CN108189989B - Intelligent deepwater operation system based on motion simulation - Google Patents
Intelligent deepwater operation system based on motion simulation Download PDFInfo
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- CN108189989B CN108189989B CN201810050058.5A CN201810050058A CN108189989B CN 108189989 B CN108189989 B CN 108189989B CN 201810050058 A CN201810050058 A CN 201810050058A CN 108189989 B CN108189989 B CN 108189989B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
An intelligent deepwater operation system based on motion simulation comprises a deepwater operation device, a motion simulation device, a pickup device, a deepwater communication device, a driving device, a virtual reality device, a positioning device, a wireless device and a control center, wherein the deepwater operation device comprises a deepwater operation platform, a deepwater operation cabin, a personnel operation cabin, a deepwater operation robot, a telescopic mechanical arm, an article storage cabin, a drainage channel and a water storage cabin, the motion simulation device is arranged at the position inside the personnel operation cabin, the pickup device comprises a first camera and a second camera, the deepwater communication device comprises a first communication module and a second communication module, the driving device comprises a pushing pump, an injection conduit, an injection port and a waterproof storage battery, the virtual reality device is arranged at the position inside the personnel operation cabin, the positioning device is arranged at the position inside the deepwater operation robot and is connected with the second communication module, the wireless device is arranged in the control center, and the control center is arranged in the deepwater operation platform.
Description
Technical Field
The invention relates to the field of deepwater operation, in particular to an intelligent deepwater operation system based on motion simulation.
Background
With the rapid development of computer software and hardware technologies and the improvement of animation requirements, motion capture has already entered the practical stage in developed countries, and many manufacturers have successively introduced various commercialized motion capture devices, and have been successfully used in many aspects such as virtual reality, games, human engineering research, simulation training, biomechanics research, and the like. From the technical point of view, the essence of motion capture is to measure, track and record the motion trajectory of an object in three-dimensional space. A typical motion capture device generally consists of several parts: a sensor, a signal capturing device, a data transmission device and a data processing device. Deep water operation generally means that the depth of water for underwater operation exceeds 35 meters, and deep water operation cannot be carried out in severe weather.
However, how to combine the motion capture device, the underwater robot and the deepwater operation to obtain the motion information of the deepwater operator to control the corresponding underwater robot to simulate the motion of the deepwater operator, so that the problems that the deepwater operation cannot be carried out under severe weather and the accident rate of the deepwater operation of the deepwater operator is reduced are urgently solved at present.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an intelligent deepwater operation system based on motion simulation, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
an intelligent deepwater operation system based on motion simulation comprises a deepwater operation device, a motion simulation device, an intake device, a deepwater communication device, a driving device, a virtual reality device, a positioning device, a wireless device and a control center, wherein the deepwater operation device comprises a deepwater operation platform, a deepwater operation cabin, a personnel operation cabin, a deepwater operation robot, a telescopic mechanical arm, an article storage cabin, a drainage channel and a water storage cabin, the deepwater operation platform is arranged above the water surface, and the deepwater operation cabin is arranged at a position below the inside of the deepwater operation platform and used for placing a deepwater operation robot; the personnel operation is arranged at the upper position inside the deepwater operation platform and is used for providing deepwater operators to operate the deepwater operation robot; the deepwater operation robot is provided with a plurality of deepwater operation robots which are designed to be waterproof and are arranged at the inner positions of the deepwater operation bin for carrying out deepwater operation; the telescopic mechanical arms are arranged at a plurality of lateral positions of the deep water operation robot and used for executing specified operation; the quantity of the article storage bins is consistent with that of the deepwater operation robots, and the article storage bins are arranged at the top positions in the deepwater operation robots and used for storing specified objects; the drainage channel is arranged in the deep water operation robot, is respectively connected with the article storage bin and the water storage bin, and is used for guiding liquid in the article storage bin into the water storage bin; the number of the water storage bins is consistent with that of the deepwater operation robots, and the water storage bins are arranged at the inner positions of the deepwater operation robots and used for storing and sucking liquid; the motion simulation devices are arranged in the personnel operating bin and are bound with corresponding deepwater operating robots for acquiring motion information of deepwater operators; the shooting device comprises a first camera and a second camera, the first camera is arranged at the side position of the deepwater operation platform, the internal position of the deepwater operation bin, the internal position of the personnel operation bin and the internal position of the article storage bin, and is used for acquiring environmental images of the side position of the deepwater operation platform, the internal position of the deepwater operation bin, the internal position of the personnel operation bin and the internal position of the article storage bin; the second cameras are arranged at the side positions of the deepwater operation robot and are used for shooting the environmental images around the deepwater operation robot; the deepwater communication device comprises a first communication module and a second communication module, wherein the first communication module is arranged in the control center and is used for being connected with the second communication module; the number of the second communication modules is the same as that of the deep-water operation robots, the second communication modules are arranged in the deep-water operation robots and are used for being connected with the deep-water operation robots, the telescopic mechanical arms, the article storage bin, the water storage bin, the first camera and the first communication modules respectively; the driving device comprises a propelling pump, a jet pipe, a jet orifice and a waterproof storage battery, wherein the propelling pump is arranged in the deep water operation robot and connected with the second communication module and is used for ejecting liquid through the jet orifice at a high speed; the jet guide pipe is arranged at the inner position of the deepwater operation robot, is respectively connected with the water storage bin and the propulsion pump, and is used for guiding liquid in the water storage bin into the propulsion pump; the jet orifices are arranged at the outer tail end position of the deepwater operation robot and connected with the propulsion pump and the second communication module, and are used for adjusting the direction of high-speed water flow jetted by the propulsion pump; the quantity of the waterproof storage batteries is consistent with that of the deepwater operation robots, and the waterproof storage batteries are arranged in the inner positions of the deepwater operation robots and used for providing electric power; the virtual reality devices are arranged at a plurality of positions in the personnel operating bin and used for providing virtual reality scenes and virtual reality experiences for deep water operation human bodies; the number of the positioning devices is the same as that of the deepwater operation robots, the positioning devices are arranged in the deepwater operation robots and connected with the second communication module, and the positioning devices are used for positioning the positions of the deepwater operation robots and acquiring positioning data of corresponding positions; the wireless device is arranged in the control center and is used for being respectively connected with the action simulation device, the first camera, the first communication module, the virtual reality device, the control center, the external equipment, the water rescue center and the network; the control center is arranged at the inner position of the deepwater operation platform and used for executing specified operation.
