CN111806646B - Cleaning method of intelligent ship wall cleaning robot - Google Patents
Cleaning method of intelligent ship wall cleaning robot Download PDFInfo
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- CN111806646B CN111806646B CN202010583822.2A CN202010583822A CN111806646B CN 111806646 B CN111806646 B CN 111806646B CN 202010583822 A CN202010583822 A CN 202010583822A CN 111806646 B CN111806646 B CN 111806646B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Ocean & Marine Engineering (AREA)
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- Signal Processing (AREA)
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- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides an intelligent ship wall cleaning robot which comprises a binocular camera, a high-pressure water jet pipeline, a neodymium magnet, a cleaning assembly and a crawler. The upper surface that binocular camera passes through camera support and robot top links firmly, and the first end that high pressure water jetted pipeline is equipped with high-pressure water and penetrates the valve, and high-pressure water jetted pipeline's first end penetrates support and robot through high pressure water and links firmly, and the track is located robot's both sides, and neodymium magnet is located the surface of track. The cleaning assembly is located on the lower surface of the bottom of the robot body, the dirty water brush is fixedly connected with the first end of the dirty water brush connecting shaft, the second end of the dirty water brush connecting shaft is connected with the robot body, the tool conversion disc is fixedly connected with the first end of the tool conversion disc connecting shaft, and the second end of the tool conversion disc connecting shaft is connected with the robot body. The invention not only improves the working efficiency of the ship wall cleaning, but also improves the intelligent degree of the current ship wall cleaning robot, so that the practicability is stronger.
Description
Technical Field
The invention relates to the technical field of ship wall surface rust removal and cleaning, in particular to an intelligent ship wall cleaning robot and a cleaning method thereof.
Background
The marine industry is an important industry in the national economy. The development of the device can provide an industrial product market with large accommodation degree, drive the development of related industries, provide advanced equipment for water transportation, ocean development, navy national defense and the like, and play an irreplaceable role in national economy.
The impurity removal and rust removal are indispensable processes with the greatest labor intensity, serious pollution and laggard technical level in the ship industry. The global ship field has a lot of ship wall cleaning cost every year, and mainly uses manual cleaning as a main part. The manual cleaning is time-consuming and labor-consuming, the efficiency is low, the cleaning effect is general, and a new cleaning method is urgently needed. At present, the ship cleaning mode is gradually changed from a manual cleaning mode to a robot cleaning mode. The ship wall cleaning robot has the advantages of low cost, high efficiency and the like, can develop multiple functions by carrying the cleaning tool, and brings huge social and economic benefits for the ship cleaning and maintenance industry.
Conventional boat wall cleaning robot function is simple, and the operation form is simple, and clean inefficiency, intelligent degree is low, and the practicality is very poor. Therefore, the invention provides the intelligent ship wall cleaning robot which can improve the working efficiency of ship wall cleaning to a certain extent.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the intelligent ship wall cleaning robot and the cleaning method thereof, which not only improve the working efficiency of ship wall cleaning and increase the practicability of the ship wall cleaning robot, but also improve the intelligent degree of the current ship wall cleaning robot, reduce the manpower and material resources in the field of ship wall cleaning, reduce the ship wall cleaning cost and ensure that the ship wall cleaning work is systematized, intelligent and automatic.
