CN115366067A - Ship engine room operation and maintenance robot - Google Patents
Ship engine room operation and maintenance robot Download PDFInfo
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- CN115366067A CN115366067A CN202211059279.1A CN202211059279A CN115366067A CN 115366067 A CN115366067 A CN 115366067A CN 202211059279 A CN202211059279 A CN 202211059279A CN 115366067 A CN115366067 A CN 115366067A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 57
- 238000012545 processing Methods 0.000 claims abstract description 37
- 238000007405 data analysis Methods 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims abstract description 16
- 239000000779 smoke Substances 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 abstract description 16
- 230000001276 controlling effect Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 5
- 230000008439 repair process Effects 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000010801 machine learning Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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Abstract
The invention discloses a ship cabin operation and maintenance robot, which comprises: the six-degree-of-freedom mechanical arm is used for inspecting the interior of a ship cabin and maintaining equipment, and a sensor unit for detecting sound, temperature and smoke concentration information in the ship is mounted on the six-degree-of-freedom mechanical arm; the data analysis and processing module receives signal information transmitted by the sensor unit, and converts the monitored information into a control instruction so as to carry out omnibearing rotation regulation and control on the six-degree-of-freedom mechanical arm; and the shore-based control end is in wireless data communication with the data analysis and processing module and is used for remotely regulating and controlling the working state of the ship cabin operation and maintenance robot. The invention adopts the hanger rail type cabin operation and maintenance robot to replace manual automation fixed-point inspection, and completes the maintenance and inspection of cabin equipment through the shore-based remote operation and control robot.
Description
Technical Field
The invention relates to the field of robot control, in particular to a ship cabin operation and maintenance robot.
Background
Like a common commercial ship, the unmanned ship also needs to have the capability of finishing the daily maintenance work of cabin equipment, and according to survey and display of a maritime authority, the biggest difficulty faced by the unmanned ship in navigation safety is also the daily maintenance and repair of the cabin equipment of the ship. Specific details of the maintenance work of the equipment include changing burst hoses, tightening nuts and bolts, tightening valves, etc., which can be optimized using artificial intelligence techniques, but cannot be done without human involvement. At the same time, while the designers of unmanned vessels may endeavor to design systems that do not experience a single point of failure in actual machines, a completely stable and discreet device is not possible. Although the development of artificial intelligence techniques such as big data, artificial intelligence, and advanced machine learning methods can minimize unplanned downtime of equipment, it is difficult to provide a flexible, personalized solution when sudden failures occur. Therefore, the safe sailing of the unmanned marine vessel must satisfy the following conditions: the method has the advantages that firstly, the daily inspection and maintenance of the ship are well done, and secondly, the complex maintenance work is realized by human intervention in the navigation process of the unmanned ship.
According to past experience, the maintenance work necessary for a ship is mainly divided into: 1. the equipment and the pipeline have faults of cracking, leakage or squeaking and the like, namely the equipment has the problems of leakage, leakage and the like; 2. regular maintenance of the equipment; 3. the preventive maintenance of the equipment requires manual inspection to see whether the equipment needs cleaning; 4. maintenance of equipment conditions, which typically occurs when the heat, vibration or noise of the equipment, etc. is outside of acceptable ranges; 5. and (4) normative maintenance based on the equipment state. In the maintenance work, occasional equipment and system failures such as the running, the dripping and the like of the equipment and the system are inevitable, and in the unmanned ship, the solution of the occasional equipment and the system failures such as the running, the dripping and the like of the equipment and the system by using the ship cabin operation and maintenance robot is a preferable solution.
The ship cabin environment is extremely complicated, the pipelines are numerous, various equipment systems are distributed in a stepped manner, and therefore the land existing wheel type intelligent inspection robot is difficult to well complete the operation and maintenance task in the environment, therefore, the ship cabin operation and maintenance robot needs to meet certain position moving capacity in the cabin, and meanwhile, in order to actively avoid the complex equipment and pipelines in the cabin, the ship cabin operation and maintenance robot also needs to have active obstacle avoidance capacity. Since a ship sails at sea and shakes violently, the ship cabin operation and maintenance robot should have a certain anti-shaking capability, and since the operation and maintenance tasks of ship cabin equipment involve the transportation of objects, the cabin operation and maintenance robot is also required to have a certain load-bearing capability to transport objects. Sporadic faults of ship engine room equipment and systems are unique, fault information needs to be fed back to a remote shore-based control center of an unmanned ship while an operation and maintenance robot finds the faults, and the shore-based personnel remotely operate and control the robot to complete the repair work of the sporadic faults, so that the engine room operation and maintenance robot needs to have a remote control function, an information feedback function, a fault alarm function and an anthropomorphic hand to complete the repair of the faults.