In a preferred embodiment of the present invention, the drain passage and the spray pipe are provided with check valves for preventing the backflow of the liquid.
As a preferred mode of the present invention, the motion simulation apparatus includes a motion capture device, a motion transmission module, and a motion processing module, wherein the motion capture device is worn at a position outside the body of the deepwater worker, is connected to the wireless device, and is configured to acquire motion information of the deepwater worker; the motion transmission module is arranged at an internal position of the motion capture equipment, is connected with the wireless device and is used for transmitting the acquired motion information to the motion processing module; the motion processing module is arranged in the inner position of the motion capture equipment, connected with the wireless device and used for generating motion simulation signals corresponding to the deep-water operation robot according to the received motion information.
As a preferable mode of the invention, the deepwater work platform further comprises a lifting device, the lifting device comprises a lifting channel and a lifting platform, the lifting channel is arranged at an internal position of the deepwater work platform, is respectively connected with the deepwater work bin and the personnel operation bin, and is used for providing movement for the lifting platform; the lifting platform is arranged at the inner position of the lifting channel, is connected with the wireless device and is used for moving in the lifting channel.
As a preferable mode of the present invention, the lifting device further includes a lifting rail, a lifting motor, and a lifting roller, wherein the lifting rail is disposed at a lateral position inside the lifting channel and used for providing movement for the lifting platform; the lifting motor is arranged in the lifting platform, connected with the wireless device and used for driving the lifting roller to run; the lifting roller is arranged at the side position of the lifting platform and used for driving the lifting platform to move on the lifting rail.
As a preferable mode of the invention, the deepwater work platform further comprises a power generation cabin, a generator and a power supply device, wherein the power generation cabin is arranged at an internal position of the deepwater work platform and is used for placing the generator; the generator is arranged in the power generation cabin and used for providing power; the power supply device is arranged at the deep water operation cabin, the personnel operation cabin, the power generation cabin, the lifting channel and the control center and is used for providing power generated by the power generator.
As a preferable mode of the invention, the deepwater work platform further comprises a garbage disposal device, the garbage disposal device comprises a garbage lifting channel and a telescopic door body, the top end surface of the garbage lifting channel and the upper surface of the deepwater work platform are kept at the same horizontal plane and are arranged at the inner position of the deepwater work platform, and the garbage disposal device is used for providing up-and-down movement for the garbage storage bin; the telescopic door body is arranged at the connection position of the garbage lifting channel and the upper surface of the deepwater operation platform, is connected with the wireless device and is used for opening and closing the garbage lifting channel.
As a preferable mode of the present invention, the garbage disposal device further includes a garbage storage bin, and the garbage storage bin is disposed in the garbage lifting channel and provided with a garbage input port for storing the garbage acquired by the deepwater work robot.
As a preferable mode of the present invention, the garbage disposal apparatus further includes a suspended unmanned aerial vehicle, and the suspended unmanned aerial vehicle is disposed above the garbage storage bin, connected to the wireless device, and configured to suspend the garbage storage bin to a designated position.
As a preferable mode of the present invention, the garbage disposal apparatus further includes a connecting device and a laser range finder, wherein the connecting device is disposed at a connecting position of the suspended unmanned aerial vehicle and the garbage storage bin, and is used for being connected to the suspended unmanned aerial vehicle and the garbage storage bin respectively; the laser range finder set up in article storage storehouse and rubbish storage storehouse internal position and be connected with wireless device for acquire the inside rubbish height information in rubbish storage storehouse.
The invention realizes the following beneficial effects: 1. the intelligent deepwater operation system acquires the action information of the action simulation device in the personnel operation bin in real time after receiving the starting instruction, extracts the started action simulation device, controls the deepwater operation robot bound with the started action simulation device to enter a deepwater operation area, provides virtual reality experience corresponding to the deepwater operation area for a user through the virtual reality device, and simultaneously acquires the action information of a deepwater operation human body and controls the deepwater operation robot to simulate corresponding actions to perform deepwater operation.
2. The deepwater operator can enter the deepwater operation cabin and the personnel operation cabin which are connected with the lifting channel through the lifting channel of the deepwater operation platform.
3. The intelligent deep water operation system can provide a water area garbage cleaning function, and controls the suspension unmanned aerial vehicle to suspend the garbage cleaning bin to a planned garbage cleaning station for replacement after the garbage storage bin is fully stored.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. Fig. 1 is a side sectional view of a deepwater work platform according to an example of the present invention;
fig. 2 is a schematic side view of a deep water operation robot according to an example of the present invention;
fig. 3 is a side sectional view of a deep water operation robot according to one example of the present invention;
FIG. 4 is a partial schematic view of a lift apparatus provided in accordance with one example of the present invention;
FIG. 5 is a side cross-sectional view of a waste management device according to one embodiment of the present invention;
fig. 6 is an electronic device connection diagram of an intelligent deep water operation system provided by one example of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1-3, fig. 6, fig. 1 is a side sectional view of a deepwater work platform according to an example of the present invention; fig. 2 is a schematic side view of a deep water operation robot according to an example of the present invention; fig. 3 is a side sectional view of a deep water operation robot according to one example of the present invention; fig. 6 is an electronic device connection diagram of an intelligent deep water operation system provided by one example of the invention.