The invention provides an intelligent ship wall cleaning robot which comprises a binocular camera, a camera support, a high-pressure water jet pipeline, a high-pressure water jet support, a high-pressure water jet valve, a linear motor, a neodymium magnet, a cleaning assembly, a crawler, a robot driven shaft, a robot driving shaft and a robot body. The binocular camera is fixedly connected with the upper surface of the top of the robot body through the camera bracket, the high-pressure water jet pipeline is positioned in the middle of the upper surface of the top of the robot body, a high-pressure water jet valve is arranged at the first end of the high-pressure water jet pipeline, the first end of the high-pressure water jet pipeline is fixedly connected with the robot body through the high-pressure water jet bracket, the caterpillar tracks are positioned on two sides of the robot body, the neodymium magnets are respectively positioned on the surfaces of the caterpillar tracks and the tail ends of the output shafts of the linear motors, the upper surface of the linear motor is fixed at the lower end of the upper surface of the robot body, the second end of the robot driving shaft is fixedly connected with the first end of the crawler belt, the second end of the crawler belt is connected with the first end of the robot driven shaft, and the second end of the robot driven shaft is connected with the robot body. The cleaning assembly is located on the lower surface of the bottom of the robot body and comprises a dirty water brush connecting shaft, a dirty water brush, a tool conversion disc, a tool groove and a tool conversion disc connecting shaft, the tool conversion disc is located in the middle of the lower surface of the bottom of the robot body, the dirty water brush is fixedly connected with a first end of the dirty water brush connecting shaft, a second end of the dirty water brush connecting shaft is connected with the robot body, a first end of the tool conversion disc is fixedly connected with a first end of the tool conversion disc connecting shaft, a second end of the tool conversion disc connecting shaft is connected with the robot body, the second end of the tool conversion disc is provided with the tool groove, and the tool groove is uniformly distributed on the outer circumference of the second end of the tool conversion disc.
Preferably, the caterpillar bands are symmetrically distributed at two ends of the robot body about the central axis of the robot body, and the binocular cameras are symmetrically distributed at two sides of the robot body about the high-pressure water jet pipeline.
Preferably, the axis of the tool switching plate, the axis of the high pressure water jet pipe, and the position of the linear motor are on the same straight line.
Preferably, the dirty water brushes are symmetrically distributed on both sides of the lower surface of the bottom of the robot body with respect to the axis of the tool changing plate.
Preferably, the distance between the binocular camera and one side of the robot body is greater than the distance between the dirty water brush and one side of the robot body.
In another aspect of the present invention, there is provided a washing method using an intelligent ship wall cleaning robot, including the steps of:
s1, the intelligent ship wall cleaning robot is electrified, and meanwhile, the intelligent ship wall cleaning robot is communicated with a computer to be in a remote control state;
s2, moving the intelligent boat wall cleaning robot to the upper edge of the boat wall to be cleaned by using the keyboard event of the user interface application Qt and by using different events generated by pressing and lifting the keyboard setting key;
s3, the ship wall cleaning robot is switched into an automatic operation mode through a user interface application program Qt control interface, so that the intelligent ship wall cleaning robot automatically keeps linear operation, at the moment, the high-pressure water jet pipeline cleans the ship wall through high-pressure water jet, and the dirty water brush connecting shaft starts to work and operate;
s4, uploading the video shot by the binocular camera to a computer through a Wi-Fi module of the programmable gate array FPGA, and displaying the video through an interface designed by the user interface application program Qt;
s41, calling video information by using a class constructor VideoCapture in an open source computer vision library OpenCV, and reading a video file of the camera;
s42, segmenting a video file acquired by a binocular camera into each frame through a constructor cvQueryFrame in an open source computer vision library OpenCV, segmenting the video file into each picture, carrying out image object contour recognition, distinguishing an object dense area, an attachment with a large contour, an attachment with a small contour and the like, returning different signals to a programmable gate array (FPGA) of a controller, controlling the rotation angle of a tool conversion disk connecting shaft by the FPGA, and controlling the tool conversion disk connecting shaft to rotate by a corresponding angle according to the type of the attachment on the wall surface of a ship;
s421, identifying the tool to be a small attachment, rotating the connecting shaft of the tool conversion disc by 0 degree, selecting a mechanical structure carried by a first tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s422, recognizing the attachment as a medium attachment, rotating the connecting shaft of the tool conversion disc by 90 degrees, selecting a mechanical structure carried by a second tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s423, recognizing the attachment as a large attachment, rotating the tool conversion disc connecting shaft for 180 degrees, selecting a mechanical structure carried by a third tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s43, controlling the switching ratio of the high-pressure water jet valve and the advancing speed of the intelligent ship wall cleaning robot through the FPGA processing result, and further realizing efficient variable-pressure cleaning;
s44, edge detection in OpenCV image processing, wherein when the intelligent ship wall cleaning robot works and runs to the edge of the ship wall, a robot driving shaft at the bottom of a robot body runs in a differential mode, the running direction of the ship wall cleaning robot is changed, and the next row of the ship wall is cleaned;
s5, reading three-dimensional posture and orientation data of a posture sensor of the intelligent ship wall cleaning robot through the FPGA;
s51, when the attitude parameter of the intelligent ship wall cleaning robot is detected to accord with a normal value, the intelligent ship wall cleaning robot system works normally, and the linear motor is in a standby state;
s52, when the acquired attitude parameters of the intelligent ship wall cleaning robot are abnormal values, immediately stopping the cleaning work of the intelligent ship wall cleaning robot, operating the linear motor, and ejecting the neodymium magnet by the output end of the linear motor;
and S6, saving the clean video output of the intelligent ship wall cleaning robot to a computer for playback, inspection and viewing.
