CN116518936B - Self-positioning system and method for working robot in pool - Google Patents
Self-positioning system and method for working robot in pool Download PDFInfo
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- CN116518936B CN116518936B CN202310051051.6A CN202310051051A CN116518936B CN 116518936 B CN116518936 B CN 116518936B CN 202310051051 A CN202310051051 A CN 202310051051A CN 116518936 B CN116518936 B CN 116518936B
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
The invention discloses a self-positioning system and a self-positioning method for a working robot in a pool, wherein the self-positioning system comprises a global observation module and a positioning module, the global observation module comprises a wireless communication receiving and transmitting unit and a camera, the positioning module comprises a calculation bin, a floating block with a mark, an encoder, a constant tension unit and a pull rope, and a self-positioning calculation controller and a gyroscope are arranged in the calculation bin. During operation, firstly, the relation between the pixel size of the imaging plane of the camera and the physical size of an actual working water tank is calibrated, so that geometric corresponding relation parameters are obtained, the effective length of a pull rope is calculated through an encoder, secondly, the real-time pitch angle and the yaw angle of the robot under water are calculated through a gyroscope, thirdly, the real-time depth of the robot is calculated through a self-positioning calculation controller, finally, the real-time imaging plane position of the floating block with the mark in the camera is sent to the self-positioning calculation controller through a wireless communication transceiver unit, and the self-positioning calculation controller is used for calculating, so that the real-time position of the robot is obtained, the positioning precision is high, and the manufacturing cost is low.
Description
Technical Field
The invention relates to the technical field of positioning of working robots in a pool, in particular to a self-positioning system and a self-positioning method of the working robots in the pool.
Background
The working robot in the pond refers to a working robot in the pond which works in the wading way of the pond, such as a working robot in a dredging pond of a sewage pond, a working robot in a cleaning pond of a swimming pond, a working robot in an underwater observation pond of a cultivation pond, and the like.
At present, working robots in a pool are basically in a manual remote control operation use stage, and intelligent autonomous working degree is not high. The working robot in the pool realizes autonomous working, and the technical problems of self-positioning, navigation control, path planning, intelligent obstacle avoidance and the like of the working robot in the pool are required to be solved, and the self-positioning problem is also the basis for solving the other problems, so that the self-positioning problem is extremely important. The working robot in the pool works under water with very complex environment, unpredictable interferents such as slurry, sandy soil, solid waste, filter membrane, animals and plants and the like exist, the turbid light of water quality is dim, and common robot self-positioning technology is difficult to be applied.
In order to solve the above self-positioning problem, the common technical means in the prior art respectively include:
(1) The mobile robot positioning technology mainly comprises wireless communication electromagnetic wave positioning based on UWB ultra-wideband triangular positioning, GPS satellite positioning, WIFI positioning and the like. See, for example: a mobile robot positioning system based on GPS and INS disclosed in China patent (application No. CN 202110942890.8), a mobile robot following method based on vision and UWB positioning disclosed in China patent (application No. CN 202210595176.0), and a substation robot indoor hybrid positioning method based on WIFI and RFID disclosed in China patent (application No. CN 2020107974.0). However, the positioning technology has the defects that the robot positioning can be generally performed only on the surface layer of a shallow water body due to poor penetrating capability of the wireless communication electromagnetic wave in the water, the deep water tank positioning can not be realized, and the positioning accuracy is not high due to attenuation of the wireless communication electromagnetic wave in the water.
(2) The mobile robot positioning technology mainly comprises optical positioning technologies such as laser radar, infrared light and the like. See, for example: laser radar-based robot real-time control method disclosed in China patent (application number CN 2022112763.9), AGV trolley positioning system and method based on infrared footmark and odometer disclosed in China patent (application number CN 2020111037.1) and mobile robot positioning method and system disclosed in China patent (application number CN 202110592577.6). However, the positioning technology has the defect that the light transmittance is poor due to shielding of underwater floating objects, turbidity of water quality and the like, and the robot positioning can only be performed in relatively clean water, and most of water in a pool requiring the operation of expanding the working robot in the pool is not clean water, so that the method can be disabled. In relatively clean water, the refractive index of the local liquid changes dynamically in real time due to the movement of water flow and the dynamic change of medium components in the water, and the irregular refraction and scattering of the positioning light rays can also cause low positioning accuracy.