Specifically, the embodiment provides an intelligent deep water operation system based on motion simulation, which comprises a deep water operation device 1, a motion simulation device 2, an intake device 3, a deep water communication device 4, a driving device 5, a virtual reality device 6, a positioning device 7, a wireless device 8 and a control center 9, wherein the deep water operation device 1 comprises a deep water operation platform 10, a deep water operation cabin 11, a personnel operation cabin 12, a deep water operation robot 13, a telescopic mechanical arm 14, an article storage cabin 15, a drainage channel 16 and a water storage cabin 17, the deep water operation platform 10 is arranged above the water surface, and the deep water operation cabin 11 is arranged at a position below the inside of the deep water operation platform 10 and used for placing the deep water operation robot 13; the personnel operation is arranged at an upper position inside the deepwater operation platform 10 and is used for providing deepwater operators to operate the deepwater operation robot 13; the deepwater operation robot 13 is provided with a plurality of deepwater operation robots which are designed to be waterproof and are arranged at the inner positions of the deepwater operation bin 11 and used for carrying out deepwater operation; the telescopic mechanical arm 14 is provided with a plurality of telescopic mechanical arms and arranged at the side position of the deepwater operation robot 13 and used for executing specified operation; the quantity of the article storage bins 15 is consistent with that of the deepwater operation robots 13, and the article storage bins are arranged at the top positions in the deepwater operation robots 13 and used for storing specified objects; the drainage channel 16 is arranged in the deep water operation robot 13, is respectively connected with the article storage bin 15 and the water storage bin 17, and is used for guiding liquid in the article storage bin 15 into the water storage bin 17; the number of the water storage bins 17 is consistent with that of the deepwater operation robots, and the water storage bins are arranged at the inner positions of the deepwater operation robots and used for storing and sucking liquid; the action simulation devices 2 are arranged in the personnel operating bin 12 and are bound with corresponding deepwater operating robots 13, and are used for acquiring action information of deepwater operators; the shooting device 3 comprises a first camera 30 and a second camera 31, wherein the first camera 30 is arranged at a lateral position of the deepwater work platform 10, an internal position of the deepwater work bin 11, an internal position of the personnel operating bin 12 and an internal position of the article storage bin 15 and is used for acquiring environmental images of the lateral position of the deepwater work platform 10, the internal position of the deepwater work bin 11, the internal position of the personnel operating bin 12 and the internal position of the article storage bin 15; the second cameras 31 are arranged at the side positions of the deepwater operation robot 13 and are used for capturing the environmental images around the deepwater operation robot 13; the deepwater communication device 4 comprises a first communication module 40 and a second communication module 41, wherein the first communication module 40 is arranged in the control center 9 and is used for being connected with the second communication module 41; the number of the second communication modules 41 is the same as that of the deep-water operation robots 13, and the second communication modules are arranged at positions inside the deep-water operation robots 13 and are respectively connected with the deep-water operation robots 13, the telescopic mechanical arms 14, the article storage bins 15, the water storage bins 17, the first cameras 30 and the first communication modules 40; the driving device 5 comprises a propulsion pump 50, a jet pipe 51, a jet port 52 and a waterproof storage battery 53, wherein the propulsion pump 50 is arranged at an internal position of the deep water operation robot 13 and is connected with the second communication module 42 for jetting the liquid out through the jet port 52 at a high speed; the injection conduit 51 is arranged at the inner position of the deep water operation robot 13, is respectively connected with the water storage bin 17 and the propulsion pump 50, and is used for guiding the liquid in the water storage bin 17 into the propulsion pump 50; the jet ports 52 are provided with a plurality of jet ports and are arranged at the outer tail end position of the deepwater work robot 13 to be connected with the propulsion pump 50 and the second communication module 41 and used for adjusting the direction of the high-speed water flow jetted by the propulsion pump 50; the number of the waterproof storage batteries 53 is the same as that of the deepwater operation robots 13, and the waterproof storage batteries are arranged in the inner positions of the deepwater operation robots 13 and used for supplying power; the virtual reality devices 6 are arranged at a plurality of positions in the personnel operating cabin 12 and used for providing virtual reality scenes and virtual reality experiences for deep-water operation human bodies; the number of the positioning devices 7 is the same as that of the deepwater operation robots 13, the positioning devices are arranged in the deepwater operation robots 13 and connected with the second communication module 41, and the positioning devices are used for positioning the positions of the deepwater operation robots 13 and acquiring positioning data of corresponding positions; the wireless device 8 is arranged in the control center 9 and is used for being connected with the action simulation device 2, the first camera 30, the first communication module 40, the virtual reality device 6 and the control center 9 respectively; the control center 9 is arranged at an inner position of the deepwater work platform 10 and is used for executing specified operation.
In a preferred embodiment of the present invention, the drain passage 16 and the spray pipe 51 are provided with check valves 18 for preventing the backflow of the liquid.
In a preferred embodiment of the present invention, the motion simulation apparatus 2 includes a motion capture device 20, a motion transmission module 21, and a motion processing module 22, wherein the motion capture device 20 is worn at a position outside the body of the deepwater worker, is connected to the wireless apparatus 8, and is configured to acquire motion information of the deepwater worker; the motion transmission module 21 is disposed at an internal position of the motion capture device 20, connected to the wireless apparatus 8, and configured to transmit the acquired motion information to the motion processing module 22; the motion processing module 22 is disposed at an internal position of the motion capture device 20, connected to the wireless device 8, and configured to generate a motion simulation signal corresponding to the deep-water operation robot 13 based on the received motion information.
As a preferable mode of the present invention, the deepwater work platform 10 further comprises a power generation cabin 106, a power generator 107 and a power supply device 108, wherein the power generation cabin 106 is disposed at an internal position of the deepwater work platform 10 for placing the power generator 107; the generator 107 is arranged in the power generation cabin 106 for providing power; the power supply device 108 is arranged at the deep water working chamber 11, the personnel operating chamber 12, the power generation chamber 106, the lifting channel 101 and the control center 9, and is used for supplying the power generated by the power generator 107.
Wherein the deepwater operation robot 13 is provided with a plurality of telescopic mechanical arms 14; the first communication module 40 sends connection detection information to all the connected second communication modules 41 in real time, the second communication modules 41 return connection success information to the first communication module 40 when receiving the connection detection information, and if the second communication modules 41 do not receive the connection detection information, the connected deep-water operation robot 13 is controlled to float to the water surface; the control center 9 sends information and/or instructions to the action simulation device 2, the first camera 30, the first communication module 40, the virtual reality device 6, the lifting platform 102, the lifting motor 104, the telescopic door 111, the suspended unmanned aerial vehicle 113, the laser range finder 115, the external equipment and the water rescue center through the wireless device 8; after each electronic device of the intelligent deepwater operating system executes the completion instruction, corresponding instruction completion information is returned to the control center 9 through the connected wireless device 8 and/or the first communication module 40 and/or the second communication module 41; the electronic devices in the motion simulation device 2 are bound with the corresponding deep water operation robot 13 and the electronic devices arranged at the position of the deep water operation robot 13, and are provided with corresponding binding codes and stored in the control center 9.
