CN115892378A - Ship cleaning method, system and medium based on underwater sonar positioning - Google Patents
Ship cleaning method, system and medium based on underwater sonar positioning Download PDFInfo
- Publication number
- CN115892378A CN115892378A CN202211667824.5A CN202211667824A CN115892378A CN 115892378 A CN115892378 A CN 115892378A CN 202211667824 A CN202211667824 A CN 202211667824A CN 115892378 A CN115892378 A CN 115892378A
- Authority
- CN
- China
- Prior art keywords
- ship
- sonar
- cleaning
- cleaning robot
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a ship cleaning method, a system and a medium based on underwater sonar positioning, wherein the method comprises the following steps: control terminal constructs virtual hull map according to boats and ships basic information to further planning and corresponding walking route and sending to the cleaning robot, the cleaning robot walks along the walking route and launches the sonar signal according to the transmission cycle, control terminal receives the sonar received signal that comes from the sonar receiver and analyzes and acquire the real-time position of cleaning robot, judges whether the real-time position appears unusually, if the control terminal that appears unusually sends error correction instruction to the cleaning robot. The invention belongs to the technical field of intelligent cleaning of ships, and aims to obtain the real-time position of a cleaning robot through underwater sonar positioning, send an error correction instruction to the cleaning robot when judging that the real-time position is abnormal, correct the walking path of the cleaning robot in real time, improve the accuracy of walking during underwater cleaning, and avoid deviation and repetition of the walking path, thereby improving the efficiency of the cleaning robot in underwater cleaning.
Description
Technical Field
The invention relates to the technical field of intelligent ship cleaning, in particular to a ship cleaning method, a system and a medium based on underwater sonar positioning.
Background
There are many kinds of living beings in the ocean, any object that contacts with sea water, equipment such as underwater pipeline, oil Production platform jacket, buoy, bank, boats and ships, FPSO (Floating Production Storage and Offloading, floating oil Storage and Offloading) for a long time contacts with sea water, even the surface scribbles antifouling paint (the toxic material that has the anticorrosive paint release of toxicity can influence the safety of whole ecological circle environment through the food chain), the top layer of equipment still can adhere to the marine organism of Production after a period of time, there are about 4000-5000 kinds of fouling organisms in the ocean, 50-100 kinds of common have, mainly include: barnacles, shellfish, polychetes, bryozoans, coelenterates, algae and the like, particularly for ships and Floating Production Storage and Offloading (FPSO) equipment and other equipment, the marine organisms attached to the surface layer of the equipment in a large area pose a serious threat to the safe operation of the equipment.
For a marine ship, marine organisms attached to the surface layer of the ship can increase the navigation resistance of the ship, and the main reason is that the attached organisms change the streamline shape of the ship body and increase the load of the ship body; secondly, the attached organisms can damage the anticorrosive coating on the surface of the attached object to cause the antifouling paint on the surface layer of the ship to fall off, so that the metal of the attached surface is exposed and corroded by seawater to cause danger; and the marine aquatic organisms can block underwater facilities, reduce the operation efficiency of the equipment and even cause danger.
At present, the method for removing marine organisms attached to the surfaces of large-scale equipment such as ship hulls and Floating Production Storage and Offloading (FPSO) mainly adopts a manual mode for cleaning after going to shore, dry docks need to be occupied when the equipment goes to shore, cleaning cost is very high, time consumed for cleaning ships is long, time consumed for error work of the equipment is long, and comprehensive cleaning cost is high. And the method for manually removing the attachments on the surface layer of the equipment has the defects of high cost, low efficiency, poor effect, coating damage and the like. The underwater cleaning method can avoid docking, so that the cost is saved, but the existing underwater cleaning equipment is mainly a friction type cleaning machine, scrapes pollutants by using physical action, and has the defects of huge equipment, high equipment cost, high operation intensity, low efficiency, poor cleaning effect on hard marine organisms, easiness in scraping coatings and the like; when the automatic cleaning equipment such as the cleaning robot is used for cleaning the ship, the cleaning robot cannot accurately position the ship underwater, so that the walking line of the cleaning robot is frequently deviated and repeated in the process of cleaning the ship, and the efficiency of cleaning the ship by the underwater cleaning robot is influenced. Therefore, the robot for cleaning the ship in the prior art has the problem that the cleaning efficiency is influenced because the underwater positioning cannot be accurately carried out.
Disclosure of Invention
The embodiment of the invention provides a ship cleaning method, a system and a medium based on underwater sonar positioning, and aims to solve the problem that in the prior art, a robot for ship cleaning affects the cleaning efficiency because underwater positioning cannot be accurately carried out.