(3) Positioning technology based on ultrasonic transducers. See, for example: an underwater robot self-positioning system and method based on grid division disclosed in China patent (application number CN 202010986590.5), an underwater robot positioning system and method disclosed in China patent (application number CN 202111281232.5), an underwater robot positioning method and device disclosed in China patent (application number CN 202210668875.3), an underwater robot and computer equipment. The positioning technology is suitable for underwater positioning based on the ultrasonic transducer in scenes with relatively negligible wide-scale and low positioning requirements on interfering objects in water areas such as large rivers, lakes and oceans, but the robot working environment working in a water tank has relatively more interfering objects in water, and the wall of the water tank also can reflect ultrasonic waves emitted by the ultrasonic transducer for multiple times, so that clutter is excessive and positioning failure is caused. The ultrasonic transducer underwater positioning technology has low positioning precision, is mainly used for navigation of underwater robots with low positioning precision requirements on large water areas and the like, and has higher positioning requirements on pool robots. The ultrasonic transducer has larger cost and is not suitable for the pool robot with higher cost performance requirement.
(4) Positioning techniques based on assisting in positioning of floats. For example, can participate in: an underwater positioning device and a using method of a dredging robot for a test pool are disclosed in China patent (application number CN 202111286805.3), an underwater robot positioning device and a method suitable for pool wall operation are disclosed in China patent (application number CN 202110801627.7), and an underwater robot positioning device and a method for shallow water areas are disclosed in China patent (application number CN 202210386077.1). The positioning technology is characterized in that the robot is connected with the auxiliary floaters by using flexible ropes, and the floaters and the robot can generate undetectable relative position change when the robot moves, the gesture changes and the pool water flows, so that the problem of low positioning precision is caused.
In addition, in the positioning of the underwater robot, depth data of the robot in water is often needed to be used as basic data, the depth data is obtained by sensing pressure through a pressure sensor and converting the pressure into depth through the density of an aqueous medium, and the water density of slurry in the working environment of the working robot in a pool is generally unknown and has large change, so that the error of the depth data is large, and the positioning error of the robot is larger in a further step. There is a need for improvements over the prior art.
Disclosure of Invention
The invention aims to provide a self-positioning system and a self-positioning method for a working robot in a pool, aiming at the defects and the shortcomings in the prior art, so that the positioning precision is higher, the manufacturing cost is lower and the adaptability is stronger.
In order to achieve the above object, in a first aspect, the present invention provides a self-positioning system for a working robot in a pool, including a global observation module and a positioning module;
the global observation module is fixedly arranged at a manhole of the pool through a mounting bracket and comprises a wireless communication receiving and transmitting unit and a camera, and the wireless communication receiving and transmitting unit and the camera are respectively and fixedly connected with the mounting bracket;
the positioning module comprises:
the calculation bin is respectively provided with an installation unit fixedly connected with the working robot in the pool and a communication interface communicated with the working robot in the pool, and the calculation bin is also internally provided with a self-positioning calculation controller and a gyroscope;
the calculation bin is vertically provided with a guide rod, the marked floating block is in sliding connection with the guide rod, and the marked floating block is provided with a wireless communication receiving and transmitting subunit in communication connection with the wireless communication receiving and transmitting unit;
the encoder is arranged outside the calculation bin and is provided with an encoder synchronous wheel;
a constant tension unit arranged outside the calculation bin;
a pull rope, a first end of which is connected to the marked floating block, and a second end of which passes through the encoder synchronizing wheel and is connected to the constant tension unit;
the communication interface, the gyroscope, the wireless communication transceiver subunit, the encoder and the constant tension unit are respectively in communication connection with the self-positioning calculation controller.
Further, the global observation module further comprises a lighting device, and the lighting device is fixedly connected with the mounting bracket.
Further, the positioning module further comprises a power battery, and the power battery is electrically connected with the self-positioning calculation controller, the gyroscope, the encoder and the constant tension unit respectively.
Further, the constant tension unit comprises a winch motor, a tension sensor and a floating wheel, wherein the winch motor, the tension sensor and the self-positioning calculation controller are respectively in communication connection, the winch motor is provided with a motor winch release wheel, the tension sensor is connected with the floating wheel through an elastic connecting rod, and the second end of the pull rope sequentially penetrates through the encoder synchronous wheel, the floating wheel and the motor winch release wheel.