Specifically, the wireless device 8 sends a start instruction to the control center 9 when receiving a start operation instruction sent by an external device, the control center 9 sends a start instruction to the deep water operation robot 13 in the deep water operation bin 11 and sends a real-time capture instruction to the first camera 30 in the personnel operation bin 12 when receiving the start operation instruction, the deep water operation robot 13 in the deep water operation bin 11 controls itself to enter a state to be started when receiving the start operation instruction, the first camera 30 in the personnel operation bin 12 captures an environmental image in the personnel operation bin 12 in real time and returns the captured environmental image in the personnel operation bin 12 to the control center 9, the control center 9 analyzes internal human body information in real time according to the captured environmental image in the personnel operation bin 12 when receiving the start operation instruction, if a human body exists in the personnel operation bin 12, the control center 9 sends a start instruction to the motion capture device 20 of the motion simulation device 2 in the personnel operation bin 12, the motion capture equipment 20 of the motion simulation device 2 in the personnel operating bin 12 controls the self to enter a starting state when receiving the information, acquires motion information in real time and returns the acquired motion information to the control center 9, the control center 9 analyzes the motion capture equipment 20 information of the motion simulation device 2 contained in the acquired motion information and acquires the binding code of the motion capture equipment 20 stored by the control center 9, if the control center 9 acquires the binding code of the motion capture equipment 20 stored by the control center 9, the deepwater work robot 13 information, the motion capture device information, the virtual reality device 6 information, the second camera 31 information, the second communication module 41 information, the water storage bin 17 information, the telescopic mechanical arm 14 information, the article storage bin 15 information and the positioning device 7 information contained in the binding code are extracted, and a real-time shooting instruction is sent to the second camera 31 corresponding to the second camera 31 information contained in the binding code, the second camera 31 corresponding to the information of the second camera 31 contained in the binding code captures the environmental image around the deep water operation robot 13 in real time and returns the captured environmental image to the control center 9, the control center 9 receives the environmental image and the moving diving instruction captured by the second camera 31 in real time and transmits the corresponding instruction and information to the deep water operation robot 13 corresponding to the information of the deep water operation robot 13 contained in the binding code (namely, the wireless device 8 transmits the corresponding instruction and information to the second communication module 41 corresponding to the information of the second communication module 41 contained in the binding code through the first communication module 40 and transmits the corresponding instruction and information to the connected deep water operation robot 13 through the second communication module 41), and transmits the environmental image and the virtual reality instruction captured by the second camera 31 in real time and transmits the virtual reality instruction to the virtual reality device 6 corresponding to the information of the virtual reality device 6 contained in the binding code, the deep-water operation robot 13 corresponding to the information of the deep-water operation robot 13 contained in the binding code controls the deep-water operation robot to dive into a deep-water operation area with a corresponding depth from the deep-water operation cabin 11 according to the environment image captured by the second camera 31 in real time after receiving the information, the virtual reality device 6 corresponding to the information of the virtual reality device 6 contained in the binding code performs virtual reality scene simulation according to the environment image captured by the second camera 31 and returns the virtual reality simulation information to the control center 9, the control center 9 sends a motion capture instruction to the motion capture equipment 20 corresponding to the information of the motion capture device contained in the binding code after receiving the information, the motion capture equipment 20 corresponding to the information of the motion capture device contained in the binding code acquires the motion information of the deep-water operator wearing the motion capture equipment 20 in real time after receiving the motion capture instruction, and transmits the acquired motion information to the motion transmission module 21 of the motion simulation device, the motion transmission module 21 of the motion simulation device 2 receives the real-time motion information, transmits the real-time received motion information to the motion processing module 22 in real time, the motion processing module 22 receives the real-time motion information, generates a motion simulation signal corresponding to the deep-water work robot 13 according to the received real-time motion information (the corresponding motion simulation signal means that the motion information of the user is a hand-up, and generates a motion simulation signal corresponding to the hand-up simulation of the deep-water work robot 13), and transmits the generated motion simulation signal corresponding to the deep-water work robot 13 to the control center 9 in real time, and the control center 9 receives the motion simulation signal and transmits the motion simulation signal to the deep-water work robot 13 corresponding to the information of the deep-water work robot 13 included in the binding code and the telescopic manipulator 14 corresponding to the information of the telescopic manipulator 14 (namely, the wireless device 8 transmits the motion simulation signal to the second communication module 41 corresponding to the information of the second communication module And corresponding instructions and information are sent to the connected deep water operation robot 13 and telescopic mechanical arm 14 by the second communication module 41), and the deep water operation robot 13 corresponding to the information of the deep water operation robot 13 and the telescopic mechanical arm 14 corresponding to the information of the telescopic mechanical arm 14 contained in the binding code simulate corresponding actions according to the received action simulation signals until the deep water operation is finished. (deepwater operators can directly simulate and operate corresponding deepwater operation robots 13 to execute corresponding deepwater operation in the operator operation cabins 12 without diving, the accident rate of the deepwater operators can be reduced, the decompression time of the deepwater operators at each time is saved, and the deepwater operation efficiency can be improved.)