At present, no relevant research aiming at the operation and maintenance aspects of unmanned ship cabins exists, and only ship cabin inspection robots (such as a paper "[1] bear louin, queli. Automatic ship cabin combustible gas inspection robot research [ J ]. Industrial technical innovation, 2017,04 (05): 20-23. DOI. Meanwhile, the application of the hanger rail type ship cabin operation and maintenance robot is not found.
Disclosure of Invention
According to the problems in the prior art, the invention discloses a ship cabin operation and maintenance robot, which comprises the following specific schemes: the six-degree-of-freedom mechanical arm is used for inspecting the interior of a ship cabin and maintaining equipment, and a sensor unit for detecting sound, temperature and smoke concentration information in the ship is mounted on the six-degree-of-freedom mechanical arm;
the data analysis and processing module receives signal information transmitted by the sensor unit, and converts the monitored information into a control instruction so as to carry out omnibearing rotation regulation and control on the six-degree-of-freedom mechanical arm;
and the shore-based control end is in wireless data communication with the data analysis and processing module and is used for remotely regulating and controlling the working state of the ship cabin operation and maintenance robot.
Furthermore, the data analysis and processing module is installed inside a robot upper chassis, the robot upper chassis is fixedly connected with a bearing rod and a plurality of motors, the bearing rod is fixedly connected with a bearing wheel set, the motors receive control instructions transmitted by the data analysis and processing module to work, the motors are connected with driving wheels, a base of the motors is fixedly connected with a fastening rod, and the fastening rod fastens the driving wheels and controls the driving wheels to be meshed with the track racks.
The data analysis and processing module comprises a mechanical arm control unit and a robot advancing mechanism control unit.
The system further comprises a control cabin, the control cabin comprises a robot upper chassis and a robot lower chassis, the data analysis and processing module is installed on the robot upper chassis, a communication module and an automatic charging module are installed between the robot upper chassis and the robot lower chassis, the data analysis and processing module is in wireless data communication with the shore-based control end through the communication module, the shore-based control end sends control information to the data analysis and processing module through the communication module, and the data analysis and processing module converts the control information into a control instruction and then controls the mechanical arm and the robot traveling mechanism.
And the shore-based control end sends a task instruction to the data analysis and processing module through a 4G/5G wireless network.
The sensor unit includes a proximity sensor for detecting obstacle information and a tactile sensor mounted on the manipulator for sensing information of an object gripped by the manipulator.
And a manipulator camera is arranged on the manipulator of the six-degree-of-freedom manipulator, and a robot camera is arranged outside the control cabin.
Due to the adoption of the technical scheme, the ship cabin operation and maintenance robot provided by the invention has the advantages that the proximity sensors arranged on the six-degree-of-freedom mechanical arm and the mechanical arm are utilized to detect obstacles such as equipment and pipelines in the cabin and send obstacle information to the data analysis and processing module to control the robot and the six-degree-of-freedom mechanical arm to actively avoid the obstacles, meanwhile, the information of the cabin equipment is obtained through the sensor unit and the camera, the equipment state information is fed back to the shore-based control end through the communication module, when the state is abnormal, the shore-based control end controls the robot and the six-degree-of-freedom mechanical arm to realize the inspection and the operation and maintenance of the ship cabin equipment, and the equipment state monitoring capability and the occasional fault repairing capability of the unmanned ship cabin are improved. In addition, the invention adopts the hanger rail type cabin operation and maintenance robot to replace manual automation fixed-point inspection, and completes the maintenance and inspection of cabin equipment through the shore-based remote operation and control robot. The ship cabin operation and maintenance robot is adopted in the unmanned ship to solve occasional equipment and system faults such as leakage of equipment and systems and the like, and has great significance for the development of the unmanned ship.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be 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 described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a marine engine room operation and maintenance robot according to the present invention;
FIG. 2 is a schematic structural diagram of the marine engine room operation and maintenance robot of the present invention;
FIG. 3 is a schematic structural diagram of a control cabin in the marine engine room operation and maintenance robot of the present invention;
fig. 4 is a schematic structural diagram of a control cabin in the ship cabin operation and maintenance robot of the invention;
FIG. 5 is a schematic structural diagram of a control cabin in the marine engine room operation and maintenance robot of the present invention;
fig. 6 is a schematic diagram of the operation and maintenance robot for the marine engine room.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
the invention aims to provide a hanger rail type ship cabin operation and maintenance robot, which is shown in attached figures 1 and 6, and the robot structure comprises a manipulator 1, a six-degree-of-freedom mechanical arm 2, a control cabin 3, a traveling mechanism 4 and a track 5.
