CN115454108A - Automatic control method for cleaning path of underwater cleaning device - Google Patents
Automatic control method for cleaning path of underwater cleaning device Download PDFInfo
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- CN115454108A CN115454108A CN202211135845.2A CN202211135845A CN115454108A CN 115454108 A CN115454108 A CN 115454108A CN 202211135845 A CN202211135845 A CN 202211135845A CN 115454108 A CN115454108 A CN 115454108A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 238000009395 breeding Methods 0.000 claims 1
- 230000001488 breeding effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic control method for a cleaning path of an underwater cleaning device, which is used for cleaning a culture cabin of a worker ship, wherein a plurality of fixed-depth RFID modules are arranged on the inner wall of the culture cabin layer by layer, and the underwater cleaning device reads an RFID instruction to clean the inner wall of the culture cabin and comprises the following steps: placing the underwater cleaning device in an area needing cleaning, controlling the underwater cleaning device to move to an initial position through a shore-based industrial control unit, and switching the underwater cleaning device to an automatic cleaning state; the underwater cleaning device reads the initial RFID instruction, executes a corresponding advancing instruction, and carries out hierarchical cleaning on the inner wall of the cultivation cabin; after the underwater cleaning device finishes cleaning one layer, moving to the depth-fixed RFID module and receiving a depth-fixed submergence signal, reading a steering instruction, and entering the next layer downwards for cleaning; after the RFID module is moved to the bottom layer and the RFID return command is read, the cleaning is finished and the RFID module returns to the water surface, so that the intelligent level of the current equipment is greatly improved, and a shore-based early warning function is realized by combining a shore-based control box.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an automatic control method for a cleaning path of an underwater cleaning device.
Background
As the deep and open sea platform culture starts late in China, the current-stage industrial ship culture is in the middle test verification stage, and a great number of problems still exist in key links and key technologies of a systematic culture process and supporting equipment. The removal of marine organisms and culture dirt attached to the wall surface of the culture cabin is one of key links of culture operation of an industrial ship, and CN202121729560.2 discloses an underwater cleaning robot for the culture cabin wall, which completely depends on manual operation of the robot in practical application, so that the problems of low operation efficiency and overhigh manual success are solved.
Disclosure of Invention
Technical problem to be solved
In order to overcome the defects of the prior art, an automatic control method for a cleaning path of an underwater cleaning device is provided, the cleaning path of the cleaning device is automatically controlled on a cultivation cabin wall, an operation signal is automatically sent to feed back shore-based operators according to the operation state of the cleaning device, and the use efficiency and the intelligent level of the cabin wall cleaning device are improved.
(II) technical scheme
The invention is realized by the following technical scheme: the invention provides an automatic control method for a cleaning path of an underwater cleaning device, which is used for cleaning the inner wall of a culture cabin of a worker ship, wherein a plurality of fixed-depth RFID modules are arranged on the inner wall of the culture cabin layer by layer, and the underwater cleaning device reads an RFID instruction to clean the inner wall of the culture cabin, and comprises the following steps:
the method comprises the following steps: placing the underwater cleaning device in an area needing cleaning, controlling the underwater cleaning device to move to an initial position through a shore-based industrial control unit, and switching the underwater cleaning device to an automatic cleaning state;
step two: the underwater cleaning device reads the initial RFID instruction, executes a corresponding advancing instruction, and starts a constant-depth cruising cleaning mode to carry out hierarchical cleaning on the inner wall of the cultivation cabin;
step three: after the underwater cleaning device finishes cleaning one layer, the underwater cleaning device moves to the fixed-depth RFID module and receives the fixed-depth submergence signal, reads a steering instruction, and enters the next layer downwards for cleaning;
step four: and after the underwater cleaning device moves to the bottom depth-fixing RFID module, reading an RFID return command, finishing cleaning and returning to the water surface.
Furthermore, the underwater cleaning device is a magnetic adsorption type underwater robot, and a depth sensor and a depth-setting submergence triggering device are arranged on the magnetic adsorption type underwater robot.
Further, the method for switching the underwater cleaning device to the automatic cleaning state in the first step includes: controlling the underwater cleaning device to move to an automatic cleaning initial position, carrying out in-place detection of an automatic cleaning state, entering a manual adjustment state if the in-place detection is not passed, entering an automatic cleaning instruction self-checking program if the in-place detection is passed, entering a manual adjustment state if the automatic cleaning instruction is not received, and executing an automatic cleaning instruction and entering an automatic cleaning mode if the automatic cleaning instruction is received.