Specifically, when the deep water operation robot 13 controls itself to submerge into the deep water operation area with a corresponding depth from the deep water operation cabin 11 according to the environmental image captured by the second camera 31 in real time, the method further includes the following steps:
the control center 9 sends a liquid replenishing instruction to the water storage bin 17 inside the deep water operation robot 13 corresponding to the deep water operation robot 13 information contained in the binding code and sends a propelling instruction to the deep water operation robot 13 corresponding to the deep water operation robot 13 information contained in the binding code and sends an environment image and an angle adjusting instruction shot by the second camera 31 to the jet orifice 52 at the tail end position of the deep water operation robot 13 corresponding to the deep water operation robot 13 information contained in the binding code, the water storage bin 17 inside the deep water operation robot 13 corresponding to the deep water operation robot 13 information contained in the binding code receives the instruction and controls the self to suck the liquid around the deep water operation robot 13, the propelling pump 50 inside the deep water operation robot 13 corresponding to the deep water operation robot 13 information contained in the binding code receives the instruction and controls the self to jet the liquid in the connected water storage bin 17 through the jet orifice 52 at high speed, thrust is generated to accelerate the moving speed of the deep water operation robot 13 in water, and the jet orifice 52 inside the deep water operation robot 13 corresponding to the information of the deep water operation robot 13 contained in the binding code controls the deep water operation robot to adjust the corresponding angle according to the received environment image shot by the second camera 31 so as to control the deep water operation robot to quickly submerge into the deep water operation area. (that is, the wireless device 8 sends corresponding instructions and information to the second communication module 41 corresponding to the information of the second communication module 41 contained in the binding code corresponding to the deepwater operation robot 13 through the first communication module 40, and then the corresponding instructions and information are sent to the connected water storage bin 17, the propulsion pump 50 and the jet orifice 52 through the second communication module 41.)
Specifically, when the deepwater work robot 13 and the telescopic mechanical arm 14 simulate corresponding actions according to the received action simulation signals to perform deepwater work, the method further comprises the following steps:
the control center 9 sends a real-time shooting instruction to the first camera 30 arranged at the side position of the deepwater operation platform 10 and sends a real-time shooting instruction to the second camera 31 of the deepwater operation robot 13 for deepwater operation (namely, the wireless device 8 sends a corresponding instruction to the second communication module 41 corresponding to the information of the second communication module 41 contained in the binding code corresponding to the deepwater operation robot 13 for deepwater operation through the first communication module 40 and then sends the corresponding instruction to the connected second camera 31 through the second communication module 41), the first camera 30 receives the real-time shooting of the environment image around the telescopic operation platform and returns the shot environment image around the deepwater operation platform 10 to the control center 9, and the second camera 31 of the deepwater operation robot 13 for deepwater operation receives the real-time shooting of the environment image around the deepwater operation robot 13 for deepwater operation and sends the shot ring image around the deepwater operation robot 13 The environmental image is returned to the control center 9, the control center 9 receives the environmental image around the deepwater work platform 10 and the environmental image around the deepwater work robot 13 to analyze whether a drowned human body exists in real time, if yes, the control center 9 extracts the image of the drowned human body and sends the image of the drowned human body and a lower approach instruction to the deepwater work robot 13 for deepwater work (namely, the wireless device 8 is used for sending a corresponding instruction to a second communication module 41 corresponding to information of a second communication module 41 contained in a binding code corresponding to the deepwater work robot 13 for deepwater work through a first communication module 40, the corresponding instruction is sent to the connected deepwater work robot 13 through the second communication module 41, and the deepwater work robot 13 corresponding to the number of the drowned human bodies is sent to the deepwater work robots 13 according to the number of the drowned human bodies), and the deepwater work robot 13 for deepwater work returns arrival information to the position below the drowned human body according to the image of the drow The control center 9 (that is, the deep water operation robot 13 for deep water operation returns the arrival information to the connected second communication module 41, the second communication module 41 returns the received arrival information to the first communication module 40 after receiving the arrival information, the first communication module 40 returns the arrival information to the control center 9 through the wireless device 8 after receiving the arrival information), the control center 9 sends an opening instruction to the article storage bin 15 of the deep water operation robot 13 which reaches the position below the drowned human body after receiving the arrival information, the article storage bin 15 controls the self-opening and returns the opening completion information to the control center 9 after receiving the arrival information, the control center 9 sends a human body image and a human body storage instruction to the deep water operation robot 13 which reaches the position below the drowned human body and sends a closing instruction to the article storage bin 15 of the deep water operation robot 13 which reaches the position below the drowned human body after receiving the arrival information, the deep water operation robot 13 reaching the position below the drowned human body loads the drowned human body above into the internal position of the article storage bin 15 upon receiving the instruction and returns the loading completion information to the control center 9 after the loading is completed, the article storage bin 15 of the deep water operation robot 13 reaching the position below the drowned human body controls the article storage bin 15 to close and returns closing completion information to the control center 9 when receiving the instruction, the control center 9 sends an environment image and a floating reset instruction which are captured by the second camera 31 in real time to the deep water operation robot 13 of the article storage bin 15 containing the human body and sends the image of the drowned human body and drowning information to the water rescue center by using the wireless device 8 when receiving the instruction, the deep water operation robot 13 of the article storage bin 15 containing the human body controls the deep water operation bin 11 to float upwards according to the environment image captured by the second camera 31 in real time after receiving the environment image. (the control center 9 sends information and/or instructions to the deep water operation robot 13 and the article storage bin 15 through the wireless device 8 to the first communication module 40, the first communication module 40 sends the information and/or instructions to the second communication module 41 corresponding to the information of the second communication module 41 contained in the binding code corresponding to the deep water operation robot 13, the second communication module 41 receives the information and/or instructions and sends the corresponding information and/or instructions to the corresponding connected electronic device, the electronic device connected with the second communication module 41 returns the instruction completion information to the first communication module 40 connected, the first communication module 40 returns the information to the wireless device 8, and finally the wireless device 8 returns the information to the control center 9.)
Example two
Referring to fig. 4 and 6, fig. 4 is a partial schematic view of a lifting device according to an example of the present invention.
The present embodiment is substantially identical to the first embodiment, except that in the present embodiment, the deepwater work platform 10 further includes a lifting device 100, the lifting device 100 includes a lifting channel 101 and a lifting platform 102, the lifting channel 101 is disposed at an internal position of the deepwater work platform 10 and is respectively connected to the deepwater work bin 11 and the personnel operating bin 12 for providing movement of the lifting platform 102; the elevating platform 102 is disposed at an inner position of the elevating channel 101 and connected to the wireless device 8 for moving inside the elevating channel 101.
As a preferred mode of the present invention, the lifting device 100 further includes a lifting rail 103, a lifting motor 104 and a lifting roller 105, wherein the lifting rail 103 is disposed at a lateral position inside the lifting channel 101 for providing the movement of the lifting platform 102; the lifting motor 104 is arranged at the inner position of the lifting platform 102 and connected with the wireless device 8, and is used for driving the lifting roller 105 to operate; the lifting roller 105 is disposed at a lateral position of the lifting platform 102, and is used for driving the lifting platform 102 to move on the lifting rail 103.
