are connected by gear shaft with motor reducer, turn to holder steering for driving；After described
Arm steering engine is mounted on the rear end of postbrachium, and driving postbrachium is swung up and down；The forearm steering engine is mounted on the junction of postbrachium and forearm,
For driving forearm to swing up and down；The wrist steering engine is mounted on the front end of forearm, for controlling manipulator crawl target.
Further, the executive device includes manipulator, forearm, postbrachium, turns to holder, support base, the manipulator
It is mounted on the front end of forearm；The forearm connection wrist steering engine and forearm steering engine；The postbrachium connection forearm steering engine and postbrachium rudder
Machine；The holder that turns to is mounted on the top of support base, be used to support wrist steering engine, forearm steering engine, postbrachium steering engine, manipulator,
Forearm and postbrachium；The support base is mounted on hull, is used to support the wrist steering engine, forearm steering engine, postbrachium steering engine, machinery
Hand, forearm, postbrachium and steering holder.
Further, the navigation system provides the longitude and latitude that GPS module receives hull present position at this time, and by the letter
Breath sends control system to, and the deviation of robot for water surface cleaner at this time and theoretical course line is calculated by control system, and combines boat
Speed is controlled, and robot for water surface cleaner is enable to navigate by water according to prebriefed pattern, completes making a return voyage automatically for robot for water surface cleaner
Function；The navigation system selects the double locating modules of GPS Beidou, external active antenna, wherein the double locating modules of GPS Beidou are logical
The serial communication interface and processor for crossing Transistor-Transistor Logic level carry out data communication, wherein data updating rate 1Hz, positioning accuracy
2.5CEP, communication baud rate maximum 230400.
Further, the sensor module includes ultrasonic distance-measuring sensor, pressure sensor, visual sensor: institute
It states ultrasonic distance-measuring sensor and gives ultrasonic wave to control system from the received time is emitted to, control system is by the time and surpasses
The speed of Acoustic Wave Propagation calculates the distance between hull head and barrier；In the process of moving, control system is to ultrasonic wave
Distance measuring sensor issues the high level of a 10 μ s or more, as the trigger signal of sensor, then ultrasonic distance-measuring sensor
Inside will issue 8 40Hz period level and detect echo, detect and exported response signal to processor after echo-signal, return
The pulse width for ringing signal is directly proportional at a distance from being surveyed；Processor calculates ship by the pulse width of measurement response signal
Distance of the body to barrier；The module that the ultrasonic distance-measuring sensor is selected is HC-SR04, TTL interface, and ranging range is up to 8
Rice, precision reach 0.3cm；
The weight for the rubbish that dustbin accommodates is converted to electric signal by the pressure sensor, sends control system to, control
System processed passes through AD conversion and converts, and obtains the weight that dustbin has accommodated rubbish；What the pressure sensor was selected
Module is HX711AD；
Lake surface context conversion is electric signal by the visual sensor, then converts electrical signals to number using AD conversion
Signal；Each pixel has a numerical value, has recorded the brightness of the pixel, and by the way that threshold value is arranged, acquired image is believed
Breath carries out binaryzation；For the data of binaryzation, noise is excluded by filtering algorithm, the method for then utilizing edge extracting,
Determine that the shape of object, control system analyze and determine shape, if it is decided that be rubbish, then operate robotic arm and go to pick up the rubbish
Rubbish.
Further, the power module for entire control system provide power supply and by voltage stabilization it is normal in each module
Voltage needed for work, the power module includes solar battery, battery, Voltage stabilizing module, enables solar energy in fine day
Battery converts the solar into electric energy, enables battery in rainy weather.
Further, the wireless communication module includes wireless transmitter module and wireless receiving module, is cleaned for the water surface
Robot returns to hull status information to console, and receives the order of console；The wireless communication module cleans the water surface
The current location of robot, velocity information send ground control system to；Ground control system obtains the water surface according to these information
The current state of clean robot, trace information carry out real-time navigation to robot for water surface cleaner；The wireless communication module is adopted
With circulation intertexture error correction and detection coding, have the function of wireless awakening and networking function.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) transplant built-in Linux in control system, make to control
The advantage that system processed has real-time high, low in energy consumption, convenient for safeguarding；(2) the double cell system of solar battery and battery is utilized
System, is more energy-saving and environmentally friendly control system；(3) using GPS navigation system and visual sensing system, it can be achieved that cleaning the autonomous of ship
It drives and autonomous junk-free function, high degree of automation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot for water surface cleaner of the present invention.