In a first aspect, an embodiment of the present invention provides a ship cleaning method based on underwater sonar positioning, where the method is applied to a ship cleaning system, where the ship cleaning system includes a cleaning robot, a control terminal, and a plurality of sonar receivers assembled underwater, where the control terminal establishes a network connection with the cleaning robot and each of the sonar receivers simultaneously to achieve transmission of data information, and the cleaning robot walks in close contact with an outer wall of a ship to be cleaned and cleans the outer wall of the ship, and the method includes:
if the control terminal receives the inputted ship basic information, constructing a virtual ship body map corresponding to the ship basic information;
the control terminal plans a corresponding walking path according to a preset path planning rule and the virtual ship body map;
the control terminal sends the walking path to the cleaning robot so that the cleaning robot can walk according to the walking path to clean the outer wall of the ship;
the cleaning robot transmits sonar signals according to a preset transmission period while walking;
if the control terminal receives sonar receiving signals detected by the sonar receiver, the sonar receiving signals are positioned and analyzed to obtain the real-time position of the cleaning robot;
the control terminal judges whether the real-time position is abnormal or not according to a preset abnormal judgment rule and the walking path;
and if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot.
In a second aspect, the embodiment of the invention provides a ship cleaning system based on underwater sonar positioning, which comprises a cleaning robot, a control terminal and a plurality of sonar receivers assembled underwater, wherein the control terminal, the cleaning robot and each sonar receiver simultaneously establish network connection to realize data information transmission, and the cleaning robot closely adheres to the outer wall of a ship to be cleaned to walk and clean the outer wall of the ship;
the system comprises a virtual hull map construction unit, a walking path planning unit, a walking path sending unit, a real-time position acquisition unit, an abnormality judgment unit and an error correction instruction sending unit which are configured in the control terminal, and a sonar signal transmitting unit which is configured in the cleaning robot;
the virtual ship body map building unit is used for building a virtual ship body map corresponding to the ship basic information if the inputted ship basic information is received;
the walking path planning unit is used for planning a corresponding walking path according to a preset path planning rule and the virtual ship body map;
the walking path sending unit is used for enabling the walking path to reach the cleaning robot so as to enable the cleaning robot to walk according to the walking path to clean the outer wall of the ship;
the sonar signal transmitting unit is used for transmitting sonar signals according to a preset transmitting period while the cleaning robot walks;
the real-time position acquisition unit is used for receiving sonar receiving signals detected by the sonar receiver and positioning and analyzing the sonar receiving signals to acquire the real-time position of the cleaning robot;
the abnormity judging unit is used for judging whether the real-time position is abnormal or not according to a preset abnormity judging rule and the walking path;
and the error correction instruction sending unit is used for sending an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot if the real-time position is abnormal.
In a third aspect, an embodiment of the present invention further provides an underwater sonar positioning based ship cleaning system, which includes a cleaning robot, a control terminal, and a plurality of sonar receivers installed under water, wherein the cleaning robot includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor, the control terminal includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor, and the sonar receivers include a third memory, a third processor, and a third computer program stored in the third memory and executable on the third processor, and is characterized in that the first processor executes the first computer program, the second processor executes the second computer program, and the third processor executes the third computer program, so as to jointly implement the underwater sonar positioning based ship cleaning method according to the first aspect.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a first computer program, a second computer program, and a third computer program, and when the first computer program is executed by a first processor, the second computer program is executed by a second processor, and the third computer program is executed by a third processor, the first computer program, the second computer program, and the third computer program jointly implement the underwater sonar positioning-based ship cleaning method according to the first aspect.
The embodiment of the invention provides a ship cleaning method, a system and a medium based on underwater sonar positioning. Control terminal constructs virtual hull map according to boats and ships basic information to further the planning corresponds walking route and sends to cleaning machines people, and cleaning machines people walks along walking route and launches the sonar signal according to the transmission cycle, and control terminal receives the sonar received signal that comes from sonar receiver and analyzes and acquire cleaning machines people's real-time position, judges whether the real-time position appears unusually, if appear unusually control terminal send error correction instruction to cleaning machines people. By the method, the real-time position of the cleaning robot is obtained through underwater sonar positioning, and if the real-time position is judged to be abnormal, an error correction instruction is sent to the cleaning robot, so that the walking path of the cleaning robot is corrected in real time, the walking accuracy of the cleaning robot during underwater cleaning is improved, the walking path deviation and repetition are avoided, and the underwater cleaning efficiency of the cleaning robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art that the embodiments of the present invention can be implemented without creative efforts
From these figures further figures are obtained.
