CN109144105A - A kind of hull bottom intelligence underwater cleaning robot, control system and control method - Google Patents
A kind of hull bottom intelligence underwater cleaning robot, control system and control method Download PDFInfo
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- CN109144105A CN109144105A CN201811346694.9A CN201811346694A CN109144105A CN 109144105 A CN109144105 A CN 109144105A CN 201811346694 A CN201811346694 A CN 201811346694A CN 109144105 A CN109144105 A CN 109144105A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 56
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to technical field of robot control, disclosing a kind of hull bottom intelligence underwater cleaning robot, control system and control method, underwater robot is the bilevel tower structure as made of aluminum alloy splicing；Core part is electronics storehouse, the electronics storehouse be it is cylindric be disposed across the body midline position, battery compartment be also it is cylindric, be disposed across immediately below electronics storehouse；Two cleaning brush are mounted on both sides in front of body, and giant is mounted on immediately ahead of body chassis；Crawler belt is installed in two sides immediately below chassis.The present invention can make body carry out 90 degree inclinations by propeller, attach it alow, then cooperate with crawler belt and make it alow surface is moved；Start cleaning brush and giant and each orientation cleaning is carried out to hull bottom.
Description
Technical field
The invention belongs to technical field of robot control more particularly to a kind of hull bottom intelligence underwater cleaning robots, control
System and control method.
Background technique
Currently, underwater be widely used in pipe inspection, hull maintenance, research and teaching, underwater amusement, underwater archaeology,
The how civilian and military domains such as fishery, ocean bottom cable inspection.
As exploration range of the people to ocean is more and more wider, the demand to ocean development is more and more stronger, hull bottom intelligent water
Lower cleaning robot becomes the object of whole world research.
Hull bottom intelligence underwater cleaning robot be by artificial intelligence, automatic control, pattern-recognition, information fusion with understand,
The technologies such as the system integration are applied on traditional carrier, and preplanned mission in complicated marine environment is completed in the case where unmanned
Robot.
Currently, with the extensive use in computer technology alow intelligent underwater cleaning robot, people will be using more
New technique, the control hull bottom intelligence underwater cleaning robot more visualized.
In the prior art, underwater robot is only limitted to synthetic aperture sonar, forward sight for undersea detection and the equipment of identification
The underwater sound equipments such as sonar and three-dimensional imaging sonar.Being not bound with intelligent control technology is the independence for improving underwater robot, is made
It cannot be completed various tasks in complicated marine environment.
Synthetic aperture sonar is to move along space linear uniform motion come virtual large aperture basic matrix using small size basic matrix
The ordinal position transmitting of track and receives echo-signal, according to spatial position and phase relation to the echo-signal of different location into
The processing of row coherent superposition, to form equivalent large aperture, acquisition is very suitable to along the high resolution of the direction of motion (orientation)
The little underwater robot of scale, can be used for scouting, detect, high-resolution imaging, be underwater in the survey of large-scale terrain landforms etc.
Robot provides a kind of good detection means of performance.
The image acquisition and processing system of Forward-looking Sonar independently acquires and identifies under water target under computer network management
Image information realizes the tracking to target and the guidance to underwater robot.Wave beam used by underwater sound wave is narrower, and frequency is got over
Height, the then image formed are more clear.By the real-time accurately display submarine target of the aobvious control of sonar apart from information such as orientation, to scheme
The form of picture in time efficiently shows sub-marine situations on the screen, understanding submarine target and environment that can be clear and accurate, with
Accurately judgement and reply are made, detection or navigation are completed.
Three-dimensional imaging sonar of the three-dimensional imaging sonar for the identification of submarine target, be-one total digitalization, it is programmable,
The modular system with flexibility and easily modified.The shape information that submarine target can be obtained, provides for Underwater Targets Recognition
Advantageous tool.
In conclusion problem of the existing technology is:
(1) in the prior art, underwater robot is only limitted to synthetic aperture sonar, preceding for the equipment of undersea detection and identification
Depending on the underwater sound equipments such as sonar and three-dimensional imaging sonar, being not bound with intelligent control technology is the independence for improving underwater robot,
It causes to complete various tasks in complicated marine environment.
