CN113716001B - Underwater robot system based on power supply of graphene electric brush - Google Patents
Underwater robot system based on power supply of graphene electric brush Download PDFInfo
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- CN113716001B CN113716001B CN202111297040.3A CN202111297040A CN113716001B CN 113716001 B CN113716001 B CN 113716001B CN 202111297040 A CN202111297040 A CN 202111297040A CN 113716001 B CN113716001 B CN 113716001B
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Classifications
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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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- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses an underwater robot system based on graphene electric brush driving, which comprises a machine body and a driving assembly arranged on the machine body, wherein the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving a robot to move up and down, the second driving mechanism is used for driving the robot to move horizontally and move, the first driving mechanism is arranged at the top of the machine body, the first driving mechanism comprises a first propeller and a first motor used for driving the first propeller to rotate, a third motor is powered by a power supply mode of the graphene electric brush, the underwater robot system has the advantages of excellent electric conductivity, low wear rate and stable operation, only a power supply is required to be arranged in the machine body, and the weight and the volume of the robot are greatly reduced, has larger cruising ability.
Description
Technical Field
The invention relates to the field of marine robot salvage, in particular to an underwater robot system powered on the basis of a graphene electric brush.
Background
With the development and utilization of marine resources, underwater robot technology has gained more and more attention. The underwater robot is important equipment for underwater operation due to the fact that the underwater robot is safe in work, strong in adaptability, wide in operation range, economical and efficient, and the application of the underwater robot relates to the fields of marine environment investigation, seabed salvage exploration, installation and maintenance of marine structures, hydraulic and hydroelectric engineering, scientific investigation and the like. At present, the sea substrate is mainly fished by a working tool carried by a diver. Diver salvage has the limitation, and the diver can not be in long-time operation under water on the one hand to there is some divers in the sea area place that can't reach, restriction diver's underwater operation space. On the other hand, how to quickly and accurately identify and salvage a search for an underwater fish also faces many challenges. In addition, the traditional underwater operation machine propelled by the propeller has large weight due to power driving, has weak cruising ability, and has larger control difficulty of the propeller thruster in a low-speed state.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides an underwater robot system based on power supply of a graphene electric brush.
In order to achieve the aim, the invention adopts the technical scheme that: an underwater robot system based on graphene electric brush power supply comprises a machine body and a driving assembly installed on the machine body;
the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the robot to move up and down, and the second driving mechanism is used for driving the robot to move horizontally;
the first driving mechanism is arranged at the top of the machine body and comprises a first propeller and a first motor for driving the first propeller to rotate;
the second driving mechanism comprises a circular toothed ring and a second motor for driving the circular toothed ring to rotate, two arc-shaped through grooves are formed in the side wall of the machine body along the radial direction, the circular toothed ring is rotatably sleeved on the arc-shaped through grooves of the machine body, two mounting holes are symmetrically formed in the two side edges of the circular toothed ring, a fixing seat is fixedly mounted on each mounting hole, a second propeller and a third motor for driving the second propeller to rotate are fixedly mounted on each fixing seat, a circular through hole is formed in the bottom of each fixing seat, and the circular through holes are communicated with the arc-shaped through grooves;
an electric brush mechanism is mounted on the circular through hole of the fixing seat and comprises a graphene conductive rod, a spring and a mounting seat, one end of the graphene conductive rod is fixedly mounted on the mounting seat, the other end of the graphene conductive rod penetrates through the arc-shaped through groove and extends into the machine body, one end of the spring is fixedly connected with the bottom of the mounting seat, and the other end of the spring abuts against the bottom of the third motor;
an electric brush steering gear is arranged in the machine body, and the edge of the electric brush steering gear is attached to the end part of one end, extending into the machine body, of the graphene conducting rod.
Further, in a preferred embodiment of the present invention, the mounting seat and the spring can slide along an axial direction of the circular through hole, the graphene conductive rod is electrically connected to the third motor through a first retractable conductive probe, and a pressure sensor is further disposed at a bottom of the third motor and configured to detect pressure information of the spring.
Further, in a preferred embodiment of the present invention, the output end of the second motor is cooperatively connected with a gear, and the gear can be engaged with the teeth on the circular gear ring for transmission, so that the second motor can drive the circular gear ring to rotate along the outer wall of the machine body.