Fig. 2 is the control system schematic diagram of robot for water surface cleaner of the present invention.
Fig. 3 is the driving device of robot for water surface cleaner of the present invention and the structural schematic diagram of executive device.
Attached drawing mark: 1 is control system, and 2 be driving device, and 3 be executive device, and 4 be navigation system, and 5 be ultrasound
Away from sensor, 6 be pressure sensor, and 7 be visual sensor, and 8 be power module, and 9 be wireless communication module, and 21 be wrist rudder
Machine, 22 be forearm steering engine, and 23 be postbrachium steering engine, and 24 be motor reducer, and 25 is turn to horizontal stage electric machine, and 31 be manipulator, and 32 are
Forearm, 33 be postbrachium, and 34 is turn to holder, and 35 be support base.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, be robot for water surface cleaner of the present invention structural schematic diagram, including control system 1, driving device 2,
Executive device 3, navigation system 4, sensor module: where sensor module includes ultrasonic distance-measuring sensor 5, pressure sensing
Device 6, visual sensor 7, power module 8 and wireless communication module 9；
The control system 1 is used for all decision-making treatments of robot for water surface cleaner；The driving device 2 is for providing ship
The power of body and manipulator motion；The executive device 3 is used to complete the folding and unfolding of rubbish；The navigation system 4 is for providing ship
The course line of body traveling；The ultrasonic distance-measuring sensor 5 measures the distance between hull head and barrier；The pressure sensing
Device 6 detects the weight that dustbin has accommodated rubbish；The visual sensor 7 identifies the rubbish on the water surface；The power module 8
Power supply is provided for whole system；The wireless communication module 9 is used to clean the information communication between ship and ground control station.
As shown in Fig. 2, the control system 1 of robot for water surface cleaner of the present invention, the control system 1 connects with driving device 2
It connects, the pwm control signal that driving device 2 is sent out by receiving control system 1, driving motor drives the rotation of propeller, is used for
Control the movement of hull and mechanical arm；The control system 1 is connect for realizing the crawl and placement to rubbish with executive device 3
Movement；The control system 1 is connect with navigation system 4, and the latitude and longitude information data of acquisition are transferred to control system by navigation system 4
System 1 is for providing the course line of hull traveling；The control system 1 is connect with sensor module: wherein control system 1 and ultrasonic wave
The connection of distance measuring sensor 5 collides for measuring the distance between hull head and barrier to prevent hull；The control system
System 1 connect the weight that rubbish is accommodated for detecting dustbin with pressure sensor 6；The control system 1 connects with visual sensor 7
Connect the rubbish position on the water surface for identification；The control system 1 is connect for mentioning for entire control system 1 with power module 8
For electric energy, power module 8 determines to enable solar battery or battery according to battery level information, and utilizes Voltage stabilizing module
Stablize the voltage for 3.3V, 5V, 24V；The control system 1 connect with wireless communication module 9 for robot for water surface cleaner and
Information communication between ground control station.
As shown in figure 3, the driving device 22 of robot for water surface cleaner of the present invention and the structural schematic diagram of executive device 33, institute
Driving device 2 is stated to include wrist steering engine 21, forearm steering engine 22, postbrachium steering engine 23, motor reducer 24, turn to horizontal stage electric machine 25,
The steering horizontal stage electric machine 25 is connected by gear shaft with motor reducer 24, turns to the steering of holder 34 for driving；After described
Arm steering engine 23 is mounted on the rear end of postbrachium 33, and driving postbrachium 33 is swung up and down；The forearm steering engine 22 is mounted on postbrachium 33 with before
The junction of arm 32, for driving forearm 32 to swing up and down；The wrist steering engine 21 is mounted on the front end of forearm 32, for controlling
Manipulator 31 processed grabs target.