As shown in fig. 2, the robot arm 1 is equipped with a tactile sensor 12, a robot camera 11, and a sensor unit 13, and the six-degree-of-freedom robot arm 2 is also equipped with a proximity sensor 21. The sensor unit 13 includes various types of sensors: the system comprises a smoke concentration sensor, a temperature sensor, a sound sensor and a special gas sensor, wherein the smoke concentration sensor, the temperature sensor, the sound sensor and the special gas sensor are used for sensing the environment of an unmanned ship cabin and monitoring the state of cabin equipment; the robot camera 2 and the sensor unit 13 are fixedly connected to the root of the robot 2, the proximity sensor 21 and the tactile sensor 12 are respectively attached to the outer surface of the six-degree-of-freedom mechanical arm 2 and the inner surface of the robot 1, the robot camera 11, the tactile sensor 12, the sensor unit 13 and the proximity sensor 21 are respectively connected with the data analysis and processing module through data lines, the robot collects cabin environment and equipment state information through the sensor unit 13 and the robot camera 11 in the operation and maintenance and inspection processes, and sends the information to the shore-based control end through the data analysis and processing module 31 and the communication module 32; during the actual operation of the manipulator 1 or the use of a tool, the tactile sensor 12 senses the gripping state of the manipulator 1 and transmits the gripping state information to the shore-based control terminal via the data analysis and processing module 31 and the communication module 32 to assist the remote controller in grasping the working state of the manipulator. When the six-degree-of-freedom mechanical arm 2 is used for operating equipment or using tools, the proximity sensor 21 is used for sensing the distance between the six-degree-of-freedom mechanical arm 2 and the proximity equipment, when the distance between the six-degree-of-freedom mechanical arm 2 and an object is close, a pre-collision alarm signal is sent to the data analysis and processing module 31, and the data analysis and processing module 31 sends alarm information to the shore-based control end and simultaneously controls the six-degree-of-freedom mechanical arm 2 to avoid obstacles so as to prevent collision.
As shown in fig. 3, the six-degree-of-freedom mechanical arm 2 is fixedly connected to a robot lower chassis 35 of the control cabin 3 through bolts, and a data analysis and processing module 31, a communication module 32 and an automatic charging module 36 are arranged in the control cabin 3; the data analysis and processing module 31 is used for analyzing and processing the digital signals acquired by the sensor unit 13, preprocessing the digital signals, sending the digital signals to the shore-based control end through the communication module 32, and receiving a control instruction of the shore-based control end to control the six-degree-of-freedom mechanical arm 2, the manipulator 3 and the traveling mechanism 4. The robot cameras 33 are arranged on the outer portion of the control cabin 3 in the front and at the back along the track direction, and the robot cameras 33 are used for identifying the cabin environment in the cabin inspection process of the robot. Meanwhile, the automatic charging module 36 of the control cabin 3 is used for daily charging of the robot, when the robot detects that the electric quantity of the robot is insufficient in the working process, the automatic charging module 36 starts an automatic charging mode, the automatic charging module 36 sends an electricity shortage instruction to the data analysis and processing module 31, and the data analysis and processing module 31 controls the robot to return to a charging position for automatic charging.
As shown in fig. 4 and fig. 5, four motors 45 are fixed on the upper portion of the robot upper chassis 34 of the control cabin 3 by bolts, the four motors 45 are arranged on two sides of the central axis of the robot upper chassis 34 in groups of two motors 45, and the output shafts of the four motors 45 are connected with four driving wheels 41. Meanwhile, four motors 45 are positioned at two sides of the track through fixing bolts 46, so that the driving wheels 41 are positioned on the upper chassis 34 of the robot in a group two by two as shown in figure 5; meanwhile, the fastening rod 42 is adopted to fasten the motor 45, the fastening rod 42 applies pressure to the motor 45 from two sides of the track 5, and the driving wheel 41 is tightly attached to the rack 51 on the outer surface of the track 5, so that the robot cannot derail in the process of shaking the ship.
As shown in fig. 4, in the center of the robot upper chassis 34 of the control cabin 3, a bearing rod 44 is fixedly connected to the center of the robot upper chassis 34 of the control cabin 3, the other end of the bearing rod 44 is connected with a bearing wheel set 43, the bearing wheel set 43 rolls inside the track 5, and all gravity of the robot is concentrated on the bearing wheel set 43, so that the robot is overweight and the damage to the motor 45 is reduced.
In the operation and maintenance robot working process, two working modes are mainly provided: daily inspection and cabin operation and maintenance; in the daily inspection mode, the operation and maintenance robot can advance along the nacelle hanger rail type track 5 according to a preset instruction, simultaneously acquires information such as the environment and equipment state of the nacelle through the sensor unit 13, the manipulator camera 11 and the robot camera 33, preprocesses the information in the data analysis and processing module 31, and sends an alarm signal to the shore base control end when abnormal data is generated in an abnormal condition. In the cabin operation and maintenance mode, a shore-based control personnel can control the working process of the robot through a shore-based control end to complete partial fault repair work and equipment inspection work.