Further, a guide pulley through which the pull rope passes is arranged between the floating wheel and the encoder synchronous wheel.
Further, the wireless communication transceiver subunit is in communication connection with the self-positioning computing controller through a zero-buoyancy communication cable.
In a second aspect, the present invention also provides a self-positioning method of an in-pool working robot, which is applied to the self-positioning system of the in-pool working robot, and includes the following steps:
s1, throwing a working robot in a pool provided with the positioning module to a proper depth of the pool, and fixedly installing the global observation module at a manhole of the pool;
s2, calibrating the relation between the pixel size of the imaging plane of the camera and the physical size of an actual working pool to obtain a geometric corresponding relation parameter;
s3, calculating the length of the real-time stay cord to obtain an effective length;
s4, detecting the pitch angle and the yaw angle of the working robot in the pool to obtain the real-time pitch angle and the yaw angle of the working robot in the pool;
s5, calculating based on the effective length and the real-time pitch angle and the yaw angle of the working robot in the pool to obtain the real-time depth of the working robot in the pool;
and S6, calculating based on the geometric corresponding relation parameters, the real-time imaging plane position of the marked floating block in the camera and the real-time depth of the working robot in the pool, and obtaining the real-time position of the working robot in the pool.
The beneficial effects of the invention are as follows:
according to the self-positioning system and method for the working robot in the pool, the global observation module and the positioning module are cooperatively matched, the global observation module is fixedly arranged at a manhole of the pool, the positioning module is fixedly arranged at the working robot in the pool, when the position of the robot needs to be calculated, the camera imaging plane pixel size and the physical size of the actual working pool are firstly calibrated to obtain geometrical corresponding relation parameters, then the constant tension unit is used for enabling the stay rope to always keep constant tension, the effective length of the stay rope is calculated through the encoder, the real-time pitch angle and the yaw angle of the robot underwater are calculated through the gyroscope, the real-time depth of the robot is calculated through the self-positioning calculation controller based on the effective length and the real-time pitch angle and the yaw angle of the robot, and finally the wireless communication transceiver unit is used for sending the real-time imaging plane position of the floating block with the mark in the camera to the self-positioning calculation controller, and the real-time imaging plane position of the floating block with the mark in the intelligent camera is calculated by the self-positioning calculation controller based on the geometrical corresponding relation parameters. In conclusion, compared with the prior art, the invention has the advantages of higher positioning precision, lower manufacturing cost and stronger adaptability.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a global observation module of a self-positioning system of a working robot in a pool.
Fig. 2 is a schematic diagram of a positioning module structure of a self-positioning system of a working robot in a pool.
Fig. 3 is a schematic state diagram of the global observation module and the positioning module when the robot is initially launched in the invention.
Fig. 4 is a schematic diagram of the states of the global observation module and the positioning module when the robot works in the pool in the invention.
Fig. 5 is a self-positioning implementation step diagram of a self-positioning method of a working robot in a pool provided by the invention.
Fig. 6 is a flowchart of a self-positioning method of a working robot in a pool provided by the invention.
In fig. 1-6:
1. a global observation module; 11. a mounting bracket; 12. a wireless communication transmitting/receiving unit; 13. a camera; 14. a lighting device;
2. a positioning module; 21. calculating a bin; 22. a marked floating block; 23. an encoder synchronizing wheel; 24. a constant tension unit; 241. a motor winch release wheel; 242. a tension sensor; 243. a floating wheel; 244. an elastic connecting rod; 245. a guide pulley; 25. a pull rope; 26. a power battery; 27. an installation unit; 28. a communication interface; 29. a self-positioning calculation controller; 30. a gyroscope; 31. a guide rod; 32. a wireless communication transceiver subunit; 33. a zero-buoyancy communication cable;
3. a pool; 31. a manhole; 32. and a cover plate.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Referring to fig. 1 to 4, in a first aspect, the present invention provides a self-positioning system of an in-tank working robot, which includes a global observation module 1 and a positioning module 2, wherein the global observation module 1 is fixedly installed at a manhole 31 of a closed-type water tank 3 through a mounting bracket 11, the rest parts of the closed-type water tank 3 except the manhole 31 are covered by a cover plate 32, and the positioning module 2 is installed on the in-tank working robot.