(2) most important in mechanical aspects is exactly seepage problem, and electronics storehouse is the device that is sealed for having end cap, but due to envelope
Secret skill art is immature, and little water how much can be penetrated into storehouse and is entered.
Solve the difficulty and meaning of above-mentioned technical problem:
Since the environment of underwater robot operation is complicated, the noise of underwater sound signal is big, and wave beam is unstable or the various underwater sounds
The disadvantage that the generally existing precision of sensor is poor, jump is frequent, therefore in AUV Control system, filtering technique is aobvious
It obtains particularly important.
In order to improve the leakproofness of warehouse, electronics Hatch Opening is added one layer of rubber ring by the present invention, when sealing with sealing cover inside groove
Tightly touch.For effect, we will be sealed the lengthening of lid inside groove, and add several layers of rubber rings in inside groove periphery, inside groove when sealing
The rubber ring of periphery tightly touch electronics storehouse inner wall.To reach good waterproof effect.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of hull bottom intelligence underwater cleaning robots, control system
System and control method.
The invention is realized in this way a kind of hull bottom intelligence underwater cleaning robot control system, the hull bottom intelligent water
Lower cleaning robot control system includes:
Onboard system, the motion control for real-time perfoming underwater robot；
PC image terminal is connect with onboard system signal, for directly controlling underwater after being connected to onboard system instruction
The operation of people, and control instruction feedback is passed into onboard system, and the data collected are saved, shown and returned
It broadcasts.
Further, the onboard system specifically includes: Underwater Target Detection and identifying system, and the chassis of underwater robot is carried out
The Mechatronic Systems of band, the airborne master control system of ROV.
From control system, for the detection and identification to submarine target, the transmission of image operates the movement of underwater robot
State can be such that underwater robot attaches in seabed, hull bottom, carry out railless movable.
Further, PC image terminal includes the host computer that is formed of PC machine and console to slave computer；Slave computer is being connected to finger
The operation of underwater robot is directly controlled after order；By mouse, somatosensory device give console publication instruction, while console by this
Instruction passes to onboard system；Host computer can protect the data collected by computer monitor after being connected to instruction
It deposits, show and playbacks.
The hull bottom intelligence underwater cleaning robot control system is carried another object of the present invention is to provide a kind of
Hull bottom intelligence underwater cleaning robot, the hull bottom intelligence underwater cleaning robot are provided with electronics storehouse；
There are the transparent semicircle cover of one and Hatch Opening sealing in electronics storehouse forefront；Camera, institute are installed inside the cloche
It states camera and is launched image onto computer monitor by connection raspberry pie；
Fly control and the equilibrium state of body is communicated to by computer monitor by the raspberry pie；
The winged control is divided into data storage, and external communication, driver, balance control, information receives and five big portions of transmitting
Point.
Eight propellers of the winged control connection underwater human organism, carry out channel layout to eight propellers,
Computer is sent a signal to by the raspberry pie again；
Water proof switch is installed on the sealing cover at electronics storehouse rear portion；
Cable passes through the sealing cover, and one end connects raspberry pie, and the other end connects computer；
The battery compartment is equipped with control cleaning brush rotation, and the electricity of caterpillar drive is adjusted, and provides electric current for all electric appliances
Power supply.
Further, the cleaning brush is using finer wire as the annular brush head of material, brush back side mounting flange and fixation
In on waterproof machine axis；Brush finish is parallel and the 1cm that is above the ground level, connection motor are fixed on two sides in front of the frame of body upper layer.
Further, the giant is two spray heads of harpoon type, is fixed on immediately ahead of body lower layer frame；Pass through electricity
Water pump in the storehouse of pond carries out pressure exchange, sprays the water of high flow rate, and removal work is completed together with cleaning brush；
There is the electricity of the control cleaning brush, giant, crawler belt to adjust in battery compartment first half storehouse；It will be described in later half storehouse
Water pump is disposed across the midline position of warehouse, and in corresponding position aperture, water is introduced the water pump by water pipe；
For the Athey wheel by four carrying rollers, a driving wheel is assembled；Four are combined into, chassis corresponding positions are mounted on
It sets.
Another object of the present invention is to provide a kind of ocean oil transportations for carrying the hull bottom intelligence underwater cleaning robot
Pipe inspection robot.