Further, in a preferred embodiment of the present invention, a power supply is disposed in the body, the first motor is electrically connected to the power supply through a second conductive probe, and the brush steering gear is electrically connected to the power supply through a third conductive probe.
Further, in a preferred embodiment of the present invention, a fishing mechanism is further connected to the bottom of the body in a matching manner, the fishing mechanism can salvage and store the target object, a detection mechanism is arranged below the fishing mechanism, and the detection mechanism includes one or more combinations of a vision camera, a radar detector, a positioning system, and a laser detector.
The invention provides a target searching method of an underwater robot system based on graphene electric brush power supply, which comprises the following steps:
s1, acquiring target object information and searching area position information, wherein the target object information comprises target object characteristics and target object types, different target object types correspond to detection neural network models of different target objects, and the searching area position information is defined as a searching node;
s2, executing an ant colony algorithm, wherein the ant colony algorithm is a process of simulating ants to search for food, and the robot can calculate the shortest path starting from the original point, passing through a plurality of nodes and finally returning to the original point through the algorithm;
s3, when the robot reaches the node obtained in the step S1, starting a radar detector, and entering a target searching stage;
s4, detecting the target object by adopting a 1-to-1 detection criterion for each wave position of the node, wherein the 1-to-1 detection criterion is that only 1 frame stays on each wave position, and if the target object is not detected, directly entering the next wave position for searching; if the target object is detected, immediately proceeding to step S5;
s5, adopting a criterion of judging 3 and 2 to detect the target object on the wave position, wherein the criterion of judging 3 and 2 is the time of staying at each searched wave position for 3 frames, if the target object is detected by 2 frames or 3 frames of signals in the 3 frames of signals, the wave position is considered to have the target object, the target object is confirmed to be really existing but not false alarm, after the coordinate position of the target object is recorded, returning to the step S4 to search the next wave position until all the wave positions of the current node are searched, and entering the step S6;
s6, moving the robot to the coordinate position of each target one by one according to the coordinate positions of all the searched target objects of the current node, and finally confirming the target objects through an image technology;
and S7, after the confirmation is finished, salvaging the target object, and then moving to the next node for searching.
Further, in a preferred embodiment of the present invention, the robot moves to the coordinate position of each target object one by one according to the coordinate positions of all the searched target objects of the current node, and the method further includes:
acquiring the current position coordinates of the robot, generating a plurality of pieces of route information according to the current position coordinates of the robot and each searched target coordinate, screening out an optimal route, and moving the robot according to the optimal route;
acquiring the position information of the robot in real time, comparing the position information of the robot with the position information of a target object, and judging the distance between the robot and the target object;
comparing the distance between the robot and the target object with a preset distance to obtain a distance difference value;
judging whether the distance difference is greater than or equal to a first distance, if so, generating a first moving mode, and moving the robot according to the first moving mode;
and judging whether the distance difference is smaller than the first distance, if so, generating a second moving mode, and moving the robot according to the second moving mode.
Further, in a preferred embodiment of the present invention, the first moving manner is that the robot moves in a uniform acceleration manner, and the second moving manner is that the robot moves in a uniform deceleration manner.
Further, in a preferred embodiment of the present invention, the final confirmation of the target object by the image technology further includes:
starting a visual camera to shoot so as to obtain a target object image, and preprocessing the target object image so as to generate a detection image;
inputting a detection image into a corresponding target detection neural network model for target detection to generate a detection result, wherein the detection image comprises a plurality of target images with different resolutions and different shooting angles;
after final confirmation, if the target object is the target object, fishing the target object through a fishing mechanism; if the target object is not the target object, the fishing is abandoned.
Further, in a preferred embodiment of the present invention, the robot moves to the coordinate position of each target object one by one according to the coordinate positions of all the searched target objects of the current node, and the method further includes:
acquiring the position information of the robot in real time in the moving process, and comparing the real-time position information of the robot with preset position information to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating correction information, and adjusting the optimal route in real time according to the correction information.