The global observation module 1 comprises a wireless communication receiving and transmitting unit 12 and a camera 13, the wireless communication receiving and transmitting unit 12 and the camera 13 are respectively and fixedly connected with the mounting bracket 11, and the camera 13 is preferably an intelligent camera 13. Preferably, in this embodiment, the global observation module 1 further includes an illumination device 14, where the illumination device 14 is fixedly connected to the mounting bracket 11, and is used to illuminate the water surface of the pool 3, so as to improve the observation accuracy of the camera 13.
The positioning module 2 comprises a calculation bin 21, a floating block 22 with marks, an encoder (not shown in the figure), a constant tension unit 24, a pull rope 25 and a power battery 26.
The calculation warehouse 21 is provided with a mounting unit 27 fixedly connected with the in-tank working robot and a communication interface 28 for communicating with the in-tank working robot, respectively. It should be noted that, the function of the mounting unit 27 is to realize the fixed connection between the positioning module 2 and the working robot in the pool, and in this embodiment, the mounting unit 27 may be a fastening screw or other fastening members, and it is obvious that the specific construction of the mounting unit 27 is easily considered by those skilled in the art, and thus is not described herein. The calculation bin 21 is also provided with a self-positioning calculation controller 29 and a gyroscope 30.
The marked floating blocks 22 float on the water surface of the pool 3, the calculating bin 21 is vertically provided with a guide rod 31, the marked floating blocks 22 are in sliding connection with the guide rod 31, so that no undetectable relative position change occurs between the marked floating blocks 22 and the calculating bin 21 when the working robot in the pool moves, the posture changes and the pool 3 moves, the marked floating blocks 22 and the calculating bin 21 are ensured to be always kept at the measurable relative position, namely, the marked floating blocks 22 and the working robot in the pool are always at the measurable relative position, and the marked floating blocks 22 are provided with a wireless communication transceiver subunit 32 in communication connection with the wireless communication transceiver unit 12.
An encoder and a constant tension unit 24 are arranged outside the calculation bin 21, and the encoder is provided with an encoder synchronous wheel 23; a pull cord 25 is connected at a first end to the marked shoe 22 and at a second end to the constant tension unit 24 through the encoder synchronization wheel 23.
The communication interface 28, the gyroscope 30, the wireless communication transceiver subunit 32, the encoder, and the constant tension unit 24 are respectively in communication connection with the self-positioning calculation controller 29.
The power battery 26 is electrically connected with the self-positioning calculation controller 29, the gyroscope 30, the encoder and the constant tension unit 24 respectively. The power battery 26 is used as an operating power supply for supplying power to the self-positioning calculation controller 29, the gyroscope 30, the encoder and the constant tension unit 24.
In the above-described constitution, the camera 13 is used to recognize and detect the position data of the marked floating block 22, and to transmit the data to the positioning module 2 through the wireless communication transceiver unit 12, specifically, by using the communication link established between the wireless communication transceiver unit 12 and the wireless communication transceiver subunit 32, the position data of the marked floating block 22 detected by the camera 13 is transmitted to the self-positioning calculation controller 29.
In the above-mentioned constitution, in the working process of the working robot in the pool, the floating block 22 with the mark always floats on the water surface, the constant tension unit 24 detects the tension of the pull rope 25 and controls the pull rope 25 to be drawn and drawn in real time according to the detection result, thereby achieving the purposes of adjusting the tension of the pull rope 25 and controlling the tension of the pull rope 25 to be constant, and the detailed process is as follows: when the floating block 22 with the mark floats on the water surface, the tightness degree (i.e. tension) of the pull rope 25 changes when the working robot in the pool moves under water (particularly floats and sinks), when the pull rope 25 becomes loose (i.e. the tension of the pull rope 25 becomes small), the tension of the pull rope 25 is received by the constant tension unit 24, at the moment, the constant tension unit 24 acts and tightens the pull rope 25 until the pull rope 25 reaches the set tension, similarly, when the pull rope 25 becomes tight (i.e. the tension of the pull rope 25 becomes large), the tension of the constant tension unit 24 receives the pull rope 25, at the moment, the constant tension unit 24 acts and releases the pull rope 25 until the pull rope 25 reaches the set tension again, the encoder synchronous wheel 23 synchronously rotates along with the pull rope 25 in the tightening or releasing process, the encoder transmits the rotating angle of the encoder synchronous wheel 23 to the self-positioning calculation controller 29, and the self-positioning calculation controller 29 calculates the effective length of the pull rope 25, i.e. the length of the contact point between the encoder synchronous wheels 23 and 25 and the belt mark floating block 22 according to the rotating angle of the encoder synchronous wheel 23.
