CN108466684A - A kind of novel seabed robot - Google Patents
A kind of novel seabed robot Download PDFInfo
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- CN108466684A CN108466684A CN201810260346.3A CN201810260346A CN108466684A CN 108466684 A CN108466684 A CN 108466684A CN 201810260346 A CN201810260346 A CN 201810260346A CN 108466684 A CN108466684 A CN 108466684A
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- light emission
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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
The invention belongs to field in intelligent robotics, disclose a kind of novel seabed robot, are provided with robot frame, screw impeller, power-supply system, probe apparatus, scalable push head device, machine jaw arrangement；Screw impeller is located at robot frame both sides；Power-supply system is located at robot frame inner right side；Probe apparatus is located at robot control axis top；Scalable push head device is located on the left of robot control axis；Machine jaw arrangement is located at robot control axis bottom.The present invention controls robot by control axis and is utilized respectively probe apparatus progress habitata work, and seabed dredging is carried out using scalable push head device, clears up marine residue work, carries out salvaging seabed object using machine jaw arrangement；The present invention is vdiverse in function, is adapted to various environments such as subsea, integrates various robot functions, and be conveniently operated, simple in structure, reduces the utilization of resources, can be carried out at the same time a variety of work.
Description
Technical field
The invention belongs to field in intelligent robotics more particularly to a kind of novel seabed robots.
Background technology
With the national exploitation dynamics increased to marine resources, script underwater operation is mainly fixed against people and simply dives
Wetting system, complicated and dangerous environments such as subsea constitute sizable threat, 50 meters of diver's dive or less to the life security of people
It is difficult to complete this underwater operation task, this is just necessarily dependent upon a kind of intelligentized machinery equipment newly to replace people to go
Seabed operation task is executed, underwater robot just comes into being.Just domestic robot market sees at present, mainly with external machine
Device is artificially led, and robot technology far lags behind foreign countries under domestic water, and robot has a single function, and a kind of robot only possesses one
Kind function.
Traditional distance measuring method is the relative distance that distributed probe is estimated using GPS.Experiment shows the phase by GPS
Cm ranks can be reached to range accuracy.In view of the stability of laser, and though this probe relative distance how far in the case of all
It is pratical and feasible.
Quantum ranging is by using a kind of distance measuring method for tangling pulse.Compared to traditional M arteries and veins with same band
Punching, the distance measuring method of pulse is tangled using M, and precision can be made to improve one in principleThe factor reaches traditional distance measuring method
The precision that cannot be provided.
In conclusion problem of the existing technology is：Robot technology far lags behind foreign countries, and robot under domestic water
It has a single function, a kind of robot only possesses a kind of function.
In the prior art, the relative distance of main probe and auxiliary probe cannot be obtained by being based on triangle quantum ranging, and
It is SSF's with extended Kalman filter (EKF) in conjunction with the state equation of the Dynamic Model of relative motion track
Track estimation problem provides a kind of solution.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of novel seabed robots.
The invention is realized in this way a kind of new novel seabed robot, the novel seabed robot are provided with machine
People's frame, screw impeller, power-supply system, probe apparatus, scalable push head device, machine jaw arrangement；
The screw impeller is located at robot frame both sides；The power-supply system is located at robot frame inner right side；
The probe apparatus is located at robot control axis top；The scalable push head device is located on the left of robot control axis；
The machine jaw arrangement is located at robot control axis bottom.
Probe apparatus includes：
Converting unit under Spontaneous Parametric is entangled photon pairs for converted photons signal；
Polarization beam splitter, for orthogonal polarized light and refraction horizontal polarization light can be reflected；
Four sides speculum, for reflecting entangled photons；
Transmitter reaches target object for transmitting entangled photons；
Photon receiver, for receiving the photon reflected from target object；
Photon detector, for being photoimpact by photon signal excitation and recording the arrival time of photon；
Probe apparatus further comprises：Time amplitude converter, multichannel analyzer system and angle idol prism.