Further, after the constant-depth cruise cleaning mode is started in the second step, if the depth deviation exists, the automatic depth adjustment mode is started, and the operation continues until the RFID module reads a steering instruction.
Furthermore, the underwater cleaning device sends the read RFID label signal to the shore-based industrial personal computer in real time in the automatic path cleaning process.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
according to the automatic control method for the cleaning path of the underwater cleaning device, the passive RFID signal can be automatically induced by the autonomous driving robot through depth gauge depth setting and cruising, so that the robot in a low power consumption state of the whole system reads the last RFID signal of the cleaning path, the posture can be automatically adjusted, the robot can advance to the water surface, and an operator can be fed back through the shore-based control box.
Drawings
FIG. 1 is a schematic view of the cleaning path of the underwater apparatus of the present invention.
FIG. 2 is a logic diagram of switching auto-purge commands according to the present invention.
FIG. 3 is a logic diagram of the present invention for executing a cruise command.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The method for automatically controlling the cleaning path of the underwater cleaning device shown in fig. 1-3 is used for cleaning the inner wall of a culture cabin of an industrial ship, a plurality of depth-fixing RFID modules are arranged on the inner wall of the culture cabin layer by layer, and the underwater cleaning device reads an RFID instruction to clean the inner wall of the culture cabin and comprises the following steps:
the method comprises the following steps: placing the underwater cleaning device in an area needing cleaning, controlling the underwater cleaning device to move to an initial position through a shore-based industrial control unit, and switching the underwater cleaning device to an automatic cleaning state;
step two: the underwater cleaning device reads the initial RFID instruction, executes a corresponding advancing instruction, and starts a constant-depth cruise cleaning mode to carry out level cleaning on the inner wall of the culture cabin;
step three: after the underwater cleaning device finishes cleaning one layer, the underwater cleaning device moves to the fixed-depth RFID module and receives the fixed-depth submergence signal, reads a steering instruction, and enters the next layer downwards for cleaning;
step four: and after the underwater cleaning device moves to the bottom fixed-depth RFID module and reads the RFID return instruction, finishing cleaning and returning to the water surface.
The invention provides an automatic control method for a cleaning path of an underwater cleaning device, which is applied to the underwater cleaning device in a magnetic adsorption mode, the underwater cleaning device is a magnetic adsorption type underwater robot, the magnetic adsorption type underwater robot is provided with a depth sensor and a fixed depth submerging trigger device, the robot is manually adjusted by a shore-based industrial personal computer to walk in a preparation state, the robot is controlled to advance to an automatic cleaning initial position to carry out in-position detection of an automatic cleaning state, if the in-position detection is not passed, the robot enters a manual adjustment state, if the in-position detection is passed, an automatic cleaning instruction self-checking program is entered, if an automatic cleaning instruction is not received, the system enters a manual adjustment state, if the automatic cleaning instruction is received, the system executes an automatic cleaning instruction, enters an automatic cleaning mode, and is switched to an automatic cleaning state to automatically clean the robot, the automatic control path cruise adjustment is based on a depth sensor on a robot body, the robot automatic cleaning is a cleaning path according to layers, the robot is provided with a depth-setting submergence triggering device, a depth-setting submergence signal is received each time, the robot automatically travels one layer downwards, a depth-setting triggering signal unit is provided by an RFID passive electronic tag, the robot enters an automatic cleaning program, an initial RFID instruction is read, a corresponding travel instruction is executed, a depth-setting cruising cleaning mode is started, if a depth deviation exists in the travel process, the depth automatic adjustment mode is started, the robot continues to read a steering instruction of an RFID module, the robot can automatically steer, the steering instruction is read by the next depth-setting RFID module, the next depth-setting automatic cleaning is executed, then an automatic cleaning task is executed in a circulating mode, after a final RFID return instruction is read, the robot adjusts the posture and automatically returns to an initial cleaning starting point, and (4) finishing the automatic cleaning task, returning to the water surface, and sending the read RFID label signal to be fed back to the shore-based industrial personal computer in real time in the automatic path cleaning process by the robot.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.