In the above constitution, the gyroscope 30 detects the pitch angle and yaw angle of the working robot in the pool under water in real time, and inputs the pitch angle and yaw angle data to the self-positioning calculation controller 29.
The self-positioning calculation controller 29 calculates the actual depth and position of the working robot in the pool under water according to the position data of the marked floating blocks 22, the effective length of the pull ropes 25, the pitch angle and the yaw angle, which are measured by the rotation angle of the encoder synchronous wheels, measured by the global observation module 1, so as to solve the underwater self-positioning problem of the working robot in the pool, and after the self-positioning problem is solved, the positioning result is sent to the corresponding controller of the working robot in the pool through the communication interface 28 of the calculation bin 21, so that the working robot in the pool performs task strategy planning and execution in the water.
Preferably, in this embodiment, the constant tension unit 24 includes a winding motor (not shown), a tension sensor 242 and a floating wheel 243, the winding motor and the tension sensor 242 are respectively connected to the self-positioning calculation controller 29 in a communication manner, the winding motor is provided with a motor winding release wheel 241, the tension sensor 242 is connected to the floating wheel 243 through an elastic connection rod 244, and a second end of the pull rope 25 sequentially passes through the encoder synchronization wheel 23, the floating wheel 243 and is connected to the motor winding release wheel 241.
Specifically, in this embodiment, when the working robot in the pool moves under water (especially floats up and sinks down), and when the pull rope 25 becomes loose (i.e. the tension of the pull rope 25 becomes smaller), the pull force of the floating wheel 243 received by the pull rope 25 becomes smaller, and further the pull force is transmitted to the tension sensor 242 through the elastic connecting rod 244, the tension sensor 242 immediately detects that the pull force becomes smaller, and then the motor winch release wheel 241 is controlled by the winch motor to act as the pull rope 25 (i.e. wind the pull rope 25), and during the winding process of the pull rope 25, the pull force of the pull rope 25 on the floating wheel 243 becomes larger gradually until the tension sensor 242 detects that the pull rope 25 reaches the set pull force (i.e. the pull rope 25 reaches the set tension), the motor winch release wheel 241 stops acting; similarly, when the pull rope 25 is tightened (i.e. the tension of the pull rope 25 is increased), the tension of the floating wheel 243 received by the pull rope 25 is increased, the tension is further transmitted to the tension sensor 242 through the elastic connecting rod 244, the tension sensor 242 immediately detects that the tension is increased, and then the motor is controlled by the winding motor to control the motor winding release wheel 241 to perform the rope releasing action (i.e. to release the pull rope 25), and the tension of the pull rope 25 to the floating wheel 243 is gradually reduced in the process of releasing the pull rope 25 until the tension sensor 242 detects that the pull rope 25 reaches the set tension again (i.e. the pull rope 25 reaches the set tension), and the motor winding release wheel 241 stops acting.
Preferably, in this embodiment, a guide pulley 245 through which the pull rope 25 passes is provided between the floating wheel 243 and the encoder synchronization wheel 23 to guide the action of the pull rope 25. Specifically, for the present embodiment, the guide pulley 245 is in tangential engagement with the encoder synchronization wheel 23, and the point of tangency of the guide pulley 245 with the encoder synchronization wheel 23, i.e., the point of contact of the encoder synchronization wheel 23 with the pull rope 25, therefore, the effective length of the pull rope 25 detected by the encoder, i.e., the length of the pull rope 25 between the point of tangency of the encoder synchronization wheel 23 with the guide pulley 245 and the marked slider 22.
Preferably, in this embodiment, the wireless communication transceiver subunit 32 is in communication connection with the self-positioning computing controller 29 through the zero-buoyancy communication cable 33, and the communication connection between the wireless communication transceiver subunit 32 and the self-positioning computing controller 29 is implemented by using the zero-buoyancy communication cable 33, so that the communication quality can be ensured, and adverse effects on the position of the floating block 22 with the mark can be avoided, thereby effectively improving the positioning precision.