According to the underwater robot system powered by the graphene electric brush, the gear drives the circular teeth to rotate around the peripheral arm of the machine body by driving the second motor, so that the purpose of adjusting the running direction of the robot is achieved, the robot can move along the preset direction and can complete complex actions, and the control precision is high, the transmission effect is good, and the running process is stable in a gear transmission mode; the third motor is powered by the graphene electric brush, so that the robot has the advantages of excellent conductivity, low wear rate and stable operation, and only one power supply needs to be installed in the robot body, so that the weight and the size of the robot are greatly reduced, and the robot has greater cruising ability; when the radar detector scans, two scanning detection methods are adopted, so that the searching and scanning time can be greatly saved, the time is saved by about 66%, the detection on a long-distance small target is realized, and the searching and target detection early warning on a large area can be quickly completed in a short time.
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 described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a robot;
FIG. 2 is a schematic diagram of a brush diverter;
FIG. 3 is a schematic cross-sectional view of a robot;
FIG. 4 is a cross-sectional view of a second drive mechanism;
FIG. 5 is a schematic structural view of an arc-shaped through slot;
FIG. 6 is a schematic structural view of a circular ring gear;
FIG. 7 is a flow chart of a target searching method;
FIG. 8 is a flowchart of a robot movement speed control method;
FIG. 9 is a flow chart of a method for final verification of an object from an image;
FIG. 10 is a flow chart of a robot error correction method;
the reference numerals are explained below: 101. a body; 102. a first drive mechanism; 103. a second drive mechanism; 104. a first propeller; 105. a first motor; 106. a circular toothed ring; 107. a second motor; 108. an arc-shaped through groove; 109. mounting holes; 201. a fixed seat; 202. a second propeller; 203. a third motor; 204. a circular through hole; 205. a gear; 206. a graphene conductive rod; 207. a spring; 208. a mounting seat; 209. an electric brush diverter; 301. a first conductive probe; 302. a pressure sensor; 303. a power supply; 304. a second conductive probe; 305. a salvaging mechanism; 306. a detection mechanism; 307. a third conductive probe.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to 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 meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The first embodiment is as follows:
an underwater robot system based on graphene electric brush power supply comprises a machine body 101 and a driving assembly installed on the machine body 101;
as shown in fig. 1, 2, and 3, the driving assembly includes a first driving mechanism 102 and a second driving mechanism 103, the first driving mechanism 102 is used for driving the robot to move up and down, and the second driving mechanism 103 is used for driving the robot to move horizontally.
The first driving mechanism 102 is disposed on the top of the main body 101, and the first driving mechanism 102 includes a first propeller 104 and a first motor 105 for driving the first propeller 104 to rotate.
It should be noted that the first driving mechanism 102 can drive the robot to float up and down, the output end of the first motor 105 is fixedly connected with the rotating shaft of the first propeller 104 through the first coupling, and the first propeller 104 is fixedly installed on the rotating shaft, so that the robot can float up only by driving the first motor 105 to rotate forward; by driving the first motor 105 to rotate reversely, the robot can dive; in addition, a rotating speed sensor is further arranged on a rotating shaft of the first propeller 104, the rotating speed sensor can detect the rotating speed of the first propeller 104 in real time and feed signals back to a controller of the robot system, the controller can control the up-and-down floating speed of the robot by controlling the rotating speed of the first motor 105, and therefore the robot system can meet requirements of various conditions and is more humanized.
As shown in fig. 2, 3, and 4, the second driving mechanism 103 includes a circular ring gear 106 and a second motor 107 for driving the circular ring gear 106 to rotate, two arc-shaped through grooves 108 are radially provided on the side wall of the machine body 101, the circular ring gear 106 rotates to be sleeved on the arc-shaped through groove 108 of the machine body 101, two symmetrical sides of the circular ring gear 106 are provided with two mounting holes 109, a fixing seat 201 is fixedly mounted on the mounting hole 109, a second propeller 202 is fixedly mounted on the fixing seat 201 and is used for driving a third motor 203 for rotating the second propeller 202, a circular through hole 204 is provided at the bottom of the fixing seat 201, and the circular through hole 204 is communicated with the arc-shaped through groove 108.
As shown in fig. 1, the output end of the second motor 107 is connected with a gear 205 in a matching manner, and the gear 205 can be in meshing transmission with teeth on the circular gear ring 106, so that the second motor 107 can drive the circular gear ring 106 to rotate along the outer wall of the machine body 101.