Further, main light emission O and two auxiliary light emission probe A of probe of probe apparatus and B form triangular structure；Probe
The detection method of device includes：
Step 1, auxiliary light emission probe A generates that the direction of propagation is not conllinear to be entangled by converting unit process under its Spontaneous Parametric
Photon pair is twined, the entangled photon pairs include unused photon and signal photon；Unused photon and signal photon are sent out from auxiliary simultaneously
Light probe A sets out, and the light path of unused photon is A → B → O → B → A, and the light path of signal photon is A → O → A, is finally surveyed
Measure the reaching time-difference between two-way photon；
Step 2, similarly, auxiliary light emission probe B generates the direction of propagation not by converting unit process under its Spontaneous Parametric
After conllinear entangled photon pairs, unused photon and signal photon set out simultaneously, wherein the light path of unused photon be B → O → A →
The light path of O → B, signal photon are B → A → B, finally measure the reaching time-difference of two-way photon；
Step 3, main light emission probe O and auxiliary light emission probe B is calculated in the reaching time-difference measured according to step 1 and 2
Relative distance | OB |；
Step 4, the coordinate system based on relative motion is established, coordinate origin is the barycenter of main auxiliary light emission probe O, and y-axis is
The direction of earth centroid point coordinates origin, x-axis are the tangential direction of main luminescent probe O movement locus, and z-axis direction can pass through
Right-handed coordinate system determines；
Then, auxiliary light emission probe B is indicated relative to the dynamic model of main light emission probe O with following state vector:
In above formula, r and v indicate position and speed of the auxiliary light emission probe B relative to main light emission probe O respectively；Major-minor hair
Light probe is not influenced by perturbative force, and the main light emission probe earth-circling tracks of O are approximately round, meanwhile, main light emission probe O
Major semiaxis of the distance between the auxiliary light emission probe B also much smaller than main light emission probe O tracks；At this point, auxiliary light emission probe B phase
The following Hill equations description of dynamic model for O tracks of popping one's head in main light emission：
In above formula,Indicate that relative acceleration, n are the angular speed of main light emission probe O respectively；
Show that the state equation of relative orbit is as follows according to dynamic model described above and Hill equations：
Here, A indicates that sytem matrix, t indicate the time, and n is the angular speed of main satellite O, and G is system noise matrix, and W is to be
System noise；
Step 5, the elevation angle and side of the auxiliary light emission probe B relative to the positions main light emission probe O are measured by main light emission probe O
It is as follows just to obtain measurement vector for parallactic angle：
Z=[r θ φ]T；
Wherein, r is the relative distance that main light emission probe O and auxiliary luminescent probe B is obtained in step 3, and θ is auxiliary luminescent probe
For B with respect to the elevation angle of the positions main light emission probe O, φ is to assist luminescent probe B with respect to the azimuth of main light emission probe O；
Then, further obtaining measurement equation is：
Wherein, [vr vθ vφ]TIt is measurement noise；
Step 6, it obtains as follows about the measurement Jacobean matrixes of Kalman filter：
In above formula,
Step 7, with Kalman filter, the estimation of track is completed.