Referring to fig. 5-6, in a second aspect, the self-positioning method of the working robot in a pool provided by the present invention is applied to the self-positioning system of the working robot in a pool described in the first aspect, and includes the following steps:
s1, throwing the working robot in the pool provided with the positioning module 2 to a proper depth of the pool 3, and fixedly installing the global observation module 1 at a manhole 31 of the pool 3;
initial launch robot: the working robot in the pool with the positioning module 2, which is ready to work, is put into the rectangular closed pool 3 through the manhole 31, the global observation module 1 is arranged in the middle of the manhole 31, and when the working robot in the pool is put in, the working robot in the pool is controlled to slowly sink to a proper depth until the working robot in the pool can be ensured not to contact, rub and collide with the cover plate 32 of the pool 3 in the underwater movement process of the working robot in the pool, as shown in fig. 2.
S2, calibrating the relation between the pixel size of the imaging plane of the camera 13 and the physical size of the actual working water tank 3 to obtain a geometric corresponding relation parameter;
specifically, the visual parameter calibration is performed by solving the geometric corresponding relation parameter (f L ，f W ): firstly, the working robot in the pool with the positioning module 2 is controlled to slowly run to the first vertex A of the rectangular pool 3, and after the working robot in the pool is stable and has no pitching deflection, the pixel position (u A ，v A ) The method comprises the steps of carrying out a first treatment on the surface of the Then, the working robot in the pool with the positioning module 2 is controlled to slowly run to the second vertex B of the rectangular pool 3, and after the working robot in the pool is stable and has no pitch-up deflection, the pixel position (u B ，v B ）。
Then, the working robot in the pool with the positioning module 2 is controlled to slowly run to the third vertex C of the rectangular pool 3, and after the working robot in the pool is stable and has no pitching deflection, the pixel position (u C ，v C ) Finally, the actual physical length data L between the vertexes A-B and the actual physical width data W between the vertexes B-C of the pool 3 are obtained through an actual measurement mode or a mode of searching the drawing of the pool 3. Calculating the geometrical correspondence parameter (f) between the actual physical size of the closed pool 3 and the pixel size of the camera 13 imaging plane of the global observation module 1 by the formula (1) L ，f W ）。
S3, calculating the length of the real-time stay cord 25 to obtain an effective length;
specifically, for real-time effective length H of the pull cord 25 R Solving: from the working robot in the initial putting pool, after the tension sensor 242 detects that tension occurs when the pull rope 25 is tensioned for the first time, the current rotation angle value of the encoder synchronous wheel 23 is recorded as alpha 0 The real-time rotation angle value of the encoder synchronous wheel 23 is recorded as alpha when the working robot in the pool works in real time R On the premise of knowing the radius R of the encoder synchronizing wheel 23, calculating the effective length H of the stay cord 25 in real time through a formula (2) R 。
S4, detecting the pitch angle and the yaw angle of the working robot in the pool to obtain the real-time pitch angle and the yaw angle of the working robot in the pool;
specifically, the working robot in the pool has a real-time pitch angle theta R And yaw angle ψ R And (3) detection: the positioning module 2 detects the current pitch angle and the current deviation of the working robot in the pool in real time through the gyroscope 30The swing angle is calculated by the gyroscope 30, and the current pitch angle and the swing angle of the calculation bin 21 are detected in real time, namely the pitch angle theta of the working robot in the pool in real time, because the calculation bin 21 is fixed on the working robot in the pool R And yaw angle ψ R 。
S5, calculating based on the effective length and the real-time pitch angle and the yaw angle of the working robot in the pool to obtain the real-time depth of the working robot in the pool;
specifically, the real-time depth D of the working robot in the pool R Solving: in the real time of the above-mentioned determination, the effective length H of the pulling rope 25 R And the real-time pitch angle theta of the working robot in the pool obtained by the above R And yaw angle ψ R On the premise that the real-time depth D of the working robot in the pool is solved through a formula (3) R 。
And S6, calculating based on the geometrical corresponding relation parameters, the real-time imaging plane position of the marked floating block 22 in the camera 13 and the real-time depth of the working robot in the pool, and obtaining the real-time position of the working robot in the pool.