The executive device 3 includes manipulator 31, forearm 32, postbrachium 33, turns to holder 34, support base 35, the machinery
Hand 31 is mounted on the front end of forearm 32；The forearm 32 connects wrist steering engine 21 and forearm steering engine 22；Before the postbrachium 33 connects
Arm steering engine 22 and postbrachium steering engine 23；The holder 34 that turns to is mounted on the top of support base 35, is used to support wrist steering engine 21, preceding
Arm steering engine 22, postbrachium steering engine 23, manipulator 31, forearm 32 and postbrachium 33；The support base 35 is mounted on hull, is used to support
The wrist steering engine 21, forearm steering engine 22, postbrachium steering engine 23, manipulator 31, forearm 32, postbrachium 33 and steering holder 34.
The navigation system 4 provides the longitude and latitude that GPS module receives hull present position at this time, and communicates this information to
Control system 1, the deviation of robot for water surface cleaner at this time and theoretical course line is calculated by control system 1, and the speed of a ship or plane is combined to carry out
Control, enables robot for water surface cleaner to navigate by water according to prebriefed pattern, completes the function of making a return voyage automatically of robot for water surface cleaner；Institute
It states navigation system 4 and selects the double locating modules of GPS Beidou, external active antenna, wherein the double locating modules of GPS Beidou pass through TTL electricity
Flat serial communication interface and processor carries out data communication, wherein data updating rate 1Hz, positioning accuracy 2.5CEP, communication
Baud rate maximum 230400.
The sensor module includes ultrasonic distance-measuring sensor 5, pressure sensor 6, visual sensor 7: the ultrasound
Wave distance measuring sensor 5 gives ultrasonic wave to control system 1 from the received time is emitted to, and control system 1 passes through time and ultrasound
The speed that wave is propagated, calculates the distance between hull head and barrier；In the process of moving, control system 1 is to ultrasonic wave
Distance measuring sensor 5 issues the high level of a 10 μ s or more, as the trigger signal of sensor, then ultrasonic distance-measuring sensor
5 inside will issue 8 40Hz period level and detect echo., it has detected and has exported response signal to processor after echo-signal,
The pulse width of response signal is directly proportional at a distance from being surveyed；Processor passes through the pulse width of measurement response signal, then sharp
With the velocity of sound and existing formula, calculate hull to barrier distance；The module that the ultrasonic distance-measuring sensor 5 is selected is
HC-SR04, TTL interface, ranging range is up to 8 meters, and precision is up to 0.3cm；
The weight for the rubbish that dustbin accommodates is converted to electric signal by the pressure sensor 6, sends control system 1 to,
Control system 1 passes through AD conversion and rule converts by weight of setting, and obtains the weight that dustbin has accommodated rubbish
Amount；The module that the pressure sensor 6 is selected is HX711AD.The integrated HX711 of inside modules is a to aim at high-precision weighing
Sensor and the 24 A/D converter chips designed.The integrated chip includes that regulated power supply, on-chip clock oscillator etc. are other
Peripheral circuit required for similar cake core has many advantages, such as integrated level height, fast response time, strong interference immunity.The module is logical
It crosses two universal input/output interfaces and processor carries out data transmission, be easy to use；
Lake surface context conversion is electric signal by the visual sensor 7, then converts electrical signals to number using AD conversion
Word signal.Each pixel has a numerical value, has recorded the brightness of the pixel, through reasonable settings threshold value, can will adopt
The image information collected carries out binaryzation.For the data of binaryzation, some noises are excluded by some filtering algorithms, then
Using the method for edge extracting, determine that the shape of various objects, control system 1 analyze and determine shape, if it is decided that be
It is rubbish, robotic arm will be operated and go to pick up the rubbish.
The power module 8 provides power supply for entire control system 1 and voltage stabilization is worked normally institute in each module
The voltage needed, the power module 8 include solar battery, battery, Voltage stabilizing module.In fine day, sunny time is enabled
Solar battery converts the solar into electric energy, enables battery in rainy weather,
The wireless communication module 9 includes wireless transmitter module and wireless receiving module, is returned for cleaning ship to console
Hull status information is returned, and receives the order of console；Present bit of the wireless communication module 9 robot for water surface cleaner
It sets, the information such as speed send ground control system 1 to.Ground control system 1 obtains robot for water surface cleaner according to these information
Current state, trace information carry out real-time navigation to robot for water surface cleaner；The wireless communication module 9 is handed over using circulation
Error correction and detection coding is knitted, has the function of wireless awakening and networking function；The communication module selects YL-5000, and YL-5000 is a
High stability, the wireless transparent data transmit-receive module using GFSK modulation system of low-power consumption have high sensitivity, transmission range
Far, the advantages that communication speed is fast.Module transfer distance is up to 10Km, communication speed 1.2kbps-115.2kbps, working frequency range
In 433MHz.It is connected by 232 level serial communication interfaces with processor, carries out data communication.