The second driving mechanism 103 can drive the robot to move horizontally, and when the second propeller 202 rotates, the direction of the generated power is perpendicular to the direction of the generated power of the first propeller 104. Firstly, two arc through grooves 108 which are symmetrical to each other are formed in the side wall of the machine body 101, the circular gear ring 106 is rotatably sleeved on the arc through grooves 108 of the machine body 101, the height of the side wall of the circular gear ring 106 is larger than the height of the notch of the arc through grooves 108, so that the circular gear ring 106 can completely cover the arc through grooves 108, a sealing device is arranged at the matching position of the circular gear ring and the arc through grooves, and the sealing device can be used for sealing a ring to prevent seawater from entering the machine body 101 along the arc through grooves 108. Secondly, two mounting holes 109 are symmetrically formed in the side edge of the circular gear ring 106, the bottom of the fixing seat 201 is in sealing fit with the mounting holes 109 so as to prevent seawater from entering the machine body 101 from the mounting holes 109, the fixing seat 201 is provided with a second propeller 202 and a third motor 203, and the second propeller 202 is driven to rotate by the third motor 203 so as to generate power for driving the robot to translate. In addition, a plurality of teeth are arranged on the top of the circular tooth ring 106 along the circumferential array direction, the output end of the second motor 107 is fixedly matched with a gear 205 through a fixer, the teeth on the circular tooth ring 106 are in meshing transmission with the teeth on the gear 205, so that after the second motor 107 is driven, the second motor 107 can drive the gear 205 to rotate, the gear 205 drives the circular tooth ring 106 to rotate around the peripheral arm of the robot body 101, and then the second propellers 202 on the two fixing seats 201 are driven to rotate along the peripheral arm of the robot body 101, and therefore the purpose of adjusting the running direction of the robot is achieved, the robot can move along the preset direction, complex actions can be completed, and the control precision is high, the transmission effect is good, and the running process is stable through the transmission mode of the gear 205.
As shown in fig. 3 and 6, an electric brush mechanism is installed on the circular through hole 204 of the fixing base 201, the electric brush mechanism includes a graphene conductive rod 206, a spring 207, and a mounting base 208, one end of the graphene conductive rod 206 is fixedly installed on the mounting base 208, the other end of the graphene conductive rod passes through the arc-shaped through groove 108 and extends into the machine body 101, one end of the spring 207 is fixedly connected with the bottom of the mounting base 208, and the other end of the spring abuts against the bottom of the third motor 203.
As shown in fig. 3 and 5, a brush steering gear 209 is disposed in the body 101, and an edge of the brush steering gear 209 is attached to an end of the graphene conductive rod 206 that extends into the body 101.
It should be noted that, when the robot needs to adjust the moving direction, the circular gear ring 106 is driven to rotate by the second motor 107, so that the fixing base 201 rotates to a proper angle, and then the second propeller 202 is driven to rotate by the third motor 203, so as to provide forward power for the robot, in the present invention, in order to reduce the overall weight of the robot, only one power supply 303 is arranged in the robot body 101, and this power supply 303 can simultaneously supply power to the first motor 105, the second motor 107, and the third motor 203, while when adjusting the moving direction of the robot, the third motor 203 needs to rotate along with the circular gear ring 106, if the power supply is connected to the third motor 203 by a wire, the wire is twisted during the rotating process, so that the situation of unstable power supply is caused, thereby affecting the continuous operation of the robot, and if serious, the third motor 203 will be burned, therefore, in the present invention, the third motor 203 is supplied with power by the graphene brush.
Firstly, the brush mechanism includes a graphene conductive rod 206, a spring 207, and a mounting seat 208, the brush mechanism is installed on the circular through hole 204 of the fixing seat 201, the mounting seat 208 can slide on the circular through hole 204, and one end of the graphene conductive rod 206 is fixedly installed on the mounting seat 208, so that the mounting seat 208 can drive the graphene conductive rod 206 to slide along the circular through hole 204. Secondly, the circular through hole 204 of the fixing base 201 is penetrated through the arc-shaped through groove 108 of the body 101, the other end of the graphene penetrates through the arc-shaped through groove 108 and extends into the body 101 and is jointed with the brush steering gear 209 in the body 101, when the circular gear ring 106 rotates along the outer wall of the body 101, the graphene conducting rod 206 can rotate together, one end of the graphene conducting rod 206 extending into the body 101 is always jointed with the brush steering gear 209, the graphene conducting rod 206 is electrically connected with the third motor 203 through the retractable first conducting probe 301, the brush steering gear 209 is electrically connected with the power supply 303 through the third conducting probe 307, thus, an independent power supply 303 is not required to be independently installed for the third motor 203 on the second driving mechanism 103, the power supply 303 can stably provide power for the third motor 203 all the time, and the third motor 203 is supplied with power through the graphene brush, the robot has the advantages of excellent conductivity, low wear rate and stable operation, and only one power supply 303 needs to be arranged in the robot body 101, so that the weight and the size of the robot are greatly reduced, and the robot has greater cruising ability.