FIG. 1 is a schematic flow diagram of a ship cleaning method based on underwater sonar positioning according to an embodiment of the present invention;
FIG. 2 is a schematic view of an application scene of the underwater sonar positioning-based ship cleaning method provided by the embodiment of the invention;
FIG. 3 is an effect schematic diagram of a ship cleaning method based on underwater sonar positioning according to an embodiment of the present invention;
FIG. 4 is another effect schematic diagram of the ship cleaning method based on underwater sonar positioning according to the embodiment of the present invention;
FIG. 5 is a schematic block diagram of a ship cleaning system based on underwater sonar positioning provided by an embodiment of the invention;
fig. 6 is a schematic block diagram of a computer device provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic flow diagram of a ship cleaning method based on underwater sonar positioning according to an embodiment of the present invention, and fig. 2 is a schematic application scene diagram of the ship cleaning method based on underwater sonar positioning according to the embodiment of the present invention; the ship cleaning method based on underwater sonar positioning is applied to a ship cleaning system 10 based on underwater sonar positioning, the system 10 comprises a cleaning robot 11, a control terminal 12 and a plurality of sonar receivers 13 assembled under water, the ship cleaning method based on underwater sonar positioning is executed through application software installed in the cleaning robot 11, the control terminal 12 and the sonar receivers 13, the control terminal 12, the cleaning robot 11 and each sonar receiver 13 simultaneously establish network connection to achieve data information transmission, wherein the cleaning robot 11 is intelligent cleaning equipment which walks close to the outer wall of a ship 14 to be cleaned and cleans the outer wall of the ship 14 to be cleaned, the control terminal 12 is terminal equipment which is used for sending corresponding control instructions to the cleaning robot 11 for remote control, such as a notebook computer, a tablet computer, a desktop computer or a mobile phone, and the like, meanwhile, the cleaning robot 11 can send working state information to the controlled 12 for real-time display, a sonar emitter is installed on the cleaning robot 11, the sonar emitter can send sonar signals to the sonar receivers 13, and can at least generate a plurality of sonar signals which can be transmitted to the sonar receivers 13, and can be assembled on the bottom of the ship receiver 13 and can be cleaned. As shown in fig. 1, the method includes steps S110 to S170.
And S110, if the control terminal receives the input ship basic information, constructing a virtual ship body map corresponding to the ship basic information.
And if the control terminal receives the input ship basic information, constructing a virtual ship body map corresponding to the ship basic information. The user can input ship basic information to the control terminal, and the control terminal can construct a virtual ship body map corresponding to a ship to be cleaned according to the received ship basic information, wherein the ship basic information at least comprises basic information such as ship length, ship width, ship height, draught, ship type and the like. A virtual hull map is also a virtual model created in three-dimensional space to indicate the hull space.
In one embodiment, step S110 includes the sub-steps of: creating a corresponding hull cleaning boundary according to the ship length, the ship width, the ship height and the draft in the ship basic information; and according to the ship type in the ship basic information, arc-shaped connection is carried out on the ship bodies on the two sides of the ship body cleaning boundary so as to obtain a corresponding virtual ship body map.
Specifically, the corresponding hull cleaning boundary can be created according to the ship length, the ship width, the ship height and the draft in the ship basic information, the hull cleaning boundary is also the boundary range for cleaning the ship to be cleaned, the generated hull cleaning boundary is shown in fig. 3, and the diamond in fig. 3 is also the width range boundary and the length range boundary of the ship to be cleaned on the waterline.
Corresponding radian values can be determined according to the ship type in the ship basic information, the ship bodies on the two sides of the ship body cleaning boundary are connected in an arc shape according to the radian values, the generated arc-connected ship body radian corresponds to the radian values, and therefore a virtual ship body map is obtained, and the generated virtual ship body map is shown in figure 4. For example, if the radian of the hull of the cargo ship protruding outwards from the bottom of the cargo ship is large, the radian value is also large; the radian of the ship body protruding outwards from the bottom of the warship is smaller, and the radian value is also smaller.
In one embodiment, step S110 further includes the sub-steps of: and creating a receiver positioning point corresponding to each sonar receiver in the virtual ship body map according to the assembly position of each sonar receiver.
After a virtual hull map is created and obtained, receiver positioning points corresponding to all sonar receivers can be created in the virtual hull map according to the assembly positions of all sonar receivers at the bottom of a hull to be cleaned, the receiver positioning points are also three-dimensional positioning points of the sonar receivers in the virtual hull map, specifically, three-dimensional coordinate values of all sonar receivers relative to the coordinate origin in the virtual hull map can be obtained according to the assembly positions of the sonar receivers, and the three-dimensional coordinate values can be adopted (x is the number of the sonar receivers in the virtual hull map) 1 、y 1 、z 1 ) And after the three-dimensional coordinate information of each sonar receiver is acquired, a receiver positioning point can be added in a position corresponding to the three-dimensional coordinate information in the virtual ship body map according to the three-dimensional coordinate information.
And S120, the control terminal plans a corresponding walking path according to a preset path planning rule and the virtual ship body map.
And the control terminal plans a corresponding walking path according to a preset path planning rule and the virtual ship body map. The control terminal can plan a walking path according to the path planning rule and the virtual ship body map, and the walking path is path information required to be traveled when the cleaning robot cleans the ship to be cleaned.
In one embodiment, step S120 includes the sub-steps of: drawing corresponding running lines on the virtual ship body map according to the running direction and the running distance in the path planning rule; and sequentially connecting the adjacent row wires end to generate a corresponding walking path.
Specifically, the running lines can be drawn on the virtual hull map according to the running direction and the running distance in the path planning rule. The walking direction can be vertical, horizontal, 45-degree oblique and the like.
For example, if the walking direction is vertical and the walking distance is 0.6 m, a plurality of vertical row lines can be drawn on the hull on both sides of the virtual hull map along the vertical direction, and the distance between adjacent row lines is 0.6 m.
