CN113443572A - Umbilical cable positioning control system and control method for underwater cleaning robot - Google Patents
Umbilical cable positioning control system and control method for underwater cleaning robot Download PDFInfo
- Publication number
- CN113443572A CN113443572A CN202110871615.1A CN202110871615A CN113443572A CN 113443572 A CN113443572 A CN 113443572A CN 202110871615 A CN202110871615 A CN 202110871615A CN 113443572 A CN113443572 A CN 113443572A
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- China
- Prior art keywords
- underwater
- robot
- umbilical cable
- controller
- underwater robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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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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- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an umbilical cable positioning control system and method for an underwater cleaning robot. The underwater robot positioning device can receive a depth sensor signal, an attitude sensor signal and an encoder signal through the controller, the controller controls the motor to rotate according to the received encoder signal and the depth information so as to control the retraction of the umbilical cable, and the underwater robot is positioned according to the encoder signal, the depth information and the attitude information.
Description
Technical Field
The invention relates to the technical field of robot communication, in particular to an umbilical cable positioning control system and method for an underwater cleaning robot.
Background
The underwater electromagnetic signal attenuation is fast, wireless communication can not be used basically in practical use, at present, most underwater robots adopt a wired communication mode, communication between an overwater controller and the underwater robots is achieved by dragging an umbilical cable, the underwater cleaning robots can circularly move in bulkheads needing cleaning to achieve bulkhead cleaning, winding problems can be caused when the umbilical cable is too long, extra loads can be caused to the robots when the umbilical cable is too short, and the accurate control of the length of the umbilical cable is a key technical problem; in addition, the underwater robot positioning technology is also one of the key technologies of the underwater robot, the current typical underwater positioning method comprises underwater sound positioning, underwater positioning based on a GPS and the like, but the positioning methods not only need to add positioning devices on a robot body and a water surface control station, but also have great application limitations, and in consideration of application scenes, economic cost and practicability of the underwater robot, most of the currently applied underwater cleaning robots cannot adopt the positioning technology and cannot realize positioning, so that the patent provides an umbilical cable positioning control system and a control method of the underwater cleaning robot, wherein the umbilical cable positioning control system and the control method control the length of an umbilical cable by controlling motor parameters through a controller and determining the underwater position of the robot by using the parameters obtained by a sensor.
Disclosure of Invention
The invention aims to provide an umbilical cable positioning control system and an umbilical cable positioning control method for an underwater cleaning robot, and aims to solve the problem that the existing underwater robot positioning in the background technology is high in economic cost.
In order to achieve the purpose, the invention provides the following technical scheme: an umbilical cable positioning control system and a control method of an underwater cleaning robot comprise an above-water part and an underwater part, wherein the above-water part comprises a controller, an encoder, a motor and a winch, the underwater part comprises the underwater robot, and the above-water part and the underwater part are connected through an umbilical cable.
Preferably, one end of the umbilical is connected to the underwater robot, and the other end of the umbilical is connected to the winch.
Preferably, the underwater part further comprises an attitude sensor for being mounted on the underwater robot to detect an attitude change of the underwater robot and transmit the detected attitude information to the controller, and the controller changes a control parameter of the motor according to length information of the attitude sensor and the encoder to ensure the tension of the umbilical.
Preferably, the underwater part further comprises a depth sensor, and the depth sensor is used for being mounted on the underwater robot to detect the depth information of the underwater robot and transmit the detected depth information to the controller to realize the depth positioning of the underwater robot under water, and further realize the positioning of the underwater robot.
Preferably, the control method of the underwater robot is as follows:
step S1: the controller determines the retraction of the winch according to the received depth information of the depth sensor and the length information of the encoder, namely the controller controls the positive and negative rotation of the motor;
step S2: and the controller carries out underwater positioning on the underwater robot according to the received depth information of the depth sensor, the length information of the encoder and the attitude information of the attitude sensor.