As shown in fig. 3 and 4, the mounting seat 208 and the spring 207 can slide along the axial direction of the circular through hole 204, the graphene conductive rod 206 is electrically connected to the third motor 203 through a retractable first conductive probe 301, a pressure sensor 302 is further disposed at the bottom of the third motor 203, and the pressure sensor 302 is configured to detect pressure information of the spring 207.
It should be noted that, when the direction of the robot movement is adjusted, the graphene contact bar 206 and the brush converter rub against each other, the graphene contact bar 206 belongs to a wear part, and needs to be replaced after being worn to a certain extent, in the present invention, the wear degree of the graphene contact bar 206 is detected by the pressure sensor 302, and the working principle is as follows: the bottom of the mounting seat 208 is fixedly connected with the spring 207, the other end of the spring 207 abuts against the pressure sensor 302 at the bottom of the third motor 203, when the graphene conducting rod 206 is worn continuously, the elastic force of the spring 207 on the pressure sensor 302 is reduced, when the pressure value on the pressure sensor 302 is less than a preset threshold value, the pressure sensor 302 feeds back a signal to the controller, the controller alarms to prompt a user to replace the graphene conducting rod 206 timely, and compared with manual judgment, the judgment result is more accurate, and the situations that the graphene conducting rod 206 is not used up and manual work is wasted when replacement occurs can be effectively avoided.
As shown in fig. 3, a power supply 303 is disposed in the body 101, the first motor 105 is electrically connected to the power supply 303 through a second conductive probe 304, and the brush steering gear 209 is electrically connected to the power supply 303 through a third conductive probe 307.
It should be noted that the power supply 303 can simultaneously supply power to the first driving mechanism 102, the second driving mechanism 103, the fishing mechanism 305, and the detecting mechanism, and the power supply 303 is electrically connected to the mechanisms through conductive probes without using a connection manner of wires, so that the internal structure of the robot is relatively simple, the condition that multiple groups of wires are wound does not occur, and the robot has good conductivity, thereby improving the stability of the robot in operation.
As shown in fig. 1, a fishing mechanism 305 is further connected to the bottom of the body 101 in a matching manner, the fishing mechanism 305 can fish and store a target object, a detection mechanism 306 is arranged below the fishing mechanism 305, and the detection mechanism 306 includes one or more combinations of a vision camera, a radar detector, a positioning system and a laser detector. It should be noted that the fishing mechanism 305 may be a manipulator, the mass should be as low as possible, and the structure should be as simple as possible, so as to ensure the cruising ability of the robot, and to complete the fishing work on the target object, which is not limited herein.
Example two:
in another aspect, the present invention provides a target searching method for an underwater robot system powered by a graphene brush, as shown in fig. 7, including the following steps:
s1, acquiring target object information and searching area position information, wherein the target object information comprises target object characteristics and target object types, different target object types correspond to detection neural network models of different target objects, and the searching area position information is defined as a searching node;
s2, executing an ant colony algorithm, wherein the ant colony algorithm is a process of simulating ants to search for food, and the robot can calculate the shortest path starting from the original point, passing through a plurality of nodes and finally returning to the original point through the algorithm;
s3, when the robot reaches the node obtained in the step S1, starting a radar detector, and entering a target searching stage;
s4, detecting the target object by adopting a 1-to-1 detection criterion for each wave position of the node, wherein the 1-to-1 detection criterion is that only 1 frame stays on each wave position, and if the target object is not detected, directly entering the next wave position for searching; if the target object is detected, immediately proceeding to step S5;
s5, adopting a criterion of judging 3 and 2 to detect the target object on the wave position, wherein the criterion of judging 3 and 2 is the time of staying at each searched wave position for 3 frames, if the target object is detected by 2 frames or 3 frames of signals in the 3 frames of signals, the wave position is considered to have the target object, the target object is confirmed to be really existing but not false alarm, after the coordinate position of the target object is recorded, returning to the step S4 to search the next wave position until all the wave positions of the current node are searched, and entering the step S6;
s6, moving the robot to the coordinate position of each target one by one according to the coordinate positions of all the searched target objects of the current node, and finally confirming the target objects through an image technology;
and S7, after the confirmation is finished, salvaging the target object, and then moving to the next node for searching.