Further, the image transfer method of probe apparatus two field pictures more adjacent first are found out all images and are become
Then the region of change obtains the set in the not overlapping rectangles region of area minimum according to the coordinate of variation pixel；It only sends out every time
Rectangular area is sent to gather included image data and respective coordinates information；
Variation rectangular area is obtained according to the coordinate of pixel, formula (1) and formula (2) are to judge square according to variation pixel
The formula of shape R ranges；
Rl≤Px AND Rt=Pyi(1)
Rr≥Px AND Rb≥Py(2)
Wherein RlAnd RtRepresent the abscissa and ordinate in the rectangle upper left corner, RrAnd RbRepresent the abscissa in the rectangle lower right corner
And ordinate, PxAnd PyRepresent the abscissa and ordinate of variation pixel, Py0Represent the ordinate for changing pixel for the first time；
The range of variation rectangular area is acquired according to formula (1) and formula (2)；First the data of front and back adjacent two width bitmap are preserved, and
Judge whether the value of pixel corresponding to front and back two frame screens changes；When detecting the sampled point of variation for the first time, can will change
Coordinate (the P of sampled pointX0,PY0) recorded, the top left co-ordinate (R as variation rectangular areal,Rt), and will go without change
Change is identified as false；Continue to compare, when detecting different sampled points again, is first identified as false by row is unchanged, then
By the abscissa P of sampled pointxWith the abscissa R in the rectangle upper left cornerlIt is compared and is minimized, while the seat in the rectangle lower right corner
Mark (Rr,Rb) meeting and point coordinate (Px,Py) relatively and be maximized；I.e.：
Rl=min (Pxi,Rl)(i>1)Rt=Pyi(i=1)
Rr=max (Rxi,Rr)(i>1)Rb=max (Ryi,Rb)(i>1)
When detecting that certain row sampling point value is all identical, the rectangular area block of a variation is obtained；
Rectangle partitioning algorithm is carried out in a scanning area to region of variation to use before and after the judgement of row direct comparison method
Whether pixel corresponding to two frame screen pictures changes to find out the rectangular area of variation in image buffer；According on to
Under, principle from left to right finds out a later frame image relative to previous based on rectangle segmentation every the image transfer method of column scan
Frame image all changes region and obtained based on rectangle partitioning algorithm area minimum not overlapping rectangles region set.
Advantages of the present invention and good effect are：The robot controls robot by control axis and is utilized respectively probe dress
It sets and carries out habitata work, seabed dredging is carried out using scalable push head device, clear up marine residue work, utilize machine
Jaw arrangement carries out salvaging seabed object.The robot is vdiverse in function, is adapted to various environments such as subsea, collects various robot functions
In one, and it is conveniently operated, it is simple in structure, the utilization of resources is reduced, a variety of work can be carried out at the same time.
The seafloor robot is vdiverse in function, is adapted to various environments such as subsea, integrates various robot functions, and side
Convenient to operate, it is simple in structure, the utilization of resources is reduced, a variety of work can be carried out at the same time.
The present invention is by the measurement of delay time twice, and triangle quantum distance measuring method construction two is about delay time
Expression formula, summation offset reference path, the error that reference path is brought are eliminated, to solve 2 quantum under actual conditions
The reference path of telemetry is not easy accurately to be measured the error with the possible change of the physical characteristic of reference path to bring
Defect, so that the estimation of Satellite Formation Flying relative orbit is more accurate.
Description of the drawings
Fig. 1 is the structural schematic diagram of novel seabed robot provided in an embodiment of the present invention；
In figure：1 robot frame；2, screw impeller；3, power-supply system；4, probe apparatus；5, scalable push head device；
6, machine jaw arrangement.
Fig. 2 is probe apparatus schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
Such as Fig. 1, the novel seabed robot is provided with robot frame 1, screw impeller 2, power-supply system 3, probe
Device 4, scalable push head device 5, machine jaw arrangement 6.
The screw impeller 2 is located at 1 both sides of robot frame.It is right that the power-supply system 3 is located at 1 inside of robot frame
Side.The probe apparatus 4 is located at robot control axis top.The scalable push head device 5 is located at robot control axis
Left side.The machine jaw arrangement 6 is located at robot control axis bottom.
The robot controls robot by control axis and is utilized respectively the progress habitata work of probe apparatus 4, utilizes
Scalable push head device 5 carries out seabed dredging, clears up marine residue work, carries out salvaging seabed object using 6 device of machine pawl
Body.
The robot is vdiverse in function, is adapted to various environments such as subsea, integrates various robot functions, and facilitate behaviour
Make, it is simple in structure, the utilization of resources is reduced, a variety of work can be carried out at the same time.