The line is walked and is carried out end to end in proper order to many lines of establishing drawing to generate a continuous walking route, among the specific application process, to the unilateral hull, can set up bow anchor point for the walking starting point, the stern is the walking terminal point, thereby the generation is by bow anchor point to stern and pass a walking route of walking line of each line.
S130, the control terminal sends the walking path to the cleaning robot so that the cleaning robot walks according to the walking path to clean the outer wall of the ship.
And the control terminal sends the walking path to the cleaning robot so that the cleaning robot walks according to the walking path to clean the outer wall of the ship. The control terminal can send the walking path to the cleaning robot, and after receiving the walking path, the cleaning robot can walk along the walking path and clean the outer wall of the ship.
For example, for the walking path generated in step S120, the cleaning robot cruises from the water to a fixed initial position of the ship body (such as a bow anchor point), attaches to the ship body and walks along the walking path, and cleans the ship body during the walking process.
S140, the cleaning robot walks and emits sonar signals according to a preset emission period.
The cleaning robot walks and emits sonar signals according to a preset emission period. Cleaning robot launches the sonar signal according to predetermined transmission cycle when walking, for example, predetermined transmission cycle is 1 second, and then cleaning robot launches the sonar signal once every 1 second promptly.
S150, if the control terminal receives sonar receiving signals detected by the sonar receiver, the sonar receiving signals are positioned and analyzed to obtain the real-time position of the cleaning robot.
And if the control terminal receives sonar receiving signals detected by the sonar receiver, the sonar receiving signals are positioned and analyzed to obtain the real-time position of the cleaning robot. Control terminal can receive each sonar receiver and detect sonar received signal, if the quantity that sets up sonar receiver is three, include three receipt information in the sonar received signal at least, receipt information can adopt time value to show, and time value is accurate to ten thousand seconds. The control terminal carries out positioning analysis on the sonar receiving signals, so that the real-time position of the cleaning robot is obtained, and the real-time position can be a virtual coordinate position of the cleaning robot in a virtual ship body map.
In one embodiment, step S150 includes the sub-steps of: calculating the receiving time difference between any two sonar receivers in the sonar receiving information; multiplying a preset sound velocity by each receiving time difference respectively to obtain a receiving distance difference value corresponding to each receiving time difference; and calculating according to the assembly position of each sonar receiver and each receiving distance difference value to acquire a real-time position containing three-dimensional coordinate values.
Specifically, the receiving time difference between any two sonar receivers in the sonar receivers can be calculated, for example, the sonar signals corresponding to three sonar receivers are t 1 、t 2 And t 3 Then the receiving time interval is respectively Δ t 1 ＝t 1 -t 2 ，Δt 2 ＝t 1 -t 3 ，Δt 3 ＝t 2 -t 3 。
Then, multiplying the preset underwater sound velocity by each receiving time difference respectively to obtain corresponding receiving distance differences, for example, if the sound velocity in seawater is 1531 m/s, then three groups of receiving distance differences can be correspondingly calculated to be 1531 × Δ t respectively 1 、1531×Δt 2 、1531×Δt 3 。
Afterwards, the real-time position can be obtained through calculation according to the assembly position and the receiving distance difference value of the sonar receivers, the distance between all the sonar receivers can be calculated based on the assembly position of the sonar receivers, an equation set containing three unknown numbers is established through the distance and the receiving distance difference value, the equation set is analyzed in a simultaneous mode, and then the three unknown numbers can be obtained, namely the three unknown numbers are the real-time positions containing three-dimensional coordinate values.
And S160, the control terminal judges whether the real-time position is abnormal or not according to a preset abnormal judgment rule and the walking path.
And the control terminal judges whether the real-time position is abnormal or not according to a preset abnormal judgment rule and the walking path. The control terminal can judge whether the real-time position is abnormal according to the abnormity judgment rule and the walking path, namely judge whether the cleaning robot walks along the planned walking path and obtain a corresponding judgment result.
In one embodiment, step S160 includes the sub-steps of: determining a walking direction and a walking speed corresponding to the real-time position according to the real-time position and the recorded historical position; calculating an offset included angle between the walking direction and the walking path; and judging whether the offset included angle or the walking speed exceeds a corresponding numerical value interval in the abnormity judgment rule or not, thereby judging whether the real-time position is abnormal or not.
For example, the acquisition time of the real-time position is t a Then a recorded historical location may be obtained, which may include t a-2 And t a-1 The obtained position information is according to t a-2 、t a-1 And t a That is to sayAnd calculating to obtain the corresponding walking direction and walking speed. For example, for t a-1 Position information of (2) and t a Obtaining the direction of the connecting line between the real-time positions to obtain a first walking direction, and obtaining t a-2 Position information of (a) and (t) a Obtaining the direction of the connecting line between the real-time positions to obtain a second walking direction; calculating t a-2 Position information of (2) and t a-1 The distance value between the position information of (a) is divided by one transmission cycle to obtain a first traveling speed, and t is calculated a-1 Position information of (2) and t a Dividing the distance value between the real-time positions by a transmitting period to obtain a second walking speed; the walking direction may include a first walking direction and a second walking direction; the walking speed may include a first walking speed and a second walking speed.