Compared with the prior art, the invention has the following advantages:
1. the invention realizes the communication function with the terminal equipment through the FPGA, so that the working form of the ship wall cleaning robot is more intelligent and automatic.
2. According to the invention, the designed binocular camera module is matched with the identification and processing system of the upper computer, so that variable-pressure cleaning can be realized and corresponding cleaning tools can be selected according to the condition of ship wall attachments, and the ship wall cleaning work efficiency is improved.
3. According to the invention, the high-pressure water jet mounting bracket is combined with the rotary steering engine, so that the cleaning surface of the ship wall cleaning robot is in a fan shape, and the cleaning area is increased to improve the cleaning efficiency.
4. According to the invention, through the dirty water brush design structure, the vacuum dirty water recovery structure is greatly simplified, and the problems of side slipping and falling and the phenomenon of ship wall surface rust return when the crawler-type ship wall cleaning robot works on the water surface can be prevented.
Drawings
FIG. 1 is a flow chart of the operation of the intelligent ship wall cleaning robot and the cleaning method thereof;
FIG. 2 is a front view of the intelligent boat wall cleaning robot and its cleaning method of the present invention;
FIG. 3 is a side view of the intelligent boat wall cleaning robot and its cleaning method of the present invention; and
fig. 4 is a top view of the intelligent ship wall cleaning robot and the cleaning method thereof according to the present invention.
The main reference numbers:
binocular camera 1, camera support 2, high-pressure water jet pipeline 3, high-pressure water jet support 4, high-pressure water jet valve 5, linear electric motor 6, neodymium magnet 7, cleaning assembly 8, dirty water brush connecting shaft 81, dirty water brush 82, tool conversion disk 83, tool groove 84, tool conversion disk connecting shaft 85, crawler 9, robot driven shaft 10, robot driving shaft 11 and robot body 12.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
Intelligent ship wall cleaning machines people, as shown in fig. 2-4, it includes binocular camera 1, camera support 2, high-pressure water and penetrates pipeline 3, high-pressure water and penetrates support 4, high-pressure water and penetrates valve 5, linear electric motor 6, neodymium magnet 7, clean subassembly 8, track 9, robot driven shaft 10, robot drive shaft 11 and robot body 12.
As shown in fig. 1, the binocular camera 1 is fixedly connected with the upper surface of the top of the robot body 12 through the camera support 2, the high-pressure water jet pipeline 3 is located in the middle of the upper surface of the top of the robot body 12, the first end of the high-pressure water jet pipeline 3 is provided with the high-pressure water jet valve 5, the first end of the high-pressure water jet pipeline 3 is fixedly connected with the robot body 12 through the high-pressure water jet support 4, the caterpillar bands 9 are located on two sides of the robot body 12, as shown in fig. 3, the neodymium magnets 7 are respectively located on the surface of the caterpillar bands 9 and the tail ends of output shafts of the linear motors 6, the upper surfaces of the linear motors 6 are fixed at the lower end of the upper surface of the robot body 12, the second end of the robot driving shaft 11 is fixedly connected with the first end of the caterpillar bands 9, the second end of the caterpillar bands 9 is connected with the first end of the robot driven shaft 10, and the second end of the robot driven shaft 10 is connected with the robot body 12. The intelligent ship wall cleaning robot can move forwards and turn at different rotating speeds of the robot driving shaft 11; the rectangular neodymium magnets 7 designed on the crawler belt can realize permanent magnet adsorption of the intelligent ship wall cleaning robot on the side face of the ship wall, and ensure that the intelligent ship wall cleaning robot can perform adsorption operation on the wall surface.