It should be noted that, in the process of searching for a target object, the radar detector often needs to perform target object detection early warning in a hemispherical whole sea area, the search range is very large, and the size of the sea area searched by the radar detector and the search time are contradictory to each other under the condition that the radar system resources are limited. Therefore, when the system is designed, the target search and the early warning in the whole sea area can be completed quickly and efficiently by optimizing various parameters such as a target detection algorithm, a beam space stacking method and the like. In the detection process of the radar detector, a certain specific-shape wave beam can be emitted to scan an object, the wave position refers to a position covered by the wave beam at a certain angle in azimuth or elevation, in the invention, the wave beam emitted by the radar detector can rapidly scan the range of 0-180 degrees, therefore, the scanning coverage range of each wave position is 0-180 degrees, after the scanning is finished, the radar detector rotates to the next wave position to detect, and the like, the target is searched.
It should be noted that, in the conventional target detection method, the target is usually scanned and detected by adopting the criterion of 3 to 2 in the whole process, and the scanning and detecting time is long. Since the objects are sparsely distributed, the number of wave positions where the objects exist can be considered to be relatively small in the entire search area. Assuming that F wave positions are needed to be searched, j target objects exist in the whole area, j is far smaller than F, the period of each frame signal is T, and if the conventional criterion of 3 to 2 is adopted for detection, the search time is needed in common
Comprises the following steps:
by adopting the detection method of the invention, only 1 frame time is needed when each wave position is searched, only the wave position with the target needs to be confirmed again, 3 frame times are consumed, and the total search time of the double-stage detection method is consumed
Comprises the following steps:
from the above, since j is much smaller than F, it is known that
Much less than
The method can greatly save the searching and scanning time, save about 66% of the time, realize the detection of the small long-distance target, and quickly finish the searching of a large area and the target detection early warning in a short time.
As shown in fig. 8, the method further includes the following steps that, according to the coordinate positions of all the searched target objects of the current node, the robot moves to the coordinate position of each target object one by one:
s202, acquiring the current position coordinates of the robot, generating a plurality of pieces of route information according to the current position coordinates of the robot and each searched target coordinate, screening out an optimal route, and moving the robot according to the optimal route;
s204, acquiring the position information of the robot in real time, comparing the position information of the robot with the position information of a target object, and judging the distance between the robot and the target object;
s206, comparing the distance between the robot and the target object with a preset distance to obtain a distance difference value;
s208, judging whether the distance difference is larger than or equal to the first distance, if so, generating a first moving mode, and moving the robot according to the first moving mode;
and S210, judging whether the distance difference is smaller than the first distance, if so, generating a second moving mode, and moving the robot according to the second moving mode.
The first moving mode is that the robot moves according to a uniform acceleration mode, and the second moving mode is that the robot moves according to a uniform deceleration mode.
It should be noted that after all wave positions of a certain node are searched, a control system on the robot can generate a plurality of pieces of route information according to the current position coordinates of the robot and each searched target coordinate, an optimal route is screened out, the robot moves to the vicinity of each detected target one by one according to the shortest moving route to salvage the target, and in order to ensure the maximization of the cruising ability of the robot and reduce the salvage time, the robot has different operation modes according to the difference value of the distance between the robot and the target. When the distance difference is larger than or equal to the first distance, the robot moves according to a uniform acceleration moving mode; when the distance difference is smaller than the first distance, the robot moves according to a uniform deceleration moving mode, so that the speed is just zero when the robot moves to the position near the target object, a braking device is not needed for braking, and the electric energy in the power supply 303 is utilized to the maximum extent.
The final confirmation of the target object by the image technology, as shown in fig. 9, further includes:
s302, starting a visual camera to shoot so as to obtain a target object image, and preprocessing the target object image so as to generate a detection image;
s304, inputting a detection image into a corresponding target detection neural network model for target detection to generate a detection result, wherein the detection image comprises a plurality of target images with different resolutions and different shooting angles;
s306, after final confirmation, if the target object is the target object, fishing the target object through a fishing mechanism; if the target object is not the target object, the fishing is abandoned.