Such as Fig. 2, probe apparatus includes：
Converting unit under Spontaneous Parametric is entangled photon pairs for converted photons signal；
Polarization beam splitter, for orthogonal polarized light and refraction horizontal polarization light can be reflected；
Four sides speculum, for reflecting entangled photons；
Transmitter reaches target object for transmitting entangled photons；
Photon receiver, for receiving the photon reflected from target object；
Photon detector, for being photoimpact by photon signal excitation and recording the arrival time of photon；
Probe apparatus further comprises：Time amplitude converter, multichannel analyzer system and angle idol prism.
Further, main light emission O and two auxiliary light emission probe A of probe of probe apparatus and B form triangular structure；Probe
The detection method of device includes：
Step 1, auxiliary light emission probe A generates that the direction of propagation is not conllinear to be entangled by converting unit process under its Spontaneous Parametric
Photon pair is twined, the entangled photon pairs include unused photon and signal photon；Unused photon and signal photon are sent out from auxiliary simultaneously
Light probe A sets out, and the light path of unused photon is A → B → O → B → A, and the light path of signal photon is A → O → A, is finally surveyed
Measure the reaching time-difference between two-way photon；
Step 2, similarly, auxiliary light emission probe B generates the direction of propagation not by converting unit process under its Spontaneous Parametric
After conllinear entangled photon pairs, unused photon and signal photon set out simultaneously, wherein the light path of unused photon be B → O → A →
The light path of O → B, signal photon are B → A → B, finally measure the reaching time-difference of two-way photon；
Step 3, main light emission probe O and auxiliary light emission probe B is calculated in the reaching time-difference measured according to step 1 and 2
Relative distance | OB |；
Step 4, the coordinate system based on relative motion is established, coordinate origin is the barycenter of main auxiliary light emission probe O, and y-axis is
The direction of earth centroid point coordinates origin, x-axis are the tangential direction of main luminescent probe O movement locus, and z-axis direction can pass through
Right-handed coordinate system determines；
Then, auxiliary light emission probe B is indicated relative to the dynamic model of main light emission probe O with following state vector:
In above formula, r and v indicate position and speed of the auxiliary light emission probe B relative to main light emission probe O respectively；Major-minor hair
Light probe is not influenced by perturbative force, and the main light emission probe earth-circling tracks of O are approximately round, meanwhile, main light emission probe O
Major semiaxis of the distance between the auxiliary light emission probe B also much smaller than main light emission probe O tracks；At this point, auxiliary light emission probe B phase
The following Hill equations description of dynamic model for O tracks of popping one's head in main light emission：
In above formula,Indicate that relative acceleration, n are the angular speed of main light emission probe O respectively；
Show that the state equation of relative orbit is as follows according to dynamic model described above and Hill equations：
Here, A indicates that sytem matrix, t indicate the time, and n is the angular speed of main satellite O, and G is system noise matrix, and W is to be
System noise；
Step 5, the elevation angle and side of the auxiliary light emission probe B relative to the positions main light emission probe O are measured by main light emission probe O
It is as follows just to obtain measurement vector for parallactic angle：
Z=[r θ φ]T；
Wherein, r is the relative distance that main light emission probe O and auxiliary luminescent probe B is obtained in step 3, and θ is auxiliary luminescent probe
For B with respect to the elevation angle of the positions main light emission probe O, φ is to assist luminescent probe B with respect to the azimuth of main light emission probe O；
Then, further obtaining measurement equation is：
Wherein, [vr vθ vφ]TIt is measurement noise；
Step 6, it obtains as follows about the measurement Jacobean matrixes of Kalman filter：
In above formula,
Step 7, with Kalman filter, the estimation of track is completed.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (3)
1. a kind of novel seabed robot, which is characterized in that the novel seabed robot is provided with robot frame, spiral pushes away
Dynamic device, power-supply system, probe apparatus, scalable push head device, machine jaw arrangement；
The screw impeller is located at robot frame both sides；The power-supply system is located at robot frame inner right side；It is described
Probe apparatus is located at robot control axis top；The scalable push head device is located on the left of robot control axis；It is described
Machine jaw arrangement is located at robot control axis bottom；
Probe apparatus includes：
Converting unit under Spontaneous Parametric is entangled photon pairs for converted photons signal；
Polarization beam splitter, for orthogonal polarized light and refraction horizontal polarization light can be reflected；
Four sides speculum, for reflecting entangled photons；
Transmitter reaches target object for transmitting entangled photons；
Photon receiver, for receiving the photon reflected from target object；
Photon detector, for being photoimpact by photon signal excitation and recording the arrival time of photon；
Probe apparatus further comprises：Time amplitude converter, multichannel analyzer system and angle idol prism.