As shown in fig. 4, the cleaning assembly 8 is located at a lower surface of the bottom of the robot body 12, and includes a dirty water brush attachment shaft 81, a dirty water brush 82, a tool change plate 83, a tool slot 84, and a tool change plate attachment shaft 85.
The dirty water brush connecting shaft 81 can realize the rotation of the dirty water brush at 0-45 degrees, and when the robot works normally, the dirty water brush connecting shaft 81 drives the dirty water brush 82 to rotate ceaselessly; the dirty water brush 82 has the function of cleaning and scraping water stains of the high-pressure water jet pipeline 3 after cleaning, realizes the cleaning effect at a certain angle through the dirty water brush connecting shaft 81, prevents the caterpillar band 9 from sideslipping and even dropping on the water stains when walking, and also prevents the ship wall from rusting for the second time; the tool conversion disc 83 achieves the conversion function of the cleaning tools, the tool conversion disc 83 is provided with three grooves, the three grooves can carry three physical cleaning tools, and corresponding cleaning tools can be selected according to attachments of different types identified by the binocular camera 1, so that the cleaning efficiency is improved; the tool change disk coupling shaft 85 is rotatable 180 degrees, 90 degrees each time, to effect tool change of the tool change disk 83.
Controlling the running speed of the intelligent ship wall cleaning robot and the switching ratio of the high-pressure water jet valve 5 according to the type of the ship wall attachments, and opening the high-pressure water jet valve 5 by 80-100% for small attachments, and cleaning under large-range and small-pressure; for medium attachments, the high-pressure water jet valve 5 is opened by 60-80%, and the medium attachments are cleaned at medium range and medium pressure; for large attached crops, the high-pressure water injection valve 5 is opened by 40% -60%, and the robot is cleaned in a small-range high-pressure mode, so that the working efficiency of the intelligent ship wall cleaning robot is improved.
The tool switching disc 83 is located in the middle of the lower surface of the bottom of the robot body 12, the dirty water brush 82 is fixedly connected with a first end of a dirty water brush connecting shaft 81, a second end of the dirty water brush connecting shaft 81 is connected with the robot body 12, a first end of the tool switching disc 83 is fixedly connected with a first end of a tool switching disc connecting shaft 85, a second end of the tool switching disc connecting shaft 85 is connected with the robot body 12, a second end of the tool switching disc 83 is provided with tool grooves 84, and the tool grooves 84 are evenly distributed on the outer circumference of the second end of the tool switching disc 83.
As shown in fig. 4, the caterpillar bands 9 are symmetrically distributed at both ends about the central axis of the robot body 12, and the binocular cameras 1 are symmetrically distributed at both sides of the robot body 12 about the high pressure water jet pipe 3.
The axis of the tool changing plate 83, the axis of the high-pressure water injection pipe 3 and the position of the linear motor 6 are on the same straight line.
As shown in fig. 2, the dirty water brushes 81 are symmetrically distributed on both sides of the lower surface of the bottom of the robot body 12 with respect to the axis of the tool changing plate 83. The distance from the binocular camera 1 to one side of the robot body 12 is greater than the distance from the dirty water brush 82 to one side of the robot body 12.
As shown in fig. 1, the cleaning method using the intelligent ship wall cleaning robot for cleaning includes the following steps:
s1, the intelligent ship wall cleaning robot is electrified, and meanwhile, the intelligent ship wall cleaning robot is communicated with a computer to be in a remote control state.
S2, the intelligent boat wall cleaning robot is moved to the upper edge of the boat wall to be cleaned by different events generated by the pressing and lifting of the key setting key using the user interface application Qt, i.e. the keyboard event of the cross-platform C + + gui application Qt.
S3, the ship wall cleaning robot is switched to an automatic operation mode through a user interface application program Qt control interface, so that the intelligent ship wall cleaning robot automatically keeps linear operation, at the moment, the high-pressure water jet pipeline 3 cleans the ship wall through high-pressure water jet, and the dirty water brush connecting shaft 81 starts to work and operate.