The structure of a mechanical hand 1, a six-degree-of-freedom mechanical arm 2, a control cabin 3, a traveling mechanism 4 and a track 5 is matched with a shore-based control end, the six-degree-of-freedom mechanical arm 2 and a proximity sensor 21 arranged on the mechanical hand 1 are used for detecting obstacles such as equipment and pipelines in an engine room and sending obstacle information to a data analysis and processing module 31 to control the robot and the six-degree-of-freedom mechanical arm 2 to actively avoid the obstacles, meanwhile, information such as engine room environment and equipment state is collected through a sensor unit 13, a mechanical hand camera 11 and a mechanical hand camera 33, preprocessing is carried out in the data analysis and processing module 31, when abnormal data are generated in abnormal conditions, the traveling mechanism 4 of the robot, the six-degree-of-freedom mechanical arm 2 and the mechanical hand 1 can be controlled by the shore-based control end to achieve inspection and operation maintenance of the equipment in the engine room, and the equipment state monitoring capability and occasional fault repairing capability of the unmanned ship engine room are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. A marine engine room operation and maintenance robot, characterized by comprising:
the six-degree-of-freedom mechanical arm (2) is used for inspecting the interior of a ship cabin and maintaining equipment, and a sensor unit (13) used for detecting sound, temperature and smoke concentration information in a ship is mounted on the six-degree-of-freedom mechanical arm (2);
the data analysis and processing module (31) receives signal information transmitted by the sensor unit (13), and the data analysis and processing module (31) converts the monitored information into a control instruction so as to carry out all-directional rotation regulation and control on the six-degree-of-freedom mechanical arm (2);
and the shore-based control end is in wireless data communication with the data analysis and processing module (31), and remotely regulates and controls the working state of the ship cabin operation and maintenance robot.
2. The marine engine room operation and maintenance robot according to claim 1, wherein: data analysis and processing module (31) are installed inside chassis (34) on the robot, fixedly connected with bearing bar (44) and a plurality of motor (45) on chassis (34) on the robot, fixedly connected with bearing wheelset (43) on bearing bar (44), motor (45) are received the control command of data analysis and processing module (31) conveying and are worked, be connected with drive wheel (41) on motor (45), fixedly connected with anchorage bar (42) on the frame of motor (45), anchorage bar (42) are fastened, control drive wheel (41) and track rack (51) meshing drive wheel (41).
3. The marine engine room operation and maintenance robot of claim 1, wherein: the data analysis and processing module (31) includes a robot arm control unit (37) and a robot travel mechanism control unit (38).
4. The marine engine room operation and maintenance robot according to claim 1, wherein: the system further comprises a control cabin (3), the control cabin (3) comprises a robot upper chassis (34) and a robot lower chassis (35), the data analysis and processing module (31) is installed on the robot upper chassis (34), a communication module (32) and an automatic charging module (36) are installed between the robot upper chassis (34) and the robot lower chassis (35), the data analysis and processing module (31) is in wireless data communication with the shore base control end through the communication module (32), the shore base control end sends control information to the data analysis and processing module (31) through the communication module (32), and the data analysis and processing module (31) converts the data into control instructions and then controls the mechanical arm (2) and the robot traveling mechanism (4).
5. The marine engine room operation and maintenance robot according to claim 1, wherein: and the shore-based control end sends a task instruction to the data analysis and processing module (31) through a 4G/5G wireless network.
6. The marine engine room operation and maintenance robot of claim 1, wherein: the sensor unit (13) includes a proximity sensor (21) for detecting obstacle information and a tactile sensor (12) mounted on the robot hand for sensing information of the robot hand gripping an object.
7. The marine engine room operation and maintenance robot according to claim 1, wherein: and a manipulator camera (11) is installed on the manipulator of the six-degree-of-freedom mechanical arm (2), and a robot camera (33) is installed outside the control cabin (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211059279.1A CN115366067A (en) | 2022-08-31 | 2022-08-31 | Ship engine room operation and maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211059279.1A CN115366067A (en) | 2022-08-31 | 2022-08-31 | Ship engine room operation and maintenance robot |
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| CN202211059279.1A Pending CN115366067A (en) | 2022-08-31 | 2022-08-31 | Ship engine room operation and maintenance robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117428774A (en) * | 2023-11-23 | 2024-01-23 | 中国船舶集团有限公司第七一六研究所 | Industrial robot control method and system for ship inspection |
| CN117697764A (en) * | 2024-02-05 | 2024-03-15 | 青岛哈尔滨工程大学创新发展中心 | Fault diagnosis system and method for flexible mechanical arm for submersible operation |
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