Calculating a first walking direction and t a Calculating a first offset included angle between a line of the real-time position and a second walking direction and t a A second offset angle between the row lines of the real-time position.
Judging whether the first offset included angle and the second offset included angle do not exceed the angle value interval in the abnormity judgment rule, judging whether the second walking speed does not exceed the speed value interval in the abnormity judgment rule, and judging whether the difference value of the first walking speed and the second walking speed does not exceed the difference value interval in the abnormity judgment rule. If the judgment results are not exceeded, judging that the real-time position is not abnormal; and if any one of the judgment results is exceeded, judging that the real-time position is abnormal.
S170, if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot.
And if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot. If the real-time position is judged to be abnormal, the control terminal can send an error correction instruction to the cleaning robot, so that the walking process of the cleaning robot is corrected, such as the walking direction and the walking speed of the cleaning robot are corrected.
For example, if the real-time position of the cleaning robot is abnormal, the deflection angle can be determined according to the current walking direction of the cleaning robot, a corresponding error correction instruction is generated based on the deflection angle and the preset walking speed parameter and is sent to the cleaning robot, the cleaning robot can perform deflection correction on the current walking direction according to the deflection angle, and adjust the current walking speed according to the preset walking speed parameter, so that the correction on the walking process is realized.
In one embodiment, the ship cleaning method based on underwater sonar positioning further comprises the following sub-steps: the control terminal calculates and calculates a corresponding cleaned area according to the real-time position, the walking path and cleaning parameters of the cleaning robot; the control terminal calculates corresponding cleaning efficiency according to the working duration, the cleaned area and the total cleaning area corresponding to the virtual ship body map; and the control terminal displays the cleaned area and the cleaning efficiency in real time.
The control terminal can also calculate the corresponding cleaned area according to the real-time position, the walking path and the cleaning parameters of the cleaning robot, specifically, the corresponding walking distance of the real-time position in the walking path is judged, and the corresponding cleaned area is calculated according to the walking distance and the cleaning parameters, wherein the cleaning parameters comprise the information of the diameter of the cleaning brush disc of the cleaning robot, the walking distance, the overlapping area of the cleaning brush disc and the like.
The control terminal can also record the working time of the cleaning robot, and specifically, the working time of the cleaning robot can be recorded by taking the time corresponding to the starting point of the cleaning robot on the walking path as the starting time. Calculating a corresponding cleaning area ratio according to the cleaned area and the total cleaning area corresponding to the virtual ship body map, and dividing the cleaning area ratio by the working time of the cleaning robot to obtain corresponding cleaning efficiency, wherein the higher the cleaning efficiency value is, the higher the efficiency of the cleaning robot is; a smaller cleaning efficiency value indicates a lower efficiency of the washing robot.
After the cleaned area and the cleaning efficiency are obtained, the information can be displayed in the control terminal in real time, and control personnel can obtain related information in real time by observing the control terminal.
In the ship cleaning method based on underwater sonar positioning provided by the embodiment of the invention, a control terminal constructs a virtual ship body map according to ship basic information, further plans a corresponding walking path and sends the virtual ship body map to a cleaning robot, the cleaning robot walks along the walking path and emits sonar signals according to an emission period, the control terminal receives sonar receiving signals from a sonar receiver and analyzes the sonar receiving signals to obtain the real-time position of the cleaning robot, judges whether the real-time position is abnormal or not, and if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot. By the method, the real-time position of the cleaning robot is obtained through underwater sonar positioning, and if the real-time position is judged to be abnormal, an error correction instruction is sent to the cleaning robot, so that the walking path of the cleaning robot is corrected in real time, the walking accuracy of the cleaning robot during underwater cleaning is improved, the walking path deviation and repetition are avoided, and the underwater cleaning efficiency of the cleaning robot is improved.
The embodiment of the invention also provides a ship cleaning system based on the underwater sonar positioning, which is used for executing any embodiment of the ship cleaning method based on the underwater sonar positioning. Specifically, referring to fig. 5, fig. 5 is a schematic block diagram of a ship cleaning system based on underwater sonar positioning according to an embodiment of the present invention.
As shown in fig. 5, a ship cleaning system 10 based on underwater sonar positioning includes a cleaning robot 11, a control terminal 12, and a plurality of sonar receivers 13 installed under water, where the control terminal 12 establishes a network connection with the cleaning robot 11 and each sonar receiver 13 at the same time to realize data information transmission, and the cleaning robot 11 walks in close contact with the outer wall of a ship to be cleaned to clean the outer wall of the ship, and the system 10 includes a virtual hull map construction unit 121, a walking path planning unit 122, a walking path transmission unit 123, a real-time position acquisition unit 124, an abnormality determination unit 125, an error correction instruction transmission unit 126, and a sonar signal transmission unit 111, which are disposed in the cleaning robot 11, and are disposed in the control terminal 12.