S4, uploading the video shot by the binocular camera 1 to a computer through a Programmable Gate Array (FPGA), namely a Field-Programmable Gate Array (Fii-Fi module of the FPGA), and displaying the video through an interface designed by a user interface application program Qt;
s41, using OpenCV, namely, the video Capture in the visual library of the open-source computer, namely, the class constructor function calls the video information, and reading the video file of the camera;
s42, the video file acquired by the binocular camera 1 is divided into each frame by cvQueryFrame in OpenCV, so that the video file is divided into each picture, image object outline recognition is performed, an object dense area, an attachment with a large outline, an attachment with a small outline and the like are distinguished, different signals are returned to the controller FPGA, the controller FPGA controls the rotation angle of the tool conversion disk connecting shaft 85, and the tool conversion disk connecting shaft 85 is controlled to rotate by a corresponding angle according to the type of the attachment on the wall surface of the ship;
s421, recognizing the attachment as a small attachment, rotating the tool conversion disk connecting shaft 85 by an angle of 0 degree, selecting a mechanical structure cleaning tool carried by the first tool groove 84 of the tool conversion disk 83, and matching with the high-pressure water jet pipeline 3 for operation;
s422, recognizing the attachment as a medium attachment, rotating the tool conversion disc connecting shaft 85 for 90 degrees, selecting a mechanical structure cleaning tool carried by the second tool groove 84 of the tool conversion disc 83, and matching the cleaning tool with the high-pressure water jet pipeline 3 for operation;
and S423, recognizing the attachment as large, rotating the tool conversion disc connecting shaft 85 for 180 degrees, selecting a mechanical structure carried by the third tool groove 84 of the tool conversion disc 83 to clean the tool, and matching the tool with the high-pressure water jet pipeline 3 for operation.
S43, controlling the switching ratio of the high-pressure water jet valve 5 and the advancing speed of the intelligent ship wall cleaning robot through the FPGA processing result, and further realizing efficient variable-pressure cleaning;
and S44, edge detection in OpenCV image processing, wherein when the intelligent ship wall cleaning robot works and runs to the edge of the ship wall, the robot driving shaft 11 positioned at the bottom of the robot body 12 runs at a different speed, the running direction of the ship wall cleaning robot is changed, and the next row of the ship wall is cleaned.
S5, reading the three-dimensional posture and orientation data of the intelligent ship wall cleaning robot posture sensor through the FPGA;
s51, when the attitude parameter of the intelligent ship wall cleaning robot is detected to be in accordance with a normal value, the intelligent ship wall cleaning robot system works normally, the linear motor 6 is in a standby state, and the output rod of the linear motor 6 is in a contraction state;
s52, when the acquired attitude parameters of the intelligent ship wall cleaning robot are abnormal values, immediately stopping the cleaning work of the intelligent ship wall cleaning robot, operating the linear motor 6, and instantly popping up the neodymium magnet 7 connected with the output shaft of the linear motor 6, so that the adsorption force of the intelligent ship wall cleaning robot is increased, and the safety of the intelligent ship wall cleaning robot is ensured.
And S6, outputting the cleaning video of the intelligent ship wall cleaning robot to a computer for the staff to review, check and watch.
The intelligent ship wall cleaning robot and the cleaning method thereof are further described with reference to the following embodiments:
s1, the intelligent ship wall cleaning robot is electrified, so that the robot driving shaft 11, the controller, the binocular camera module 1, the robot body 12 and the linear motor 6 are electrified, and meanwhile, the intelligent ship wall cleaning robot is communicated with a computer to be in a remote control state.
S2, the intelligent ship wall cleaning robot which is just powered on and is in the manual control mode is controlled to move through the user interface application Qt, that is, the keyboard event of the cross-platform C + + gui application, the up, down, left, and right keys of the keyboard control the forward, backward, left, and right directions of the intelligent ship wall cleaning robot, and when the keyboard is pressed, the triggering is interrupted when the keyboard is lifted, and the intelligent ship wall cleaning robot is moved to the upper edge of the ship wall to be cleaned.