Compared with the prior art, the invention has the beneficial effects that: the umbilical cable positioning control system and the control method of the underwater cleaning robot realize low cost and high practical functions, the umbilical cable positioning control system of the underwater cleaning robot is divided into an above-water part and an under-water part, the above-water part comprises a controller, a winch, a coder, a motor and the like, the under-water part comprises an under-water robot body, a depth sensor and an attitude sensor which are arranged on the robot, the umbilical cable is connected with the above-water part and the under-water part, one end of the umbilical cable is connected with the under-water robot body, the other end of the umbilical cable is connected with the winch, the controller can receive a depth sensor signal, an attitude sensor attitude signal and a coder signal, the controller controls the motor to rotate according to the received coder signal and depth information so as to control the retraction of the umbilical cable, and the underwater robot is positioned according to the coder signal, the depth information and the attitude information, in conclusion, the underwater robot positioning device has the advantages that the underwater robot positioning is realized only through sensor information and a basic control algorithm without adding a positioning device, the structure is simple, the economic cost is low, and the practicability is high compared with the cleaning robots of the same type.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic composition diagram of the present invention;
fig. 2 is a schematic flow chart of the underwater robot operation mode of the present invention.
The reference numerals in the figures illustrate: 1. an above-water portion; 2. a controller; 3. an encoder; 4. an umbilical cable; 5. an underwater portion; 6. an underwater robot; 7. an attitude sensor; 8. a depth sensor; 9. a motor; 10. and (4) a winch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1-2, an embodiment of the present invention is shown: an umbilical cable positioning control system and a control method of an underwater cleaning robot comprise an above-water part 1 and an underwater part 5;
the underwater part 5 further comprises an attitude sensor 7, the attitude sensor 7 is used for being mounted on the underwater robot 6 to detect the attitude change of the underwater robot 6 and transmit the detected attitude information to the controller 2, and the controller 2 changes the control parameters of the motor 9 according to the length information of the attitude sensor 7 and the encoder 3 to ensure the tension of the umbilical cable 4;
specifically, as shown in fig. 1, when the underwater robot 6 moves to a cabin wall corner and needs to rotate, the posture change of the underwater robot 6 can be known through the feedback information of the posture sensor 7, and the control parameter of the motor 9 is changed according to the posture information and the length information of the encoder 3 to ensure the tension of the umbilical cable 4;
the underwater part 5 further comprises a depth sensor 8, the depth sensor 8 is used for being installed on the underwater robot 6 to detect the depth information of the underwater robot 6 and transmit the detected depth information to the controller 2 to realize the depth positioning of the underwater robot 6 under water, and further realize the positioning of the underwater robot;
specifically, as shown in fig. 1, when in use, the position of the underwater robot 6 on the bulkhead can be uniquely determined according to the defined starting point, the length information fed back by the encoder 3 and the depth information fed back by the depth sensor 8, so as to realize positioning
The overwater part 1 comprises a controller 2, an encoder 3, a motor 9 and a winch 10, and the underwater part 5 comprises an underwater robot 6;
the water part 1 and the underwater part 5 are connected through an umbilical cable 4;
one end of the umbilical cable 4 is connected to the underwater robot 6, and the other end of the umbilical cable 4 is connected to the winch 10;
specifically, as shown in fig. 1, an umbilical cable 4 is connected with an above-water part 1 and an under-water part 5, and the retraction of the umbilical cable 4 is realized through the positive and negative rotation of a motor 9 on a winch 10;
the control method of the underwater robot 6 is as follows:
step S1: the controller 2 determines the retraction of the winch 10 according to the received depth information of the depth sensor 8 and the length information of the encoder 3, namely, controls the forward and reverse rotation of the motor 9;
step S2: the controller 2 performs underwater positioning of the underwater robot 6 based on the received depth information of the depth sensor 8, the length information of the encoder 3, and the attitude information of the attitude sensor 7.
The working principle is as follows: when the underwater robot cleaning device is used, firstly, a working starting point of the underwater robot 6 is defined in advance, the body of the underwater robot 6 is placed at the starting point, then the underwater robot 6 takes the placing position as the starting point, the depth is unchanged, the underwater robot moves around the inner side of the cabin wall for a circle and returns to the starting point, the depth is changed, the underwater robot moves around the cabin wall again until the underwater robot reaches the bottom of the cabin, and the cabin wall is cleaned;
secondly, when the underwater robot 6 moves along the side wall at a fixed depth for operation, the controller 2 controls the motor 9 to rotate to release the umbilical cable 4, the rotating speed of the motor 9 is controlled according to the length signal of the encoder 3 to ensure that the umbilical cable 4 can be tensioned, the winding problem of the umbilical cable 4 is avoided, and the position of the underwater robot 6 on the bulkhead can be uniquely determined according to the defined starting point, the length information fed back by the encoder 3 and the depth information fed back by the depth sensor 8, so that positioning is realized;
finally, when the underwater robot 6 moves to a cabin wall corner and needs to rotate, the change of the posture of the underwater robot 6 can be known through feedback information of the posture sensor 7, the control parameter of the motor 9 is changed according to the posture information and the length information of the encoder 3 to ensure the tension of the umbilical cable 4, and the position of the underwater robot 6 on the cabin wall can be uniquely determined according to the size of the cabin wall, the information of the depth sensor 8 and the length information of the encoder 3, so that the underwater robot positioning is realized.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. An underwater cleaning robot umbilical cable positioning control system, includes overwater part (1) and underwater part (5), its characterized in that: the underwater robot is characterized in that the above-water part (1) comprises a controller (2), an encoder (3), a motor (9) and a winch (10), the underwater part (5) comprises an underwater robot (6), and the above-water part (1) and the underwater part (5) are connected through an umbilical cable (4).
2. An underwater cleaning robot umbilical cable positioning control system as claimed in claim 1, wherein: one end of the umbilical cable (4) is connected to the underwater robot (6), and the other end of the umbilical cable (4) is connected to the winch (10).
3. An underwater cleaning robot umbilical cable positioning control system as claimed in claim 1, wherein: the underwater part (5) further comprises an attitude sensor (7), the attitude sensor (7) is used for being installed on the underwater robot (6) to detect the attitude change of the underwater robot (6) and transmit the detected attitude information to the controller (2), and the controller (2) changes the control parameters of the motor (9) according to the length information of the attitude sensor (7) and the encoder (3) to ensure the tension of the umbilical.
4. An underwater cleaning robot umbilical cable positioning control system as claimed in claim 1, wherein: the underwater part (5) further comprises a depth sensor (8), wherein the depth sensor (8) is used for being installed on the underwater robot (6) to detect the depth information of the underwater robot (6) and transmit the detected depth information to the controller (2) to realize the positioning of the underwater robot (6) under water.
5. A control method of an umbilical positioning control system of an underwater cleaning robot as claimed in claims 1 to 4, wherein:
the control method of the underwater robot (6) is as follows:
step S1: the controller (2) determines the retraction of the winch (10) according to the received depth information of the depth sensor (8) and the length information of the encoder (3), namely, the controller controls the positive and negative rotation of the motor (9);
step S2: and the controller (2) carries out underwater positioning on the underwater robot (6) according to the received depth information of the depth sensor (8), the length information of the encoder (3) and the attitude information of the attitude sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871615.1A CN113443572A (en) | 2021-07-30 | 2021-07-30 | Umbilical cable positioning control system and control method for underwater cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110871615.1A CN113443572A (en) | 2021-07-30 | 2021-07-30 | Umbilical cable positioning control system and control method for underwater cleaning robot |
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| CN113443572A true CN113443572A (en) | 2021-09-28 |
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| CN202110871615.1A Pending CN113443572A (en) | 2021-07-30 | 2021-07-30 | Umbilical cable positioning control system and control method for underwater cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116840830A (en) * | 2023-08-30 | 2023-10-03 | 山东省科学院海洋仪器仪表研究所 | Split type cabled seabed floating body positioning and tracking system and tracking method |
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2021
- 2021-07-30 CN CN202110871615.1A patent/CN113443572A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116840830A (en) * | 2023-08-30 | 2023-10-03 | 山东省科学院海洋仪器仪表研究所 | Split type cabled seabed floating body positioning and tracking system and tracking method |
| CN116840830B (en) * | 2023-08-30 | 2023-11-21 | 山东省科学院海洋仪器仪表研究所 | Split type cabled seabed floating body positioning and tracking system and tracking method |
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Inventor after: Wang Yunjie Inventor after: Lin Liqun Inventor after: Xu Zhiqiang Inventor after: Jian Zhixin Inventor after: Li Gege Inventor before: Li Gege Inventor before: Wang Yunjie Inventor before: Lin Liqun Inventor before: Jian Zhixin Inventor before: Xu Zhiqiang |
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