2. novel seabed robot as described in claim 1, which is characterized in that the main light emission of probe apparatus is popped one's head in O and two
Auxiliary light emission probe A and B form triangular structure；The detection method of probe apparatus includes：
Step 1, auxiliary light emission probe A by converting unit process under its Spontaneous Parametric generate the direction of propagation it is not conllinear tangle light
Son is right, and the entangled photon pairs include unused photon and signal photon；Unused photon and signal photon are visited from auxiliary light emission simultaneously
Head A sets out, and the light path of unused photon is A → B → O → B → A, and the light path of signal photon is A → O → A, finally measures two
Reaching time-difference between the photon of road；
Step 2, similarly, auxiliary light emission probe B is not conllinear by the converting unit process generation direction of propagation under its Spontaneous Parametric
Entangled photon pairs after, unused photon and signal photon set out simultaneously, wherein the light path of unused photon be B → O → A → O →
The light path of B, signal photon are B → A → B, finally measure the reaching time-difference of two-way photon；
Step 3, the phase of main light emission probe O and auxiliary light emission probe B is calculated in the reaching time-difference measured according to step 1 and 2
Adjust the distance | OB |；
Step 4, the coordinate system based on relative motion is established, coordinate origin is the barycenter of main auxiliary light emission probe O, and y-axis is the earth
The direction of barycenter point coordinates origin, x-axis are the tangential direction of main luminescent probe O movement locus, and z-axis direction can pass through the right hand
Coordinate system determines；
Then, auxiliary light emission probe B is indicated relative to the dynamic model of main light emission probe O with following state vector:
In above formula, r and v indicate position and speed of the auxiliary light emission probe B relative to main light emission probe O respectively；Major-minor luminous spy
Head is not influenced by perturbative force, and main light emission earth-circling tracks of O of popping one's head in are approximately round, meanwhile, main light emission is popped one's head in O and auxiliary
Help the distance between luminescent probe B also much smaller than the major semiaxis of main light emission probe O tracks；At this point, auxiliary light emission probe B is relatively main
The dynamic model of luminescent probe O tracks is described with following Hill equations：
In above formula,Indicate that relative acceleration, n are the angular speed of main light emission probe O respectively；
Show that the state equation of relative orbit is as follows according to dynamic model described above and Hill equations：
Here, A indicates that sytem matrix, t indicate the time, and n is the angular speed of main satellite O, and G is system noise matrix, and W is system noise
Sound；
Step 5, the elevation angle and orientation of the auxiliary light emission probe B relative to the positions main light emission probe O are measured by main light emission probe O
It is as follows just to obtain measurement vector for angle：
Z=[r θ φ]T；
Wherein, r is the relative distance that main light emission probe O and auxiliary luminescent probe B is obtained in step 3, and θ is auxiliary luminescent probe B phases
To the elevation angle of the positions main light emission probe O, φ is to assist luminescent probe B with respect to the azimuth of main light emission probe O；
Then, further obtaining measurement equation is：
Wherein, [vr vθ vφ]TIt is measurement noise；
Step 6, it obtains as follows about the measurement Jacobean matrixes of Kalman filter：
In above formula,
Step 7, with Kalman filter, the estimation of track is completed.