S3, when the intelligent ship wall cleaning robot runs to the starting point of the ship wall to be cleaned, the intelligent ship wall cleaning robot is switched to an automatic running mode through a user interface application program Qt control interface, the intelligent ship wall cleaning robot keeps running linearly by itself, at the moment, the high-pressure water jet pipeline 3 cleans the ship wall through high-pressure water jet, the dirty water brush connecting shaft 81 starts to work and run, the set 30-degree angle drives the dirty water brush connecting shaft 81 to rotate, the dirty water brush 82 is driven to clean dirty water at the angle of 30 degrees, and the intelligent ship wall cleaning robot runs on the drier ship wall as much as possible.
And S4, initializing the binocular camera 1 through the FPGA to enable the binocular camera 1 to be in a working mode, shooting a picture of the wall surface of the ship in real time, transmitting the picture to the FPGA, transmitting the picture to a computer through wireless communication, and displaying the picture through an interface designed by a user interface application program Qt.
S41, calling video information displayed by a user interface application program Qt through a VideoCapture in OpenCV, and reading a video file of the camera;
s42, the video file obtained by the binocular camera 1 is divided into each frame by cvQueryFrame in OpenCV, so that the video file is divided into each picture, image object outline recognition is performed, an object dense area, an attachment with a large outline, an attachment with a small outline, and the like are distinguished, different signals are returned to the controller FPGA, the controller FPGA controls the rotation angle of the tool conversion disk connecting shaft 85, and the tool conversion disk connecting shaft 85 is controlled to rotate by a corresponding angle according to the type of the attachment on the ship wall surface.
S421, for small attachments, the tool conversion disk connecting shaft 85 rotates by 0 degree, the mechanical structure carried by the first tool groove 84 of the tool conversion disk 83 is selected to clean tools, and the high-pressure water jet pipeline 3 is matched for operation.
And S422, recognizing the attachment as medium attachment, rotating the tool conversion disk connecting shaft 85 by 90 degrees, selecting the mechanical structure carried by the second tool groove 84 of the tool conversion disk 83 to clean the tool, and matching the tool with the high-pressure water jet pipeline 3 for operation.
And S423, recognizing the attachment as large, rotating the tool conversion disc connecting shaft 85 for 180 degrees, selecting a mechanical structure carried by the third tool groove 84 of the tool conversion disc 83 to clean the tool, and matching the tool with the high-pressure water jet pipeline 3 for operation.
S43, pwm waves with different duty ratios are output through the FPGA, the rotating speed of the robot driving shaft 11 is controlled, power for moving the intelligent ship wall cleaning robot is provided through the robot driving shaft 11, the robot driving shaft 11 drives a crawler 9, the crawler 9 drives a robot driven shaft 10, and the intelligent ship wall cleaning robot moves forwards and backwards and turns left and right according to the rotating speed control of the robot driving shaft 11; after the binocular camera 1 is subjected to video picture processing through the upper computer, ship wall attachments are identified, and the high-pressure water jet valve 5 is controlled through the FPGA according to the types of the ship attachments.
S44, the ship wall surface condition shot by the binocular camera 1 is transmitted to an upper computer to be displayed, image information collected by the upper computer is called through OpenCV, edge detection in image processing is carried out, when the intelligent ship wall cleaning robot works and runs to the edge of a ship wall, the FPGA generates pwm waves of two difference values, so that the two robot driving shafts 11 run in a differential mode, the traveling direction of the ship wall cleaning robot is changed, and the next line is cleaned.
S5, after the intelligent ship wall cleaning robot operates, acquiring the attitude parameters of the intelligent ship wall cleaning robot in real time through the designed attitude sensor through the FPGA, and monitoring the attitude of the intelligent ship wall cleaning robot in real time;
s51, when the attitude parameter of the intelligent ship wall cleaning robot is detected to be in accordance with a normal value, the intelligent ship wall cleaning robot system works normally, the linear motor 6 is in a standby state, and the output rod of the linear motor 6 is in a contraction state;
s52, when the acquired attitude parameters of the intelligent ship wall cleaning robot are abnormal values, immediately stopping the cleaning work of the intelligent ship wall cleaning robot, operating the linear motor 6, and instantly popping up the neodymium magnet 7 connected with the output shaft of the linear motor 6, so that the adsorption force of the intelligent ship wall cleaning robot is increased, and the safety of the intelligent ship wall cleaning robot is ensured.