The virtual ship map building unit 121 is configured to build a virtual ship map corresponding to the ship basic information if the inputted ship basic information is received.
The walking path planning unit 122 is configured to plan a corresponding walking path according to a preset path planning rule and the virtual hull map.
The walking path sending unit 123 is configured to send the walking path to the cleaning robot, so that the cleaning robot walks according to the walking path to clean the outer wall of the ship.
Sonar signal emission unit 111 for the cleaning robot launches the sonar signal according to preset emission cycle when walking.
The real-time position acquiring unit 124 is configured to receive sonar receiving signals detected by the sonar receiver 13, and perform positioning analysis on the sonar receiving signals to acquire a real-time position of the cleaning robot.
The abnormality determining unit 125 is configured to determine whether the real-time position is abnormal according to a preset abnormality determining rule and the walking path.
The error correction instruction sending unit 126 is configured to send an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot if the real-time position is abnormal.
The ship cleaning system based on the underwater sonar positioning provided by the embodiment of the invention is applied to the ship cleaning method based on the underwater sonar positioning, the control terminal constructs a virtual ship body map according to ship basic information, further plans a corresponding walking path and sends the walking path to the cleaning robot, the cleaning robot walks along the walking path and emits sonar signals according to an emission period, the control terminal receives the sonar receiving signals from the sonar receiver and analyzes the sonar receiving signals to obtain the real-time position of the cleaning robot, judges whether the real-time position is abnormal or not, and if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot. By the method, the real-time position of the cleaning robot is obtained through underwater sonar positioning, and if the real-time position is judged to be abnormal, an error correction instruction is sent to the cleaning robot, so that the walking path of the cleaning robot is corrected in real time, the walking accuracy of the cleaning robot during underwater cleaning is improved, the walking path deviation and repetition are avoided, and the underwater cleaning efficiency of the cleaning robot is improved.
The ship cleaning method based on underwater sonar positioning can be realized in the form of a computer program, and the cleaning robot 11, the control terminal 12 and the sonar receiver 13 in the ship cleaning system based on underwater sonar positioning can be realized as computer equipment, and the computer program can run on the computer equipment as shown in fig. 6.
Referring to fig. 6, fig. 6 is a schematic block diagram of a computer device according to an embodiment of the present invention. The computer equipment can be a cleaning robot 11, a control terminal 12 or a sonar receiver 13 for executing an underwater sonar positioning-based ship cleaning method to realize underwater intelligent cleaning of a ship to be cleaned.
Referring to fig. 6, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a storage medium 503 and an internal memory 504.
The storage medium 503 may store an operating system 5031 and computer programs 5032. The computer program 5032, when executed, may cause the processor 502 to perform an underwater sonar-positioning based vessel cleaning method, wherein the storage medium 503 may be a volatile storage medium or a non-volatile storage medium.
The processor 502 is used to provide computing and control capabilities that support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can be caused to execute the ship cleaning method based on underwater sonar positioning.
The network interface 505 is used for network communication to provide transmission of data information, the network communication being wired network communication and/or wireless network communication. Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with aspects of the present invention and is not intended to limit the computing device 500 to which aspects of the present invention may be applied, and that a particular computing device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The processor 502 is configured to run a computer program 5032 stored in the memory, so as to implement the corresponding functions in the underwater sonar positioning based ship cleaning method.
Those skilled in the art will appreciate that the embodiment of a computer device illustrated in fig. 6 does not constitute a limitation on the specific construction of the computer device, and that in other embodiments a computer device may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may only include a memory and a processor, and in such embodiments, the structures and functions of the memory and the processor are consistent with those of the embodiment shown in fig. 6, and are not described herein again.
It should be understood that, in the embodiment of the present invention, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the invention, a computer-readable storage medium is provided. The computer readable storage medium may be a volatile or non-volatile computer readable storage medium. The computer-readable storage medium stores a first computer program, a second computer program, or a third computer program, which when executed by a first processor, a second processor, and a third processor, collectively implement the steps included in the underwater sonar positioning-based ship washing method described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, devices and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions in actual implementation, or units with the same function may be grouped into one unit, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a computer-readable storage medium, which includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage medium comprises: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A ship cleaning method based on underwater sonar positioning is characterized in that the method is applied to a ship cleaning system, the ship cleaning system comprises a cleaning robot, a control terminal and a plurality of sonar receivers assembled underwater, the control terminal, the cleaning robot and the sonar receivers are simultaneously connected through a network to realize data information transmission, the cleaning robot tightly clings to the outer wall of a ship to be cleaned to walk and clean the outer wall of the ship, and the method comprises the following steps:
if the control terminal receives the inputted ship basic information, constructing a virtual ship body map corresponding to the ship basic information;
the control terminal plans a corresponding walking path according to a preset path planning rule and the virtual ship body map;
the control terminal sends the walking path to the cleaning robot so that the cleaning robot can walk according to the walking path to clean the outer wall of the ship;
the cleaning robot transmits sonar signals according to a preset transmitting period while walking;
if the control terminal receives sonar receiving signals detected by the sonar receiver, the sonar receiving signals are positioned and analyzed to obtain the real-time position of the cleaning robot;
the control terminal judges whether the real-time position is abnormal or not according to a preset abnormal judgment rule and the walking path;
and if the real-time position is abnormal, the control terminal sends an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot.