Claims (5)
1. An automatic control method for a cleaning path of an underwater cleaning device is used for cleaning the inner wall of a culture cabin of an industrial ship, and is characterized in that: breed the cabin inner wall successive layer and be provided with a plurality of depthkeeping RFID modules, belt cleaning device reads the RFID instruction under water and washs breeding the cabin inner wall, includes as follows:
the method comprises the following steps: placing the underwater cleaning device in an area needing cleaning, controlling the underwater cleaning device to move to an initial position through a shore-based industrial control unit, and switching the underwater cleaning device to an automatic cleaning state;
step two: the underwater cleaning device reads the initial RFID instruction, executes a corresponding advancing instruction, and starts a constant-depth cruise cleaning mode to carry out level cleaning on the inner wall of the culture cabin;
step three: after the underwater cleaning device finishes cleaning one layer, the underwater cleaning device moves to the fixed-depth RFID module and receives the fixed-depth submergence signal, reads a steering instruction, and enters the next layer downwards for cleaning;
step four: and after the underwater cleaning device moves to the bottom depth-fixing RFID module, reading an RFID return command, finishing cleaning and returning to the water surface.
2. The underwater cleaning device cleaning path automatic control method according to claim 1, characterized in that: the underwater cleaning device is a magnetic adsorption type underwater robot, and a depth sensor and a fixed-depth submerging triggering device are arranged on the magnetic adsorption type underwater robot.
3. The underwater cleaning device cleaning path automatic control method according to claim 1, characterized in that: the method for switching the underwater cleaning device to the automatic cleaning state in the first step comprises the following steps: controlling the underwater cleaning device to move to an automatic cleaning initial position, carrying out in-place detection of an automatic cleaning state, entering a manual adjustment state if the in-place detection is not passed, entering an automatic cleaning instruction self-checking program if the in-place detection is passed, entering a manual adjustment state if the automatic cleaning instruction is not received, and executing an automatic cleaning instruction and entering an automatic cleaning mode if the automatic cleaning instruction is received.
4. The underwater cleaning device cleaning path automatic control method according to claim 1, characterized in that: and after the constant-depth cruise cleaning mode is started in the second step, if the depth deviation exists, the automatic depth adjustment mode is started, and the operation continues to the RFID module to read the steering instruction.
5. The underwater cleaning device cleaning path automatic control method according to claim 1, characterized in that: and the underwater cleaning device sends the read RFID label signal to the shore-based industrial personal computer in real time in the automatic path cleaning process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211135845.2A CN115454108A (en) | 2022-09-19 | 2022-09-19 | Automatic control method for cleaning path of underwater cleaning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211135845.2A CN115454108A (en) | 2022-09-19 | 2022-09-19 | Automatic control method for cleaning path of underwater cleaning device |
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| CN115454108A true CN115454108A (en) | 2022-12-09 |
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Citations (8)
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|---|---|---|---|---|
| KR100669981B1 (en) * | 2006-01-25 | 2007-01-16 | 한국산업기술평가원(관리부서:산업기술시험원) | The test method of cleaning areas for cleaning robots |
| US20110095865A1 (en) * | 2009-10-26 | 2011-04-28 | The United States Of America, Secretary Of The Navy | Underwater RFID Arrangement for Optimizing Underwater Operations |
| US20120006352A1 (en) * | 2009-11-23 | 2012-01-12 | Searobotics Corporation | Robotic submersible cleaning system |
| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
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| CN112894758A (en) * | 2021-04-01 | 2021-06-04 | 广东南牧机械设备有限公司 | Robot cleaning control system, method and device and computer equipment |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
| CN113428250A (en) * | 2021-07-28 | 2021-09-24 | 中国水产科学研究院渔业机械仪器研究所 | Underwater cleaning robot for cultivation bulkhead |
-
2022
- 2022-09-19 CN CN202211135845.2A patent/CN115454108A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100669981B1 (en) * | 2006-01-25 | 2007-01-16 | 한국산업기술평가원(관리부서:산업기술시험원) | The test method of cleaning areas for cleaning robots |
| US20110095865A1 (en) * | 2009-10-26 | 2011-04-28 | The United States Of America, Secretary Of The Navy | Underwater RFID Arrangement for Optimizing Underwater Operations |
| US20120006352A1 (en) * | 2009-11-23 | 2012-01-12 | Searobotics Corporation | Robotic submersible cleaning system |
| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
| CN109263828A (en) * | 2018-11-06 | 2019-01-25 | 高溯 | Method and apparatus for being cleaned to navigating ship in ocean |
| CN112894758A (en) * | 2021-04-01 | 2021-06-04 | 广东南牧机械设备有限公司 | Robot cleaning control system, method and device and computer equipment |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
| CN113428250A (en) * | 2021-07-28 | 2021-09-24 | 中国水产科学研究院渔业机械仪器研究所 | Underwater cleaning robot for cultivation bulkhead |
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