And S6, outputting the cleaning video of the intelligent ship wall cleaning robot to a computer for the staff to review, check and watch.
According to the invention, the binocular camera is matched with the OpenCV software platform of the upper computer, so that image acquisition and image processing are carried out on the wall surface condition of the ship, the types of attachments on the ship wall can be identified and classified, and the edge of the ship wall can be detected; wireless communication is established with a Qt software platform of an upper computer user interface application program through the FPGA, and the key state of a keyboard is captured through a keyboard event of the Qt, so that manual operation and control of the intelligent ship wall cleaning robot are realized; through image acquisition and image processing of the ship wall surface, attachments on the ship wall surface are classified, the switching proportion of the high-pressure water jet valve is controlled according to the classification, the tool conversion disc is controlled to rotate by a proper angle according to the size of the attachments, and a proper cleaning tool is selected; the dirty water brush device can be used for cleaning dirty water washed by high-pressure water jet, so that the wall surface of the ship can be dried and cleaned; through the attitude sensor of design, gather intelligent ship wall cleaning machines people's gesture data to and through internal design linear electric motor and neodymium magnet structure, do dual guarantee for intelligent ship wall cleaning machines people.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. A cleaning method of an intelligent ship wall cleaning robot comprises a binocular camera, a camera support, a high-pressure water jet pipeline, a high-pressure water jet support, a high-pressure water jet valve, a linear motor, a neodymium magnet, a cleaning assembly, a crawler, a robot driven shaft, a robot driving shaft and a robot body,
the binocular camera is fixedly connected with the upper surface of the top of the robot body through the camera bracket, the high-pressure water jet pipeline is positioned in the middle of the upper surface of the top of the robot body, a high-pressure water jet valve is arranged at the first end of the high-pressure water jet pipeline, the first end of the high-pressure water jet pipeline is fixedly connected with the robot body through the high-pressure water jet bracket, the caterpillar tracks are positioned on two sides of the robot body, the neodymium magnets are respectively positioned on the surfaces of the caterpillar tracks and the tail ends of the output shafts of the linear motors, the upper surface of the linear motor is fixed at the lower end of the upper surface of the robot body, the second end of the robot driving shaft is fixedly connected with the first end of the crawler belt, the second end of the crawler is connected with the first end of the robot driven shaft, and the second end of the robot driven shaft is connected with the robot body; the method is characterized in that:
the cleaning assembly is positioned on the lower surface of the bottom of the robot body and comprises a dirty water brush connecting shaft, a dirty water brush, a tool conversion disc, a tool groove and a tool conversion disc connecting shaft, the tool conversion disc is positioned in the middle of the lower surface of the bottom of the robot body, the dirty water brush is fixedly connected with a first end of the dirty water brush connecting shaft, a second end of the dirty water brush connecting shaft is connected with the robot body, a first end of the tool conversion disc is fixedly connected with a first end of the tool conversion disc connecting shaft, a second end of the tool conversion disc connecting shaft is connected with the robot body, the second end of the tool conversion disc is provided with the tool groove, and the tool grooves are uniformly distributed on the outer circumference of the second end of the tool conversion disc;
the dirty water brush connecting shaft realizes the rotation of the dirty water brush at 0-45 degrees, and when the robot works normally, the dirty water brush connecting shaft drives the dirty water brush to rotate ceaselessly; the dirty water brush has the function of cleaning water stains after the high-pressure water jet pipeline is cleaned, and the dirty water brush is connected with the shaft to realize the cleaning effect at a certain angle; the tool conversion disc is provided with three grooves, the three grooves carry three physical cleaning tools, and corresponding cleaning tools are selected according to attachments of different types identified by the binocular camera; the tool conversion disc is connected with the shaft for rotation, and the tool conversion of the tool conversion disc is realized by rotation for each time;
the cleaning method comprises the following steps:
s1, powering on the intelligent ship wall cleaning robot, and meanwhile, communicating the intelligent ship wall cleaning robot with a computer to enable the intelligent ship wall cleaning robot to be in a remote control state;