Specifically, the real-time position (X R ，Y R ) Solving: the camera 13 is used to identify and detect the real-time position (u R ，v R ) Calculating and calibrating geometrical corresponding relation parameters (f) in the step (1) L ，f W ) On the premise of (2), the real-time position (X) of the working robot in the pool can be calculated through a formula (4) R ，Y R ) Wherein X is R Y is a distance value taking the point B of the vertex of the pool 3 as an origin and taking the direction from the vertex B of the pool 3 to the vertex A of the pool 3 as a reference positive direction R The distance value is a distance value taking the point B of the vertex of the pool 3 as an origin and taking the direction from the vertex B of the pool 3 to the vertex C of the pool 3 as a reference positive direction.
The foregoing disclosure is only illustrative of a preferred embodiment of a system and method for self-positioning a work robot in a pool, and it is to be understood that the scope of the invention is not limited thereto, and that all or part of the process for implementing the embodiment is understood by those skilled in the art to be equivalent thereto and still fall within the scope of the invention as defined in the appended claims.
Claims (6)
1. A self-positioning system of a working robot in a pool is characterized in that,
the system comprises a global observation module and a positioning module;
the global observation module is fixedly arranged at an entrance of the pool through a mounting bracket and comprises a wireless communication receiving and transmitting unit and a camera, and the wireless communication receiving and transmitting unit and the camera are respectively and fixedly connected with the mounting bracket;
the positioning module comprises:
the calculation bin is respectively provided with an installation unit fixedly connected with the working robot in the pool and a communication interface communicated with the working robot in the pool, and the calculation bin is also internally provided with a self-positioning calculation controller and a gyroscope;
the calculation bin is vertically provided with a guide rod, the marked floating block is in sliding connection with the guide rod, and the marked floating block is provided with a wireless communication receiving and transmitting subunit in communication connection with the wireless communication receiving and transmitting unit;
the encoder is arranged outside the calculation bin and is provided with an encoder synchronous wheel;
a constant tension unit arranged outside the calculation bin;
a pull rope, a first end of which is connected to the marked floating block, and a second end of which passes through the encoder synchronizing wheel and is connected to the constant tension unit;
the communication interface, the gyroscope, the wireless communication transceiver subunit, the encoder and the constant tension unit are respectively in communication connection with the self-positioning calculation controller;
the self-positioning method of the working robot in the pool comprises the following steps:
s1, throwing a working robot in a pool provided with the positioning module to a proper depth of the pool, and fixedly installing the global observation module at an access hole of the pool;
s2, calibrating the relation between the pixel size of the imaging plane of the camera and the physical size of an actual working pool to obtain a geometric corresponding relation parameter;
s3, calculating the length of the real-time stay cord to obtain an effective length;
s4, detecting the pitch angle and the yaw angle of the working robot in the pool to obtain the real-time pitch angle and the yaw angle of the working robot in the pool;
s5, calculating based on the effective length and the real-time pitch angle and the yaw angle of the working robot in the pool to obtain the real-time depth of the working robot in the pool;
and S6, calculating based on the geometric corresponding relation parameters, the real-time imaging plane position of the marked floating block in the camera and the real-time depth of the working robot in the pool, and obtaining the real-time position of the working robot in the pool.
2. The self-positioning system of an in-pool work robot of claim 1, wherein the global observation module further comprises a lighting device fixedly connected to the mounting bracket.
3. The system of claim 1, wherein the positioning module further comprises a power battery electrically connected to the self-positioning calculation controller, the gyroscope, the encoder, and the constant tension unit, respectively.
4. The self-positioning system of an in-pool working robot according to claim 1, wherein the constant tension unit comprises a winch motor, a tension sensor and a floating wheel, the winch motor and the tension sensor are respectively in communication connection with the self-positioning calculation controller, the winch motor is provided with a motor winch release wheel, the tension sensor is connected with the floating wheel through an elastic connecting rod, and a second end of the pull rope sequentially passes through the encoder synchronous wheel, the floating wheel and is connected to the motor winch release wheel.
5. The self-positioning system of an in-pool work robot of claim 4, wherein a guide pulley through which said pull rope passes is provided between said floating wheel and said encoder synchronizing wheel.
6. A self-positioning system for an in-pool work robot as recited in claim 1, wherein said wireless communication transceiver subunit is communicatively coupled to said self-positioning computing controller via a zero-buoyancy communication cable.
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