In order to avoid the false fishing, after the robot moves to the vicinity of the target object, the target object is finally determined by the visual camera, and if the final determination result is the target object, the target object is fished and stored by the fishing mechanism 305; if the target object is not the target object, the fishing is abandoned, and the machine moves to the vicinity of the next target object.
It should be noted that the preprocessing the target image to generate the detection image further includes: taking the target object image as an original resolution image, and compressing the original resolution image according to two compression ratios to obtain two global mapping images with different resolutions; the size of the global mapping image with low resolution is smaller than the required size of the detection image, and the size of the global mapping image with high resolution is larger than the required size of the detection image; selecting a global map with low resolution as a first splicing map of a detection image, and subtracting the size of the first splicing map from the size of the detection image to obtain the size of a residual area; and setting one or more intercepting frames according to the size of the residual area, acquiring a high-resolution edge local image in the edge area of the global map with high resolution through the intercepting frames, filling the edge local image into the residual area, and splicing to form a detection image.
As shown in fig. 10, the method further includes the following steps that, according to the coordinate positions of all the searched target objects of the current node, the robot moves to the coordinate position of each target object one by one:
s402, collecting the position information of the robot in real time in the moving process, and comparing the real-time position information of the robot with preset position information to obtain a deviation rate;
s404, judging whether the deviation rate is larger than a preset deviation rate threshold value or not;
and S406, if the route is larger than the preset threshold, generating correction information, and adjusting the optimal route in real time according to the correction information.
It should be noted that, the robot is also provided with a flow velocity-flow direction detection mechanism, and before the robot moves to each target object, the flow velocity and the flow direction of the seabed water body are firstly acquired by the flow velocity-flow direction detection mechanism, and then the moving direction of the robot is confirmed, so that the robot moves along the shortest moving path.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The utility model provides an underwater robot system based on graphite alkene brush power supply, includes the fuselage and installs the drive assembly on the fuselage, its characterized in that:
the driving assembly comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the robot to move up and down, and the second driving mechanism is used for driving the robot to move horizontally;
the first driving mechanism is arranged at the top of the machine body and comprises a first propeller and a first motor for driving the first propeller to rotate;
the second driving mechanism comprises a circular toothed ring and a second motor for driving the circular toothed ring to rotate, two arc-shaped through grooves are formed in the side wall of the machine body along the radial direction, the circular toothed ring is rotatably sleeved on the arc-shaped through grooves of the machine body, two mounting holes are symmetrically formed in the side edge of the circular toothed ring, a fixing seat is fixedly mounted on each mounting hole, a second propeller and a third motor for driving the second propeller to rotate are fixedly mounted on each fixing seat, a circular through hole is formed in the bottom of each fixing seat, and the circular through holes are communicated with the arc-shaped through grooves;
an electric brush mechanism is mounted on the circular through hole of the fixing seat and comprises a graphene conductive rod, a spring and a mounting seat, one end of the graphene conductive rod is fixedly mounted on the mounting seat, the other end of the graphene conductive rod penetrates through the arc-shaped through groove and extends into the machine body, one end of the spring is fixedly connected with the bottom of the mounting seat, and the other end of the spring abuts against the bottom of the third motor;
an electric brush steering gear is arranged in the machine body, and the edge of the electric brush steering gear is attached to the end part of one end, extending into the machine body, of the graphene conducting rod;
the mounting seat and the spring can slide along the axial direction of the circular through hole, the graphene conductive rod is electrically connected with the third motor through a telescopic first conductive probe, and a pressure sensor is further arranged at the bottom of the third motor and used for detecting pressure information of the spring;
the electric brush steering gear is characterized in that a power supply is arranged in the machine body, the first motor is electrically connected with the power supply through a second conductive probe, and the electric brush steering gear is electrically connected with the power supply through a third conductive probe.
2. The graphene brush power based underwater robot system according to claim 1, wherein: the output end of the second motor is connected with a gear in a matching mode, and the gear can be in meshing transmission with teeth on the circular toothed ring, so that the second motor can drive the circular toothed ring to rotate along the outer wall of the machine body.