The first camera 30 is also disposed at an internal position of the lifting channel 101, and is configured to capture an environmental image inside the lifting channel 101; a deep water operation cabin 11 button and a personnel operation cabin 12 button are arranged on a lifting platform 102 in the lifting channel 101; a descending button is arranged above the lifting channel 101, and an ascending button and a descending button are arranged on the deepwater working bin 11 and the personnel operating bin 12.
Specifically, when a deepwater operator enters the operator operation cabin 12 or the deepwater operation cabin 11, the method comprises the following steps:
the control center 9 sends a real-time shooting instruction to the first camera 30 arranged inside the lifting channel 101, the first camera 30 arranged inside the lifting channel 101 receives the real-time shooting environment image inside the lifting channel 101 and returns the shot environment image inside the lifting channel 101 to the control center 9, the control center 9 receives the real-time analysis of the human body information of the lifting platform 102 according to the environment image inside the lifting channel 101, if the human body exists on the lifting platform 102, the control center 9 sends button state information to the lifting platform 102 with the human body, if the human body exists on the lifting platform 102, the lifting platform 102 with the human body obtains the treading state information of the button of the control center 9 and returns the obtained button treading state information to the control center 9, the control center 9 receives the real-time analysis of the button treading state information, and if the button of the human body operating cabin 12 is treaded, the control center 9 sends a human body operating cabin 12 moving finger to the lifting motor 104 inside the lifting platform 102 When the lifting motor 104 receives the command, the lifting roller 105 connected with the lifting motor is driven to control the connected lifting platform 102 to move to the corresponding personnel operating bin 12; if the deep water operation cabin 11 button is analyzed to be pressed down, the control center 9 sends a deep water operation cabin 11 moving instruction to a lifting motor 104 in the lifting platform 102, and the lifting motor 104 receives the instruction and drives a connected lifting roller 105 to control the connected lifting platform 102 to move to the corresponding deep water operation cabin 11; the control center 9 analyzes the environmental image of the interior of the lifting passage 101 captured in real time, if it is analyzed that the human body enters the personnel operating cabin 12 or the deepwater operating cabin 11 from the lifting platform 102, the control center 9 sends a reset instruction to the lifting motor 104, and the lifting motor 104 drives the connected lifting roller 105 to control the connected lifting platform 102 to reset to the initial position after receiving the reset instruction.
EXAMPLE III
Referring to fig. 5-6, fig. 5 is a side cross-sectional view of a waste management device according to one embodiment of the present invention.
The deep water work platform 10 of the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, the deep water work platform 10 further includes a garbage disposal device 109, the garbage disposal device 109 includes a garbage lifting channel 110 and a telescopic door 111, and a top surface of the garbage lifting channel 110 is at the same level as an upper surface of the deep water work platform 10 and is disposed at an inner position of the deep water work platform 10, for providing up and down movement of the garbage storage bin 112; the telescopic door body 111 is arranged at the connection position of the garbage lifting channel 110 and the upper surface of the deepwater work platform 10, is connected with the wireless device 8, and is used for opening and closing the garbage lifting channel 110.
In a preferred embodiment of the present invention, the garbage disposal apparatus 109 further includes a garbage storage bin 112, and the garbage storage bin 112 is disposed at an inner position of the garbage lifting passage 110 and is provided with a garbage input port 116 for storing garbage obtained by the deep water operation robot 13.
As a preferred mode of the present invention, the garbage disposal apparatus 109 further includes a hanging unmanned aerial vehicle 113, and the hanging unmanned aerial vehicle 113 is disposed above the garbage storage bin 112 and connected to the wireless device 8 for hanging the garbage storage bin 112 to a designated position.
As a preferred mode of the present invention, the garbage disposal apparatus 109 further includes a connecting device 114 and a laser range finder 115, wherein the connecting device 114 is disposed at a connecting position of the suspended unmanned aerial vehicle 113 and the garbage storage bin 112, and is used for being connected to the suspended unmanned aerial vehicle 113 and the garbage storage bin 112 respectively; the laser range finder 115 is disposed inside the article storage bin 15 and the garbage storage bin 112 and connected to the wireless device 8, for obtaining the height information of the garbage inside the garbage storage bin 112.