s2, moving the intelligent boat wall cleaning robot to the upper edge of the boat wall to be cleaned by using the keyboard event of the user interface application Qt and by using different events generated by pressing and lifting the keyboard setting key;
s3, the ship wall cleaning robot is switched into an automatic operation mode through a user interface application program Qt control interface, so that the intelligent ship wall cleaning robot automatically keeps linear operation, at the moment, the high-pressure water jet pipeline cleans the ship wall through high-pressure water jet, and the dirty water brush connecting shaft starts to work and operate;
s4, uploading the video shot by the binocular camera to a computer through a Wi-Fi module of the programmable gate array FPGA, and displaying the video through an interface designed by the user interface application program Qt;
s41, calling video information by using a class constructor VideoCapture in an open source computer vision library OpenCV, and reading a video file of the camera;
s42, segmenting a video file acquired by a binocular camera into each frame through a constructor cvQueryFrame in an open source computer vision library OpenCV, segmenting the video file into each picture, carrying out image object contour recognition, distinguishing an object dense area, an attachment with a large contour, an attachment with a small contour and the like, returning different signals to a programmable gate array (FPGA) of a controller, controlling the rotation angle of a tool conversion disk connecting shaft by the FPGA, and controlling the tool conversion disk connecting shaft to rotate by a corresponding angle according to the type of the attachment on the wall surface of a ship;
s421, identifying the tool to be a small attachment, rotating the connecting shaft of the tool conversion disc by 0 degree, selecting a mechanical structure carried by a first tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s422, recognizing the attachment as a medium attachment, rotating the connecting shaft of the tool conversion disc by 90 degrees, selecting a mechanical structure carried by a second tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s423, recognizing the attachment as a large attachment, rotating the tool conversion disc connecting shaft for 180 degrees, selecting a mechanical structure carried by a third tool groove of the tool conversion disc to clean the tool, and matching with a high-pressure water jet pipeline for operation;
s43, controlling the switching ratio of the high-pressure water jet valve and the advancing speed of the intelligent ship wall cleaning robot through the FPGA processing result, and further realizing efficient variable-pressure cleaning;
s44, edge detection in OpenCV image processing, wherein when the intelligent ship wall cleaning robot works and runs to the edge of the ship wall, a robot driving shaft at the bottom of a robot body runs in a differential mode, the running direction of the ship wall cleaning robot is changed, and the next row of the ship wall is cleaned;
s5, reading three-dimensional posture and orientation data of a posture sensor of the intelligent ship wall cleaning robot through the FPGA;
s51, when the attitude parameter of the intelligent ship wall cleaning robot is detected to accord with a normal value, the intelligent ship wall cleaning robot system works normally, and the linear motor is in a standby state;
s52, when the acquired attitude parameters of the intelligent ship wall cleaning robot are abnormal values, immediately stopping the cleaning work of the intelligent ship wall cleaning robot, operating the linear motor, and ejecting the neodymium magnet by the output end of the linear motor;
and S6, saving the clean video output of the intelligent ship wall cleaning robot to a computer for playback, inspection and viewing.
2. The method for cleaning the intelligent ship wall cleaning robot as claimed in claim 1, wherein the caterpillar tracks are symmetrically distributed at both ends about a central axis of the robot body, and the binocular cameras are symmetrically distributed at both sides of the robot body about the high pressure water jet pipe.
3. The method of claim 1, wherein the axis of the tool changer, the axis of the high pressure water jet pipe, and the position of the linear motor are on a same straight line.
4. The method of claim 3, wherein the dirty water brushes are symmetrically distributed on both sides of the bottom lower surface of the robot body with respect to the axis of the tool changing plate.
5. The method for cleaning the intelligent ship wall cleaning robot as claimed in claim 2 or 4, wherein the distance between the binocular camera and the side of the robot body is greater than the distance between the dirty water brush and the side of the robot body.
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| CN107717948A (en) * | 2017-11-23 | 2018-02-23 | 上海理工大学 | Glass curtain wall intelligence cleaning robot based on Android |
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