3. The graphene brush power based underwater robot system according to claim 1, wherein: the bottom of fuselage still the cooperation is connected with salvage mechanism, salvage mechanism can salvage and store the target object, salvage mechanism's below is provided with detection mechanism, detection mechanism includes one or more combinations of vision camera, radar detection instrument, positioning system, laser detection instrument.
4. The method for searching the target of the underwater robot system powered on the basis of the graphene electric brush according to any one of claims 1 to 3, is characterized by comprising the following steps of:
s1, acquiring target object information and searching area position information, wherein the target object information comprises target object characteristics and target object types, different target object types correspond to detection neural network models of different target objects, and the searching area position information is defined as a searching node;
s2, executing an ant colony algorithm, wherein the ant colony algorithm is a process of simulating ants to search for food, and the robot can calculate the shortest path starting from the original point, passing through a plurality of nodes and finally returning to the original point through the algorithm;
s3, when the robot reaches the node obtained in the step S1, starting a radar detector, and entering a target searching stage;
s4, detecting the target object by adopting a 1-to-1 detection criterion for each wave position of the node, wherein the 1-to-1 detection criterion is that only 1 frame stays on each wave position, and if the target object is not detected, directly entering the next wave position for searching; if the target object is detected, immediately proceeding to step S5;
s5, adopting a criterion of judging 3 and 2 to detect the target object on the wave position, wherein the criterion of judging 3 and 2 is the time of staying at each searched wave position for 3 frames, if the target object is detected by 2 frames or 3 frames of signals in the 3 frames of signals, the wave position is considered to have the target object, the target object is confirmed to be really existing but not false alarm, after the coordinate position of the target object is recorded, returning to the step S4 to search the next wave position until all the wave positions of the current node are searched, and entering the step S6;
s6, moving the robot to the coordinate position of each target one by one according to the coordinate positions of all the searched target objects of the current node, and finally confirming the target objects through an image technology;
and S7, after the confirmation is finished, salvaging the target object, and then moving to the next node for searching.
5. The method for searching the target of the underwater robot system powered by the graphene electric brush according to claim 4, wherein the robot moves to the coordinate position of each target one by one according to the coordinate positions of all the searched targets of the current node, and further comprising:
acquiring the current position coordinates of the robot, generating a plurality of pieces of route information according to the current position coordinates of the robot and each searched target coordinate, screening out an optimal route, and moving the robot according to the optimal route;
acquiring the position information of the robot in real time, comparing the position information of the robot with the position information of a target object, and judging the distance between the robot and the target object;
comparing the distance between the robot and the target object with a preset distance to obtain a distance difference value;
judging whether the distance difference is greater than or equal to a first distance, if so, generating a first moving mode, and moving the robot according to the first moving mode;
and judging whether the distance difference is smaller than the first distance, if so, generating a second moving mode, and moving the robot according to the second moving mode.
6. The underwater robot system target searching method based on graphene electric brush power supply is characterized in that: the first moving mode is that the robot moves according to a uniform acceleration mode, and the second moving mode is that the robot moves according to a uniform deceleration mode.
7. The method for searching the target of the underwater robot system powered by the graphene electric brush according to claim 4, wherein the final confirmation of the target object is performed by an image technology, and further comprising:
starting a visual camera to shoot so as to obtain a target object image, and preprocessing the target object image so as to generate a detection image;
inputting a detection image into a corresponding target detection neural network model for target detection to generate a detection result, wherein the detection image comprises a plurality of target images with different resolutions and different shooting angles;
after final confirmation, if the target object is the target object, fishing the target object through a fishing mechanism; if the target object is not the target object, the fishing is abandoned.
8. The method for searching the target of the underwater robot system powered by the graphene electric brush according to claim 4, wherein the robot moves to the coordinate position of each target one by one according to the coordinate positions of all the searched targets of the current node, and further comprising:
acquiring the position information of the robot in real time in the moving process, and comparing the real-time position information of the robot with preset position information to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating correction information, and adjusting the optimal route in real time according to the correction information.
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Denomination of invention: An underwater robot system based on graphene brush power supply Granted publication date: 20220118 Pledgee: Shandong Shanxian Rural Commercial Bank Co.,Ltd. Pledgor: SHANXIAN DUOMI GRAPHENE TECHNOLOGY Co.,Ltd. Registration number: Y2024980003453 |