Specifically, if the wireless device 8 receives a garbage cleaning instruction sent by an external device, the garbage cleaning instruction is sent to the control center 9, the control center 9 receives the garbage cleaning instruction and sends a real-time acquisition instruction to the second camera 31 of the deep-water operation robot 13 in the deep-water operation bin 11, the second camera 31 of the deep-water operation robot 13 receives the garbage cleaning instruction and obtains an environment image around the deep-water operation robot 13 in real time and returns the environment image to the control center 9, the control center 9 receives the garbage cleaning instruction and sends an opening instruction to the article storage bin 15 of the deep-water operation robot 13 in the deep-water operation bin 11 and sends the environment image and the garbage cleaning instruction which are taken by the second camera 31 of the deep-water operation robot 13 to the deep-water operation robot 13 and the telescopic mechanical arm 14 thereof in the deep-water operation bin 11, and the article storage bin 15 of the deep-water operation robot 13 in the deep-water operation, the deep water operation robot 13 and the telescopic mechanical arm 14 thereof receive the environmental image shot by the deep water operation robot 13 according to the second camera 31 of the deep water operation robot 13, patrol is performed in a preset water area (the preset water area is a preset radius range which spreads around the deep water operation platform 10, the preset radius may be 0-100 km, and in the embodiment is preferably a radius of 10 km), the telescopic mechanical arm 14 picks up the garbage in the water area in real time according to the environmental image shot by the second camera 31 of the deep water operation robot 13 and puts the garbage into the article storage bin 15, meanwhile, the control center 9 sends obstacle acquisition information to the laser range finder 115 with the preset height of the article storage bin 15 of the deep water operation robot 13 for garbage cleaning, the preset height of the article storage bin 15 of the deep water operation robot 13 for garbage cleaning is sent (the preset height is a position which is set to ten tenths of the total depth of the article storage bin 15, that is, the distance between the position of the laser range finder 115 and the door of the article storage 15 is one tenth of the total depth of the article storage 15) is received by the laser range finder 115, the laser range finder 115 is controlled to obtain obstacle information of a preset minute (the preset minute is 0-30 minutes, and preferably 5 minutes in this embodiment) in real time, and when the obstacle is detected, the obstacle information is returned to the control center 9, the control center 9 receives the laser range finder 115 information which is extracted to send the obstacle information and sends the environment image and the garbage dumping instruction which are captured by the second camera 31 of the deep water operation robot 13 to the deep water operation robot 13 corresponding to the extracted laser range finder 115 information which sends the obstacle information, and the deep water operation robot 13 receives the environment image and the garbage dumping instruction which are captured by the deep water operation robot 13 according to the environment image captured by the second camera 31 of the deep water operation robot and controls the deep water operation robot to return to the garbage dumping port 116 of the deep water operation 11 to dump the garbage in the article storage 15 The dumping completion information is returned to the control center 9, the control center 9 receives the environmental image and the garbage cleaning instruction which are shot by the second camera 31 of the deep-water operation robot 13 and sent to the deep-water operation robot 13 which dumps the garbage and sends the height measurement information to the laser range finder 115 which is arranged at the top end position of the garbage storage bin 112, the deep-water operation robot 13 and the telescopic mechanical arm 14 thereof receive the environmental image which is shot by the second camera 31 of the deep-water operation robot 13 and patrol in the preset water area, the laser range finder 115 which is arranged at the top end position of the garbage storage bin 112 receives the environmental image and controls the deep-water operation robot 13 to acquire the garbage height information in the garbage storage bin 112 in real time and return the acquired garbage height information to the control center 9, and the control center 9 receives the environmental image and analyzes whether the garbage height of the garbage storage bin 112 exceeds the preset height according to the garbage height information, if so, the control center 9 sends an opening instruction to the retractable door 111 at the top end of the garbage lifting channel 110 where the garbage storage bin 112 is located and sends a garbage cleaning position and a suspended flying instruction to the suspended unmanned aerial vehicle 113 at the top end of the garbage storage bin 112, the telescopic door 111 of the garbage lifting channel 110 is received to control itself to contract and open the garbage lifting channel 110, when the suspension unmanned aerial vehicle 113 at the top end of the garbage storage bin 112 receives the information, the connection device 114 is used for controlling the connected garbage storage bin 112 to fly to a garbage cleaning position to replace the garbage storage bin 112 and return to an initial position (the garbage cleaning position refers to a stored garbage storage site planning to place garbage in a water area, and a plurality of empty garbage storage bins 112 are arranged, the suspension unmanned aerial vehicle suspends the garbage storage bin 112 full of stored garbage to the garbage storage site and then is disconnected with the connected garbage storage bin 112, and then the suspension unmanned aerial vehicle 113 is connected with the empty garbage storage bin 112 and suspends the same back); meanwhile, the control center 9 sends a garbage storage bin 112 replacing instruction to the deep-water operation robot 13 of the laser range finder 115 sending the obstacle information, and the deep-water operation robot 13 of the laser range finder 115 sending the obstacle information stops running and floats on the surface of the water area when receiving the instruction (after the garbage storage bin 112 returns and is reset, the control center 9 sends a garbage dumping instruction to the deep-water operation robot 13 of the laser range finder 115 sending the obstacle information).
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. An intelligent deepwater operation system based on motion simulation comprises a deepwater operation device, a motion simulation device, an intake device, a deepwater communication device, a driving device, a virtual reality device, a positioning device, a wireless device and a control center, and is characterized in that the deepwater operation device comprises a deepwater operation platform, a deepwater operation cabin, a personnel operation cabin, a deepwater operation robot, a telescopic mechanical arm, an article storage cabin, a drainage channel and a water storage cabin, wherein the deepwater operation platform is arranged above the water surface, and the deepwater operation cabin is arranged at a position below the inside of the deepwater operation platform and used for placing a deepwater operation robot; the personnel operation is arranged at the upper position inside the deepwater operation platform and is used for providing deepwater operators to operate the deepwater operation robot; the deepwater operation robot is provided with a plurality of deepwater operation robots which are designed to be waterproof and are arranged at the inner positions of the deepwater operation bin for carrying out deepwater operation; the telescopic mechanical arms are arranged at a plurality of lateral positions of the deep water operation robot and used for executing specified operation; the quantity of the article storage bins is consistent with that of the deepwater operation robots, and the article storage bins are arranged at the top positions in the deepwater operation robots and used for storing specified objects; the drainage channel is arranged in the deep water operation robot, is respectively connected with the article storage bin and the water storage bin, and is used for guiding liquid in the article storage bin into the water storage bin; the number of the water storage bins is consistent with that of the deepwater operation robots, and the water storage bins are arranged at the inner positions of the deepwater operation robots and used for storing and sucking liquid; the motion simulation devices are arranged in the personnel operating bin and are bound with corresponding deepwater operating robots for acquiring motion information of deepwater operators; the shooting device comprises a first camera and a second camera, the first camera is arranged at the side position of the deepwater operation platform, the internal position of the deepwater operation bin, the internal position of the personnel operation bin and the internal position of the article storage bin, and is used for acquiring environmental images of the side position of the deepwater operation platform, the internal position of the deepwater operation bin, the internal position of the personnel operation