Another object of the present invention is to provide it is a kind of carry the hull bottom intelligence underwater cleaning robot across river or across
River pipe inspection robot.
Another object of the present invention is to provide a kind of hull bottom of hull bottom intelligence underwater cleaning robot control system
Intelligent underwater cleaning robot control method, the hull bottom intelligence underwater cleaning robot control method include:
Manual remote control control, underwater robot measure submerged depth by depth transducer, before being measured by Sonar system
Square barrier, then by raspberry pie imaging system, be transmitted on computer display screen by cable.
It is carried out another object of the present invention is to provide a kind of with the hull bottom intelligence underwater cleaning robot control method
The intelligent terminal of data sharing.
In conclusion advantages of the present invention and good effect are as follows:
Because control system will be completed to lead to the USB serial ports of navigation attitude instrument, upper control machine, driving plate within a control period
Letter.Since the environment of underwater robot operation is complicated, it is necessary to determine suitable control period and communication wave rate by testing.This
Respectively with 100ms, 200ms is the control period for experiment, as shown in the figure come the different data that measures each system
Communication cycle and baud rate
After tested, when but control cycle time is 100ms, control system more can stable operation.
In addition to testing robot navigation, there are also the recycling tasks to robot to test, this experiment is respectively with 0kn, 1kn
Flow velocity and different initial bows measure the probability of recycling success of underwater robot to angle.
Docking and recovery experiment record
Since underwater robot has good horizontal movement ability, though initial bow is larger to angle variation angle, but
The success rate of docking is up to 90%.
The present invention is multi-crossed disciplines with the product with design, is related to automatic control, Machine Design and processing, sensing
The knowledge such as device, underwater communication, image procossing are used cooperatively.
Intelligent control technology of the invention is the independence for improving underwater robot, is completed in complicated marine environment each
Kind task.The architecture of intelligent control technology is artificial intelligence technology, integrated and Sonar system including various control technologies
What robot running was completed in cooperation is the crawler body of this patent.It is related to relationship between the selection of basic module, module,
Data (information) and control stream, communication interface agreement, the management of global information resource and overall scheduling institution.
The present invention can make body carry out 90 degree of inclinations by propeller, attach it alow, then make it with crawler belt cooperation
Alow surface is moved；Start cleaning brush and giant and each orientation cleaning is carried out to hull bottom.
Detailed description of the invention
Fig. 1 is hull bottom intelligence underwater cleaning robot control system schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention is multi-crossed disciplines with the product with design, is related to automatic control, Machine Design and processing, sensing
The knowledge such as device, underwater communication, image procossing are used cooperatively.
Such as Fig. 1, hull bottom intelligence underwater cleaning robot control system provided in an embodiment of the present invention, comprising:
Onboard system, the motion control for real-time perfoming underwater robot；
PC image terminal is connect with onboard system signal, for directly controlling underwater after being connected to onboard system instruction
The operation of people, and control instruction feedback is passed into onboard system, and the data collected are saved, shown and returned
It broadcasts.
The onboard system specifically includes: Underwater Target Detection and identifying system, the machine of the chassis crawler belt of underwater robot
Electric system, the airborne master control system of ROV.
From control system, for the detection and identification to submarine target, the transmission of image operates the movement of underwater robot
State can be such that underwater robot attaches in seabed, hull bottom, carry out railless movable.
PC image terminal includes the host computer that is formed of PC machine and console to slave computer；Slave computer is direct after being connected to instruction
Control the operation of underwater robot；It issues and instructs to console by mouse, somatosensory device, while console transmits this instruction
To onboard system；Host computer is saved, shown and is playbacked to the data collected from integrated computer monitor.
Hull bottom intelligence underwater cleaning robot control method provided in an embodiment of the present invention includes:
Automatic control, sensor, underwater communication, image procossing are used cooperatively.
Application of the invention is further described below with reference to concrete analysis.