In conclusion transplanting built-in Linux on a processor in robot for water surface cleaner of the present invention, make control system
With real-time height, advantage low in energy consumption, convenient for safeguarding；Using the dual battery system of solar battery and battery, make to control
System is more energy-saving and environmentally friendly；And cleaning ship automated cleaning rubbish may be implemented, the functions such as maked a return voyage after completion task automatically.The water surface
Clean robot has the function of location navigation, cleaning rubbish, automatic obstacle-avoiding, telecommunication, has high degree of automation, energy conservation
Advantage environmentally friendly, convenient for safeguarding.
Claims (5)
1. a kind of robot for water surface cleaner, which is characterized in that including control system (1), driving device (2), executive device (3),
Navigation system (4), sensor module, power module (8) and wireless communication module (9)；Wherein, sensor module includes ultrasonic wave
Distance measuring sensor (5), pressure sensor (6) and visual sensor (7)；
The control system (1) is used for all decision-making treatments of robot for water surface cleaner；The driving device (2) is for providing ship
The power of body and manipulator motion；The executive device (3) is used to complete the folding and unfolding of rubbish；The navigation system (4) is for mentioning
For the course line of hull traveling；The ultrasonic distance-measuring sensor (5) measures the distance between hull head and barrier；The pressure
Force snesor (6) detection dustbin has accommodated the weight of rubbish；Rubbish on visual sensor (7) the identification water surface；Institute
It states power module (8) and provides power supply for robot for water surface cleaner；The wireless communication module (9) for robot for water surface cleaner and
Information communication between ground control station；
Ultrasonic wave is sent to control system (1) by the ultrasonic distance-measuring sensor (5) from the received time is emitted to, control system
(1) is united by the speed of time and ultrasonic wave propagation, calculates the distance between hull head and barrier；In driving process
In, control system (1) issues the high level of a 10 μ s or more to ultrasonic distance-measuring sensor (5), passes as ultrasonic distance measurement
The trigger signal of sensor (5) then will issue 8 40Hz period level and detect echo inside ultrasonic distance-measuring sensor (5),
It has detected and has exported response signal to processor after echo-signal, the pulse width of response signal is directly proportional at a distance from being surveyed；
Processor by measurement response signal pulse width, calculate hull to barrier distance；The ultrasonic distance measurement sensing
The module that device (5) is selected is HC-SR04, and TTL interface, for ranging range up to 8 meters, precision reaches 0.3cm；
The weight for the rubbish that dustbin accommodates is converted to electric signal by the pressure sensor (6), sends control system (1) to,
Control system (1) passes through AD conversion and converts, and obtains the weight that dustbin has accommodated rubbish；The pressure sensor
(6) module selected is HX711AD；
Lake surface context conversion is electric signal by the visual sensor (7), then converts electrical signals to number using AD conversion
Signal；Each pixel has a numerical value, has recorded the brightness of the pixel, and by the way that threshold value is arranged, acquired image is believed
Breath carries out binaryzation；For the data of binaryzation, noise is excluded by filtering algorithm, the method for then utilizing edge extracting,
Determine that the shape of object, control system (1) analyze and determine shape, if it is decided that be rubbish, then operate robotic arm and go to pick up
The rubbish；
The control system (1) connect with driving device (2), the PWM that driving device (2) is sent out by receiving control system (1)
Signal is controlled, driving motor drives propeller rotational, for controlling the movement of hull and mechanical arm；The control system (1) with
Executive device (3) connection is for realizing the crawl and placement movement to rubbish；The control system (1) and navigation system (4) are even
It connects, the latitude and longitude information data of acquisition are transferred to control system (1) for providing the course line of hull traveling by navigation system (4)；
The control system (1) connect with sensor module: wherein control system (1) connect with ultrasonic distance-measuring sensor (5) and is used for
The distance between hull head and barrier are measured, is collided to prevent hull；The control system (1) and pressure sensor
(6) weight that rubbish is accommodated for detecting dustbin is connected；The control system (1) connect with visual sensor (7) for knowing
Rubbish position on the other water surface；The control system (1) is connect for providing for entire control system (1) with power module (8)