bin and the internal position of the article storage bin; the second cameras are arranged at the side positions of the deepwater operation robot and are used for shooting the environmental images around the deepwater operation robot; the deepwater communication device comprises a first communication module and a second communication module, wherein the first communication module is arranged in the control center and is used for being connected with the second communication module; the number of the second communication modules is the same as that of the deep-water operation robots, the second communication modules are arranged in the deep-water operation robots and are used for being connected with the deep-water operation robots, the telescopic mechanical arms, the article storage bin, the water storage bin, the first camera and the first communication modules respectively; the driving device comprises a propelling pump, a jet pipe, a jet orifice and a waterproof storage battery, wherein the propelling pump is arranged in the deep water operation robot and connected with the second communication module and is used for ejecting liquid through the jet orifice at a high speed; the jet guide pipe is arranged at the inner position of the deepwater operation robot, is respectively connected with the water storage bin and the propulsion pump, and is used for guiding liquid in the water storage bin into the propulsion pump; the jet orifices are arranged at the outer tail end position of the deepwater operation robot and connected with the propulsion pump and the second communication module, and are used for adjusting the direction of high-speed water flow jetted by the propulsion pump; the quantity of the waterproof storage batteries is consistent with that of the deepwater operation robots, and the waterproof storage batteries are arranged in the inner positions of the deepwater operation robots and used for providing electric power; the virtual reality devices are arranged at a plurality of positions in the personnel operating bin and used for providing virtual reality scenes and virtual reality experiences for deep water operation human bodies; the number of the positioning devices is the same as that of the deepwater operation robots, the positioning devices are arranged in the deepwater operation robots and connected with the second communication module, and the positioning devices are used for positioning the positions of the deepwater operation robots and acquiring positioning data of corresponding positions; the wireless device is arranged in the control center and is used for being respectively connected with the action simulation device, the first camera, the first communication module, the virtual reality device, the control center, the external equipment, the water rescue center and the network; the control center is arranged at the inner position of the deepwater operation platform and used for executing specified operation;
the motion simulation device comprises motion capture equipment, a motion transmission module and a motion processing module, wherein the motion capture equipment is worn at the position outside the body of the deepwater worker and is connected with the wireless device and used for acquiring motion information of the deepwater worker; the motion transmission module is arranged at an internal position of the motion capture equipment, is connected with the wireless device and is used for transmitting the acquired motion information to the motion processing module; the motion processing module is arranged at an internal position of the motion capture equipment, is connected with the wireless device and is used for generating motion simulation signals corresponding to the deepwater operation robot according to the received motion information;
after the fact that a person is drowned is recognized, the near-deep-water operation robot is controlled to go to the position of the drowned person and open the article storage bin, after the deep-water operation robot reaches the position of the drowned person, the deep-water operation robot is controlled to dive into the position below the drowned person and float up to load the drowned person into the opened article storage bin, and after the drowned person is loaded into the article storage bin, the article storage bin is controlled to be closed and liquid in the article storage bin is discharged.
2. The intelligent deep water operation system based on motion simulation as claimed in claim 1, wherein the drainage channel and the jet conduit are provided with one-way valves inside for preventing liquid from flowing back.
3. The intelligent deepwater operation system based on motion simulation as claimed in claim 1, wherein the deepwater operation platform further comprises a lifting device, the lifting device comprises a lifting channel and a lifting platform, the lifting channel is arranged at an internal position of the deepwater operation platform and is respectively connected with the deepwater operation cabin and the personnel operation cabin for providing the movement of the lifting platform; the lifting platform is arranged at the inner position of the lifting channel, is connected with the wireless device and is used for moving in the lifting channel.
4. The intelligent deepwater operation system based on motion simulation as claimed in claim 3, wherein the lifting device further comprises a lifting rail, a lifting motor and a lifting roller, the lifting rail is arranged at a position on the side inside the lifting channel and used for providing a lifting platform to move; the lifting motor is arranged in the lifting platform, connected with the wireless device and used for driving the lifting roller to run; the lifting roller is arranged at the side position of the lifting platform and used for driving the lifting platform to move on the lifting rail.
5. The intelligent deep water operation system based on motion simulation is characterized in that the deep water operation platform further comprises a power generation cabin, a power generator and a power supply device, wherein the power generation cabin is arranged at an internal position of the deep water operation platform and used for placing the power generator; the generator is arranged in the power generation cabin and used for providing power; the power supply device is arranged at the deep water operation cabin, the personnel operation cabin, the power generation cabin, the lifting channel and the control center and is used for providing power generated by the power generator.
6. The intelligent deep water operation system based on motion simulation is characterized in that the deep water operation platform further comprises a garbage disposal device, the garbage disposal device comprises a garbage lifting channel and a telescopic door body, the top end surface of the garbage lifting channel is kept at the same level with the upper surface of the deep water operation platform and is arranged at an inner position of the deep water operation platform, and the garbage storage bin is provided to move up and down; the telescopic door body is arranged at the connection position of the garbage lifting channel and the upper surface of the deepwater operation platform, is connected with the wireless device and is used for opening and closing the garbage lifting channel.
7. The intelligent deep water operation system based on motion simulation of claim 6, wherein the garbage disposal device further comprises a garbage storage bin, the garbage storage bin is arranged in the garbage lifting channel and is provided with a garbage input port for storing garbage obtained by the deep water operation robot.
8. The intelligent deepwater operation system based on motion simulation of claim 6, wherein the garbage disposal device further comprises a suspended unmanned aerial vehicle, the suspended unmanned aerial vehicle is arranged above the garbage storage bin and connected with the wireless device, and is used for suspending the garbage storage bin to a specified position.
9. The intelligent deepwater operation system based on motion simulation as claimed in claim 8, wherein the garbage disposal device further comprises a connecting device and a laser range finder, the connecting device is arranged at the connecting position of the suspended unmanned aerial vehicle and the garbage storage bin and is used for being connected with the suspended unmanned aerial vehicle and the garbage storage bin respectively; the laser range finder set up in article storage storehouse and rubbish storage storehouse internal position and be connected with wireless device for acquire the inside rubbish height information in rubbish storage storehouse.
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| CN102616354A (en) * | 2011-01-27 | 2012-08-01 | 陈友余 | Underwater rescue mini-type submarine for mine disaster |
| CN106864706A (en) * | 2015-12-11 | 2017-06-20 | 上海航士海洋装备有限公司 | Workbench and implementation under intelligent water |
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Effective date of registration: 20240227 Address after: 100000 No. 301, Block B, Zhonglin Real Estate Building, Yard 28, South Third Ring West Road, Fengtai District, Beijing Patentee after: Beijing zhidake Information Technology Co.,Ltd. Country or region after: China Address before: Room 401, building 4, No. 1669, north section of huolishan Avenue, Cihu high tech Zone, Ma'anshan City, Anhui Province Patentee before: Ma'anshan Weisha automation equipment Technology Co.,Ltd. Country or region before: China |