3. novel seabed robot as described in claim 1, which is characterized in that the image transfer method of the probe apparatus is first
First more adjacent two field pictures find out the region of all image changes, then obtain area most according to the coordinate of variation pixel
The set in small not overlapping rectangles region；Rectangular area is only sent every time gathers included image data and respective coordinates letter
Breath；
Variation rectangular area is obtained according to the coordinate of pixel, formula (1) and formula (2) are to judge rectangle R according to variation pixel
The formula of range；
Rl≤PxAND Rt=Pyi(1)
Rr≥PxAND Rb≥Py(2)
Wherein RlAnd RtRepresent the abscissa and ordinate in the rectangle upper left corner, RrAnd RbRepresent the abscissa in the rectangle lower right corner and vertical seat
Mark, PxAnd PyRepresent the abscissa and ordinate of variation pixel, Py0Represent the ordinate for changing pixel for the first time；According to formula
(1) and formula (2) acquires the range for changing rectangular area；First the data of front and back adjacent two width bitmap are preserved, and before judgement
Whether the value of pixel corresponding to two frame screens changes afterwards；When detecting the sampled point of variation for the first time, sampled point can will be changed
Coordinate (PX0,PY0) recorded, the top left co-ordinate (R as variation rectangular areal,Rt), and will the unchanged mark of row
For false；Continue to compare, when detecting different sampled points again, is first identified as false by row is unchanged, it then will sampling
The abscissa P of pointxWith the abscissa R in the rectangle upper left cornerlIt is compared and is minimized, while the coordinate (R in the rectangle lower right cornerr,
Rb) meeting and point coordinate (Px,Py) relatively and be maximized；I.e.：
Rl=min (Pxi,Rl)(i>1) Rt=Pyi(i=1)
Rr=max (Rxi,Rr)(i>1) Rb=max (Ryi,Rb)(i>1)
When detecting that certain row sampling point value is all identical, the rectangular area block of a variation is obtained；
Rectangle partitioning algorithm is carried out to region of variation in a scanning area and uses the image before and after row direct comparison method judges
Whether pixel corresponding to two frame screen pictures changes to find out the rectangular area of variation in buffering area；According to from top to bottom, from
Left-to-right principle finds out a later frame image relative to previous frame image based on rectangle segmentation every the image transfer method of column scan
All changes region and obtained based on rectangle partitioning algorithm area minimum not overlapping rectangles region set.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203601547U (en) * | 2013-08-07 | 2014-05-21 | 天津昊野科技有限公司 | Underwater robot |
| CN104407321A (en) * | 2014-11-25 | 2015-03-11 | 西安电子科技大学 | Quantum ranging-based estimation method and equipment for relative orbits of formation flying satellites |
| CN104735449A (en) * | 2015-02-27 | 2015-06-24 | 成都信息工程学院 | Image transmission method and system based on rectangular segmentation and interlaced scanning |
| CN206813275U (en) * | 2017-01-23 | 2017-12-29 | 中国人民解放军海军工程大学 | A kind of multiple degrees of freedom underwater robot |
-
2018
- 2018-03-27 CN CN201810260346.3A patent/CN108466684A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203601547U (en) * | 2013-08-07 | 2014-05-21 | 天津昊野科技有限公司 | Underwater robot |
| CN104407321A (en) * | 2014-11-25 | 2015-03-11 | 西安电子科技大学 | Quantum ranging-based estimation method and equipment for relative orbits of formation flying satellites |
| CN104735449A (en) * | 2015-02-27 | 2015-06-24 | 成都信息工程学院 | Image transmission method and system based on rectangular segmentation and interlaced scanning |
| CN206813275U (en) * | 2017-01-23 | 2017-12-29 | 中国人民解放军海军工程大学 | A kind of multiple degrees of freedom underwater robot |
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