Electric energy, power module (8) determines to enable solar battery or battery according to battery level information, and utilizes Voltage stabilizing module
Stablize the voltage of output 3.3V, 5V, 24V；The control system (1) is connect for water surface cleaner with wireless communication module (9)
Information communication between device people and ground control station；
The driving device (2) include wrist steering engine (21), forearm steering engine (22), postbrachium steering engine (23), motor reducer (24),
It turns to horizontal stage electric machine (25), the steering horizontal stage electric machine (25) is connected by gear shaft with motor reducer (24), for driving
Holder (34) are turned to turn to；The postbrachium steering engine (23) is mounted on the rear end of postbrachium (33), and driving postbrachium (33) is swung up and down；Institute
The junction that forearm steering engine (22) is mounted on postbrachium (33) and forearm (32) is stated, for driving forearm (32) to swing up and down；It is described
Wrist steering engine (21) is mounted on the front end of forearm (32), for controlling manipulator (31) crawl target.
2. robot for water surface cleaner according to claim 1, which is characterized in that the executive device (3) includes manipulator
(31), forearm (32), postbrachium (33), steering holder (34), support base (35), the manipulator (31) are mounted on forearm (32)
Front end；Forearm (32) connection wrist steering engine (21) and forearm steering engine (22)；The postbrachium (33) connects forearm steering engine (22)
With postbrachium steering engine (23)；Turn to holder (34) are mounted on the tops of support base (35), are used to support wrist steering engine (21), preceding
Arm steering engine (22), postbrachium steering engine (23), manipulator (31), forearm (32) and postbrachium (33)；The support base (35) is mounted on ship
On body, be used to support the wrist steering engine (21), forearm steering engine (22), postbrachium steering engine (23), manipulator (31), forearm (32),
Postbrachium (33) and steering holder (34).
3. robot for water surface cleaner according to claim 1, which is characterized in that the navigation system (4) provides GPS module
The latitude and longitude information of hull present position at this time is received, and sends the latitude and longitude information to control system (1), by control system
(1) deviation of robot for water surface cleaner at this time and theoretical course line is calculated, and is controlled in conjunction with the speed of a ship or plane, the water surface is made to clean machine
People can navigate by water according to prebriefed pattern, complete the function of making a return voyage automatically of robot for water surface cleaner；The navigation system (4) is selected
The double locating modules of GPS Beidou, external active antenna, wherein the double locating modules of GPS Beidou are connect by the serial communication of Transistor-Transistor Logic level
Mouth carries out data communication with processor, wherein data updating rate 1Hz, positioning accuracy 2.5CEP, communication baud rate are maximum
230400。
4. robot for water surface cleaner according to claim 1, which is characterized in that the power module (8) is entire control
System (1) provides power supply and voltage stabilization is worked normally required voltage in each module, and the power module (8) includes too
Positive energy battery, battery, Voltage stabilizing module, enable solar battery in fine day and convert the solar into electric energy, in rainy weather
Shi Qiyong battery.
5. robot for water surface cleaner according to claim 1, which is characterized in that the wireless communication module (9) includes nothing
Line transmitting module and wireless receiving module, for robot for water surface cleaner, control station returns to hull status information to the ground, and connects
By the order of ground control station；The wireless communication module (9) transmits the current location of robot for water surface cleaner, velocity information
To ground control station；Ground control station obtains the current state of robot for water surface cleaner, trace information according to these information, right
Robot for water surface cleaner carries out real-time navigation；The wireless communication module (9) is had wireless using circulation intertexture error correction and detection coding
Arousal function and networking function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157212.6A CN106585904B (en) | 2016-12-15 | 2016-12-15 | A kind of robot for water surface cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611157212.6A CN106585904B (en) | 2016-12-15 | 2016-12-15 | A kind of robot for water surface cleaner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106585904A CN106585904A (en) | 2017-04-26 |
| CN106585904B true CN106585904B (en) | 2019-01-18 |
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