Underwater robot provided in an embodiment of the present invention, the underwater robot frame is hexahedron, by eight propellers
Moved in water.There are the transparent semicircle cover of one and Hatch Opening sealing, installation inside the cloche in electronics storehouse forefront
Camera, the camera are launched image onto computer screen by connection raspberry pie, and flying control will also by the raspberry pie
The equilibrium state of body is communicated to computer.Eight propellers of the winged control connection body, lead to eight propellers
Road layout, then computer is sent a signal to by the raspberry pie.Water proof switch is installed on the sealing cover at electronics storehouse rear portion.Cable
Across the sealing cover, one end connects raspberry pie, and the other end connects computer.The battery compartment is equipped with control cleaning brush rotation,
The electricity of caterpillar drive is adjusted, and provides the power supply of electric current for all electric appliances.To the cleaning brush, the motor of crawler belt is carried out at waterproof
Reason.
As the preferred embodiment of the present invention, the cleaning brush is using finer wire as the annular brush head of material, the brush back
Face mounting flange is simultaneously fixed on waterproof machine axis.Brush finish is parallel and the 1cm that is above the ground level, connection motor are fixed on body upper layer frame
Two sides in front of frame
As the preferred embodiment of the present invention, the giant is two spray heads of harpoon type, is fixed on body lower layer
Immediately ahead of frame.Pressure exchange is carried out by the water pump in battery compartment, sprays the water of high flow rate.It completes to remove together with cleaning brush
Work.
As the preferred embodiment of the present invention, there are the control cleaning brush, giant, shoe in battery compartment first half storehouse
The electricity of band is adjusted.The water pump is disposed across to the midline position of warehouse in later half storehouse, in corresponding position aperture, is drawn water by water pipe
Into the water pump.
As the preferred embodiment of the present invention, for the Athey wheel by four carrying rollers, a driving wheel is assembled.It is combined into
Four, it is mounted on chassis corresponding position.
Working principle:
Such as Fig. 1, when robot of the invention executes water-bed inspection (such as pipeline tour), can more steady, efficiently transport
Row, and be easier to carry out Underwater Navigation compared to the robot that swims, it is not interfered vulnerable to underwater current.This underwater robot using connecting rod and
The kinematic system that the mode that multi-pass interlinks constitutes robot body's frame six degree of freedom is high-efficient, control is flexibly stablized, and matches
Closing underwater propeller can water surface free movement under water.Floating mode uses propeller inverse design, considerably increases stabilization
Property, highly effective.Control System Design scheme uses the vehicle-mounted master control system of ROV.
The vehicle-mounted master control system of ROV is based on the Samsung S3C2440A of arm9 core as host processor chip, insertion
LINUX operating system has superpower operational capability, being capable of real-time perfoming motion control arithmetic.The onboard 64M of master board
SDRAM；
On this basis, based on this structural framing, underwater tour function is developed, such as marine oil pipeline inspection；Across
A series of applications such as river, cross a river pipe inspection.
This system further includes that the host computer that is formed of PC machine and console is issued slave computer and instructed, and slave computer is being connected to instruction
The operation for directly controlling trolley afterwards is issued to console by mouse, somatosensory device etc. and is instructed, while console passes this instruction
Pass onboard system.The data collected can be saved, shown and be playbacked from computer monitor.
Motor parameters value are as follows:
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of hull bottom intelligence underwater cleaning robot control system, which is characterized in that cleaning robot under the hull bottom intelligent water
People's control system includes:
Onboard system, the motion control for real-time perfoming underwater robot；
PC image terminal is connect with onboard system signal, for directly controlling underwater robot after being connected to onboard system instruction
Operation, and control instruction feedback is passed into onboard system, and the data collected are saved, shown and playbacked.
2. hull bottom intelligence underwater cleaning robot control system as described in claim 1, which is characterized in that the onboard system
It specifically includes: Underwater Target Detection and identifying system, the Mechatronic Systems of the chassis crawler belt of underwater robot, the airborne master control system of ROV
System；
From control system, for the detection and identification to submarine target, the transmission of image operates the movement shape of underwater robot
State can be such that underwater robot attaches in seabed, hull bottom, carry out railless movable.
3. hull bottom intelligence underwater cleaning robot control system as described in claim 1, which is characterized in that PC image terminal packet
The host computer of PC machine and console formation is included to slave computer；Slave computer directly controls the fortune of underwater robot after being connected to instruction
Row；It issues and instructs to console by mouse, somatosensory device, while this instruction is passed to onboard system by console；Host computer
The data collected can be saved, shown and be playbacked by computer monitor after being connected to instruction.