2. The underwater sonar positioning-based ship cleaning method according to claim 1, wherein the constructing of the virtual hull map corresponding to the ship basic information includes:
creating a corresponding hull cleaning boundary according to the ship length, the ship width, the ship height and the draft in the ship basic information;
and performing arc connection on the ship bodies on the two sides of the ship body cleaning boundary according to the ship types in the ship basic information to obtain a corresponding virtual ship body map.
3. The underwater sonar positioning-based ship cleaning method according to claim 2, wherein after arc-shaped connection is performed on the hulls on both sides of the hull cleaning boundary according to the ship type in the ship basic information to obtain a corresponding virtual hull map, the method further comprises:
and creating a receiver positioning point corresponding to each sonar receiver in the virtual ship body map according to the assembly position of each sonar receiver.
4. The underwater sonar positioning-based ship cleaning method according to claim 1, wherein the planning of the corresponding walking path according to preset path planning rules and the virtual hull map comprises:
drawing corresponding running lines on the virtual ship body map according to the running direction and the running distance in the path planning rule;
and sequentially connecting the adjacent row wires end to generate a corresponding walking path.
5. The underwater sonar positioning-based ship cleaning method according to claim 1, wherein the positioning and resolving of the sonar receiving signals to obtain the real-time position of the cleaning robot comprises:
calculating the receiving time difference between any two sonar receivers in the sonar receiving information;
multiplying a preset sound velocity by each receiving time difference respectively to obtain a receiving distance difference value corresponding to each receiving time difference;
and calculating according to the assembly position of each sonar receiver and each receiving distance difference value to obtain a real-time position containing three-dimensional coordinate values.
6. The underwater sonar positioning-based ship cleaning method according to claim 1, wherein the determining whether the real-time position is abnormal or not according to a preset abnormal determination rule and the traveling path includes:
determining a walking direction and a walking speed corresponding to the real-time position according to the real-time position and the recorded historical position;
calculating an offset included angle between the walking direction and the walking path;
and judging whether the offset included angle or the walking speed exceeds a corresponding numerical value interval in the abnormity judgment rule or not, thereby judging whether the real-time position is abnormal or not.
7. The underwater sonar positioning-based ship cleaning method according to claim 1, further comprising:
the control terminal calculates and calculates a corresponding cleaned area according to the real-time position, the walking path and cleaning parameters of the cleaning robot;
the control terminal calculates corresponding cleaning efficiency according to the working duration, the cleaned area and the total cleaning area corresponding to the virtual ship body map;
and the control terminal displays the cleaned area and the cleaning efficiency in real time.
8. A ship cleaning system based on underwater sonar positioning is characterized by comprising a cleaning robot, a control terminal and a plurality of sonar receivers assembled underwater, wherein the control terminal, the cleaning robot and the sonar receivers simultaneously establish network connection to realize data information transmission, and the cleaning robot closely adheres to the outer wall of a ship to be cleaned to walk and clean the outer wall of the ship;
the system comprises a virtual hull map construction unit, a walking path planning unit, a walking path sending unit, a real-time position acquisition unit, an abnormality judgment unit and an error correction instruction sending unit which are configured in the control terminal, and a sonar signal transmitting unit which is configured in the cleaning robot;
the virtual ship body map building unit is used for building a virtual ship body map corresponding to the ship basic information if the inputted ship basic information is received;
the walking path planning unit is used for planning a corresponding walking path according to a preset path planning rule and the virtual ship body map;
the walking path sending unit is used for enabling the walking path to reach the cleaning robot so as to enable the cleaning robot to walk according to the walking path to clean the outer wall of the ship;
the sonar signal transmitting unit is used for transmitting sonar signals according to a preset transmitting period while the cleaning robot walks;
the real-time position acquisition unit is used for receiving sonar receiving signals detected by the sonar receiver and positioning and analyzing the sonar receiving signals to acquire the real-time position of the cleaning robot;
the abnormity judging unit is used for judging whether the real-time position is abnormal or not according to a preset abnormity judging rule and the walking path;
and the error correction instruction sending unit is used for sending an error correction instruction to the cleaning robot to correct the walking process of the cleaning robot if the real-time position is abnormal.