4. a kind of hull bottom intelligence underwater cleaning for carrying hull bottom intelligence underwater cleaning robot control system described in claim 1
Device people, which is characterized in that the hull bottom intelligence underwater cleaning robot is provided with electronics storehouse；
There are the transparent semicircle cover of one and Hatch Opening sealing in electronics storehouse forefront；Camera is installed inside the cloche, it is described to take the photograph
As head is launched image onto computer monitor by connection raspberry pie；
The equilibrium state of body is communicated to computer monitor by the raspberry pie by the winged control in host computer；
The winged control is divided into data storage, and external communication, driver, balance control, information receives and transmitting five is most of；
Eight propellers of the winged control connection underwater human organism, carry out channel layout to eight propellers, then lead to
It crosses the raspberry pie and sends a signal to computer；
Water proof switch is installed on the sealing cover at electronics storehouse rear portion；
Cable passes through the sealing cover, and one end connects raspberry pie, and the other end connects computer；
The battery compartment is equipped with control cleaning brush rotation, and the electricity of caterpillar drive is adjusted, and provides the power supply of electric current for all electric appliances.
5. hull bottom intelligence underwater cleaning robot as claimed in claim 4, which is characterized in that the cleaning brush is with finer wire
The annular brush head of material, brush back side mounting flange are simultaneously fixed on waterproof machine axis；Brush finish is parallel and is above the ground level
1cm, connection motor are fixed on two sides in front of the frame of body upper layer.
6. hull bottom intelligence underwater cleaning robot as claimed in claim 4, which is characterized in that the giant is harpoon type
Two spray heads, be fixed on immediately ahead of body lower layer frame；Pressure exchange is carried out by the water pump in battery compartment, sprays high flow rate
Water, together with cleaning brush complete removal work；
There is the electricity of the control cleaning brush, giant, crawler belt to adjust in battery compartment first half storehouse；By the water pump in later half storehouse
It is disposed across the midline position of warehouse, in corresponding position aperture, water is introduced by the water pump by water pipe；
For the Athey wheel by four carrying rollers, a driving wheel is assembled；Four are combined into, chassis corresponding position is mounted on.
7. a kind of marine oil pipeline inspection machine people for carrying hull bottom intelligence underwater cleaning robot described in claim 4.
8. it is a kind of carry claim 4 described in hull bottom intelligence underwater cleaning robot across river or cross a river pipe inspection robot.
9. cleaning robot under a kind of hull bottom intelligent water of hull bottom intelligence underwater cleaning robot control system as described in claim 1
People's control method, which is characterized in that the hull bottom intelligence underwater cleaning robot control method includes:
Manual remote control control, underwater robot measure submerged depth by depth transducer, measure front barrier by Sonar system
Hinder object, then by raspberry pie imaging system, is transmitted on computer display screen by cable.
10. a kind of carry out the intelligence of data sharing eventually with hull bottom intelligence underwater cleaning robot control method described in claim 9
End.
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Cited By (8)
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|---|---|---|---|---|
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN109882681A (en) * | 2019-03-25 | 2019-06-14 | 武汉交通职业学院 | A kind of intelligent pipeline detection robot, control system and control method |
| CN110145653A (en) * | 2019-03-25 | 2019-08-20 | 武汉交通职业学院 | A kind of pipeline intelligent detection robot and detection method |
| CN110379247A (en) * | 2019-07-19 | 2019-10-25 | 武汉理工大学 | A kind of multitask, polygonal color ROV coorinated training analogue system and method |
| CN111634417A (en) * | 2020-05-25 | 2020-09-08 | 武汉理工大学 | Ship bottom cleaning aircraft |
| CN112547629A (en) * | 2020-10-20 | 2021-03-26 | 中国水产科学研究院南海水产研究所 | Net cleaning robot and method for large steel aquaculture net cage |
| WO2022037100A1 (en) * | 2020-08-21 | 2022-02-24 | 广东海洋大学 | Rov ship bottom autonomous inspection method based on three-dimensional ship stl model |
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