9. An underwater sonar-positioning-based vessel cleaning system comprising a cleaning robot, a control terminal, and a plurality of sonar receivers mounted under water, the cleaning robot comprising a first memory, a first processor, and a first computer program stored on the first memory and operable on the first processor, the control terminal comprising a second memory, a second processor, and a second computer program stored on the second memory and operable on the second processor, the sonar receivers comprising a third memory, a third processor, and a third computer program stored on the third memory and operable on the third processor, wherein the first processor executing the first computer program, the second processor executing the second computer program, and the third processor executing the third computer program collectively implement the underwater sonar-positioning-based vessel cleaning method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a first computer program, a second computer program and a third computer program, which when executed by a first processor, the second computer program by a second processor and the third computer program by a third processor together implement the underwater sonar positioning-based vessel cleaning method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211667824.5A CN115892378A (en) | 2022-12-23 | 2022-12-23 | Ship cleaning method, system and medium based on underwater sonar positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211667824.5A CN115892378A (en) | 2022-12-23 | 2022-12-23 | Ship cleaning method, system and medium based on underwater sonar positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115892378A true CN115892378A (en) | 2023-04-04 |
Family
ID=86488213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211667824.5A Pending CN115892378A (en) | 2022-12-23 | 2022-12-23 | Ship cleaning method, system and medium based on underwater sonar positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115892378A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140163732A1 (en) * | 2011-07-15 | 2014-06-12 | Samsung Heavy Ind. Co., Ltd. | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
| CN107918396A (en) * | 2017-11-30 | 2018-04-17 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot paths planning method and system based on hull model |
| US20180281191A1 (en) * | 2017-03-30 | 2018-10-04 | Brain Corporation | Systems and methods for robotic path planning |
| CN110525604A (en) * | 2019-06-12 | 2019-12-03 | 西湖大学 | A kind of ship wall region piecemeal cleaning method, device, equipment and storage medium |
| CN114967708A (en) * | 2022-06-27 | 2022-08-30 | 深圳纳百信息技术有限公司 | Path planning method of robot, control equipment and storage medium |
| CN115303451A (en) * | 2022-07-22 | 2022-11-08 | 深圳鳍源科技有限公司 | Underwater equipment and underwater operation system |
-
2022
- 2022-12-23 CN CN202211667824.5A patent/CN115892378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140163732A1 (en) * | 2011-07-15 | 2014-06-12 | Samsung Heavy Ind. Co., Ltd. | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
| US20180281191A1 (en) * | 2017-03-30 | 2018-10-04 | Brain Corporation | Systems and methods for robotic path planning |
| CN107918396A (en) * | 2017-11-30 | 2018-04-17 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot paths planning method and system based on hull model |
| CN110525604A (en) * | 2019-06-12 | 2019-12-03 | 西湖大学 | A kind of ship wall region piecemeal cleaning method, device, equipment and storage medium |
| CN114967708A (en) * | 2022-06-27 | 2022-08-30 | 深圳纳百信息技术有限公司 | Path planning method of robot, control equipment and storage medium |
| CN115303451A (en) * | 2022-07-22 | 2022-11-08 | 深圳鳍源科技有限公司 | Underwater equipment and underwater operation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lindholdt et al. | Effects of biofouling development on drag forces of hull coatings for ocean-going ships: a review | |
| KR102418938B1 (en) | Marine Vessel Performance Diagnosis | |
| KR20080093536A (en) | Rov for cleaning and inspection of ship hull | |
| US20210324207A1 (en) | Method for Applying a Coating to an External Surface of a Man-Made Object to Be at Least Partly Immersed in Water | |
| CN111443344B (en) | Automatic extraction method and device for side-scan sonar sea bottom line | |
| Bibuli et al. | Unmanned surface vehicles for automatic bathymetry mapping and shores' maintenance | |
| CN115892378A (en) | Ship cleaning method, system and medium based on underwater sonar positioning | |
| CN110000792B (en) | Path adjusting method, device, equipment and storage medium for ship wall cleaning robot | |
| EP3953780B1 (en) | Monitoring module | |
| Behrje et al. | AUV-based quay wall inspection using a scanning sonar-based wall following algorithm | |
| CN113589227B (en) | Underwater robot positioning system and method | |
| JP7461966B2 (en) | Monitoring Module | |
| Lindholdt | Fuel efficiency and fouling control coatings in maritime transport | |
| EP4175468A1 (en) | Autonomous vessel, system and method for performing an operation in an aquatic organism containing structure | |
| Akinfiev et al. | A brief survey of ship hull cleaning devices. | |
| JP2020003431A5 (en) | ||
| CN110696987B (en) | Robot for cleaning surface of ship | |
| WO2024069775A1 (en) | Evaluation system, evaluation method, and program | |
| Anderson et al. | Design and Fabrication of an Underwater Robot for Boat Propeller Blade Algae Detection and Removal | |
| CN115328176A (en) | Linear motion control method for underwater cleaning robot | |
| Norouzi | Prediction of increased fuel consumption due to fouling of hull and propeller | |
| CN115978465A (en) | Submarine pipeline detection method and system based on unmanned ship carrying ROV | |
| CN116873145A (en) | Automatic cleaning method, system, equipment and medium for underwater robot | |
| IT202100007754A1 (en) | METHOD AND APPARATUS FOR PREDICTING THE FORMATION OF BIOLOGICAL FOULING IN VESSELS USABLE FOR THE OPTIMIZATION OF CLEANING OPERATIONS AT WASHING INSTALLATIONS | |
| CN110588915A (en) | Ship surface detection and evaluation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |