CN116619378A - Underwater robot and grabbing method thereof - Google Patents

Underwater robot and grabbing method thereof Download PDF

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Publication number
CN116619378A
CN116619378A CN202310671977.5A CN202310671977A CN116619378A CN 116619378 A CN116619378 A CN 116619378A CN 202310671977 A CN202310671977 A CN 202310671977A CN 116619378 A CN116619378 A CN 116619378A
Authority
CN
China
Prior art keywords
robot
propulsion
underwater robot
robot body
mechanical claw
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
Application number
CN202310671977.5A
Other languages
Chinese (zh)
Inventor
常宗瑜
徐志昊
张扬
钟俊
杜光超
郑中强
王海波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ocean University of China
Original Assignee
Ocean University of China
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ocean University of China filed Critical Ocean University of China
Priority to CN202310671977.5A priority Critical patent/CN116619378A/en
Publication of CN116619378A publication Critical patent/CN116619378A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Abstract

The utility model discloses an underwater robot and a grabbing control method thereof, wherein the underwater robot comprises: the robot body realizes linear movement in the horizontal direction and the vertical direction and rotation in the horizontal direction through the propulsion component; the mechanical claw is used for grabbing objects and is positioned right below the robot body; the parallel driving assembly is positioned on the robot body, and the robot body drives the mechanical claw to move in multiple degrees of freedom relative to the robot body through the parallel driving assembly. The utility model reduces the disturbance degree of the mechanical claw on the robot body when in use and improves the accuracy of the mechanical claw operation.

Description

Underwater robot and grabbing method thereof
Technical Field
The utility model relates to the field of robots, in particular to an underwater robot taking a mechanical claw as a working tool and a grabbing control method thereof.
Background
Existing underwater robots using grippers as working devices are usually equipped with tandem grippers, for example: the utility model patent with publication number CN112591056B discloses an unattended multifunctional underwater robot of a deep open sea net cage, which is provided with a series mechanical claw.
When the underwater robot is used, the serial mechanical claws can generate larger moment of inertia when controlling the mechanical claws to move, so that the stable and accurate operation of the underwater attitude of the robot is influenced.
Disclosure of Invention
The utility model aims to provide an underwater robot and a grabbing control method thereof, which reduce the disturbance degree of a robot body when a mechanical claw is used and improve the operation accuracy of the mechanical claw.
The utility model solves the problems by adopting the following technical scheme:
an underwater robot comprising:
the robot body realizes linear movement in the horizontal direction and the vertical direction and rotation in the horizontal direction through the propulsion component;
the mechanical claw is used for grabbing objects and is positioned right below the robot body;
the parallel driving assembly is positioned on the robot body, and the robot body drives the mechanical claw to move in multiple degrees of freedom relative to the robot body through the parallel driving assembly.
As a further improvement of the technical scheme, the propulsion assembly comprises a first propulsion unit for driving the robot body to linearly move and rotate in the horizontal direction and a second propulsion unit for driving the robot body to linearly move in the vertical direction, the first propulsion unit and the second propulsion unit comprise four propellers, the four propellers of the first propulsion unit are symmetrically arranged in the front-back direction in the horizontal direction of the robot body, two propellers located on the same side of the robot body in the first propulsion unit are symmetrically arranged in the left-right direction of the horizontal direction of the robot body, the propulsion direction of the propellers is obliquely arranged relative to the direction of the robot body in the linear movement in the horizontal direction, the four propellers of the second propulsion unit are symmetrically arranged in the left-right direction of the horizontal direction of the robot body, and the propulsion direction of the propellers in the first propulsion unit is perpendicular to the propulsion direction of the propellers in the second propulsion unit.
As a further improvement of the technical scheme, the parallel driving assembly comprises a static platform and a movable platform, wherein the static platform is detachably arranged on the bottom surface of the robot body, the static platform and the movable platform are connected through a parallel mechanism, and the mechanical claw is arranged on the bottom surface of the movable platform.
As a further improvement of the technical scheme, the robot body comprises a main body, a floating body and a control cabin, wherein the floating body is fixed on the top end of the main body, the control cabin is arranged on the side surface of the main body, and a control assembly for controlling the propulsion assembly and the parallel driving assembly and a power assembly for supplying power are arranged in the control cabin.
As a further improvement of the technical scheme, the control assembly comprises a controller, a Pixhawk flight controller and a depth sensor, wherein the controller is electrically connected with the parallel driving assembly through an RS485 converter, the Pixhawk flight controller controls the operation of the propulsion assembly and the mechanical claw through PWM pulses, and the depth sensor is connected with the Pixhawk flight controller through an I2C bus.
As a further improvement of the technical scheme, the intelligent control system further comprises a control terminal, wherein the control terminal and the control cabin are electrically connected through a zero-floating line, and communication is realized through a power carrier.
As a further improvement of the technical scheme, the supporting frame is detachably arranged on the bottom surface of the main body, and the mechanical claw is positioned in the cavity of the supporting frame.
As a further improvement of the above technical solution, the support frame is detachably mounted with a camera for observing the gripper and a searchlight for providing a light source.
The utility model also provides a grabbing control method of the underwater robot based on the technical scheme, which comprises the following steps:
step one: acquiring an environment image, wherein the underwater robot moves linearly through the propulsion assembly, and the camera rotates through the pan-tilt steering engine and acquires the image of the environment where the underwater robot is positioned, so that the position where the object to be grabbed is positioned is obtained;
step two: the underwater robot moves in a straight line to the position of the object to be grabbed through the propulsion component until the underwater robot moves to the position right above the object to be grabbed;
step three: acquiring an image of a grabbed object, and rotating the underwater robot through a propulsion assembly, and acquiring image information of the grabbed object by a camera at the same time, so as to obtain three-dimensional information of the grabbed object and position information of a relative mechanical claw;
step four: the underwater robot drives the mechanical claw to move according to the position of the object to be grabbed through the parallel driving assembly 3, and then the mechanical claw performs opening and closing adjustment according to the three-dimensional information of the object to be grabbed and grabs the object to be grabbed.
Compared with the prior art, the utility model has the following advantages and effects:
according to the utility model, through the position arrangement between the robot body and the mechanical claw, the driving effect of the parallel driving assembly on the mechanical claw is combined, the disturbance degree of the mechanical claw on the robot body is reduced, the stability of the underwater robot in the underwater posture is ensured, and the accuracy of the mechanical claw operation is improved.
Drawings
Fig. 1 is a schematic view of an underwater robot according to the present utility model.
Fig. 2 is a schematic view of a view angle two of an underwater robot according to the present utility model.
Fig. 3 is a schematic view of the parallel drive assembly shown in fig. 2.
Fig. 4 is a schematic structural view of an underwater robot control system according to the present utility model.
The robot comprises a robot body 1, a main body 11, a floating body 12, a control cabin 13, a mechanical claw 2, a parallel driving assembly 3, a static platform 31, a movable platform 32, a propulsion assembly 4, a first propulsion unit 41, a second propulsion unit 42, a propeller 43, a supporting frame 51, a camera 52, a searchlight 53, a camera 54, a cradle head steering engine 55, a parallel mechanism 6, a kinematic chain group 61, a driving arm 62, a driven arm 63, a driver 64, a control assembly 7, a controller 71, a Pixhawk flight controller 72, a depth sensor 73, a control terminal 74, a remote control handle 75, a power assembly 8 and a waterproof switch 81.
Detailed Description
The present utility model will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present utility model and not limited to the following examples.
Referring to fig. 1-3, the underwater robot of the present embodiment includes a robot body 1, a gripper 2 and a parallel driving assembly 3, wherein the robot body 1 implements linear movement in horizontal direction and vertical direction and rotation in horizontal direction through a propulsion assembly 4, the gripper 2 is used for grabbing objects, the gripper 2 is located under the robot body 1, the parallel driving assembly 3 is located on the robot body 1, and the robot body 1 drives the gripper 2 to perform multi-degree-of-freedom movement relative to the robot body 1 through the parallel driving assembly 3.
Referring to fig. 1, the supporting frame 51 is detachably mounted on the bottom surface of the main body 11, and the gripper 2 is located in a cavity of the supporting frame 51, so that the underwater robot can operate the gripper 2 in a grounding state at the water bottom, and the supporting frame 51 can play a certain role in protecting the gripper 2, and meanwhile, the underwater robot can be placed on the land conveniently.
The support frame 51 is detachably provided with a camera 52 for observing the mechanical claw 2 and a searchlight 53 for providing a light source, so that an operator can conveniently acquire image information of the underwater robot in the underwater operation process.
In this embodiment, the camera 52 is a binocular camera, which is mainly used for real-time observation of the state of the gripper 2 during gripping, and for identifying and ranging the gripped object.
In order to improve the grabbing efficiency of the underwater robot on the grabbed objects, the robot main body 1 is provided with a camera 54 and a pan-tilt steering engine 55 for driving the camera to rotate. The camera 54 can acquire the image information of the environment where the underwater robot is located through the driving effect of the pan-tilt steering engine 55 on the camera 54, so that the position information of the object to be grabbed is obtained.
In this embodiment, the steps of grabbing by the underwater robot are as follows:
step one: acquiring an environment image, wherein the underwater robot moves linearly through the propulsion assembly, and meanwhile, the camera 54 rotates through the pan-tilt steering engine 55 and acquires the image of the environment where the underwater robot is positioned, so that image information of a grabbed object and position information of the grabbed object relative to the underwater robot are obtained;
step two: the underwater robot moves in a straight line to the position of the object to be grabbed through the propulsion component until the underwater robot moves to the position right above the object to be grabbed;
step three: acquiring an image of a gripped object, and rotating the underwater robot through the propulsion assembly, wherein the camera 52 acquires image information of the gripped object, so as to obtain three-dimensional information of the gripped object and position information of the gripped object relative to the mechanical claw 2;
step four: the underwater robot drives the mechanical claw 2 to move according to the position of the object to be grabbed through the parallel driving assembly 3, and then the mechanical claw 2 performs opening and closing adjustment according to the three-dimensional information of the object to be grabbed and grabs the object to be grabbed.
Wherein, the first step and the third step comprise the following steps: and comparing the acquired image information of the object to be grabbed with the image information of the target object to be grabbed, so as to judge whether the object to be grabbed is the target object to be grabbed by the underwater robot.
Referring to fig. 1 and 2, the robot body 1 includes a main body 11, a floating body 12, and a control cabin 13, the floating body 12 is fixed to the top end of the main body 11, and the control cabin 13 is installed on the side of the main body 11.
Referring to fig. 1 and 2, the propulsion assembly 4 includes a first propulsion unit 41 for driving the robot body 1 to linearly move and rotate in a horizontal direction, and a second propulsion unit 42 for driving the robot body 1 to linearly move in a vertical direction, where each of the first propulsion unit 41 and the second propulsion unit 42 includes four propellers 43, the four propellers 43 of the first propulsion unit 41 are symmetrically disposed in a front-back direction in the horizontal direction of the robot body 1, two propellers 43 of the first propulsion unit 41 located on the same side of the robot body 1 are symmetrically disposed in a left-right direction in the horizontal direction of the robot body 1, and the propulsion direction of the propellers 43 is diagonally disposed with respect to the direction of the robot body 1 to linearly move in the horizontal direction, the four propellers 43 of the second propulsion unit 42 are symmetrically disposed in the left-right direction in the horizontal direction of the robot body 1, and the propulsion direction of the propellers 43 in the first propulsion unit 41 is perpendicular to the propulsion direction of the propellers 43 in the second propulsion unit 42.
When the underwater robot needs to linearly move in the horizontal direction, the propellers 43 in the two first propulsion units 41 positioned on the same side of the robot body 1 are synchronously operated, so that the underwater robot is pushed to linearly move in water, and the linear reciprocating motion of the underwater robot in the horizontal direction is realized by combining the alternate operation of the two groups of propellers 43 in the first propulsion units 41 on the two sides of the robot body 1.
When the underwater robot needs to rotate horizontally, the propellers 43 in the two first propulsion units 41 which are positioned on different sides of the robot body 1 and are diagonally arranged synchronously operate, so that the underwater robot is pushed to rotate in water, and the reciprocating rotation of the underwater robot in the horizontal direction is realized by combining the alternate operation of the two groups of propellers 43 which are diagonally arranged on the robot body 1 by the first propulsion units 41.
When the underwater robot needs to linearly move in the vertical direction, the four propellers 43 in the second propulsion unit 42 on the robot body 1 are synchronously operated, so that the linear reciprocating motion of the underwater robot in the vertical direction is realized.
Referring to fig. 2 and 3, the parallel driving assembly 3 includes a stationary platform 31 and a movable platform 32, the stationary platform 31 is detachably mounted on the bottom surface of the robot body 1, the stationary platform 31 and the movable platform 32 are connected through a parallel mechanism 6, and the mechanical claw 2 is mounted on the bottom surface of the movable platform 32. Through the setting of parallel mechanism 6 for movable platform 32 can translate or rotate relative static platform 31, thereby adjust the position and the angle of snatching of gripper 2, ensured the flexibility of gripper 2 use.
In this embodiment, the parallel mechanism 6 adopts a 3R- (SS) 2Delta structure with a topological structure, and includes three branched chains 61 distributed in a central symmetry manner, the branched chains 61 include a driving arm 62 and a driven arm 63 which are hinged to each other, the driving arm 62 is hinged to the static platform 31, a driver 64 for driving the driving arm 62 to rotate relative to the static platform 31 is mounted on the static platform 31, and the driven arm 63 is hinged to the dynamic platform 32. In order to ensure structural strength and rigidity, and reduce weight to reduce moment of inertia, the driving arm 62 and the driven arm 63 are all made of carbon fiber pieces, and the driving arm 62 and the driven arm 63 and the movable platform 32 are hinged by adopting Hooke hinge structures, so that the device has the characteristics of small joint limit (the rotation angle can reach 135 degrees), high rigidity and reliable structure.
The driver 64 may be any one of an underwater servo motor, an underwater stepper motor, an underwater steering engine, and a hydraulic motor.
In this embodiment, the parallel mechanism 6 may also adopt a Stewart mechanism.
In this embodiment, the control cabin 13 is provided with a control assembly 7 for controlling the propulsion assembly 4 and the parallel driving assembly 3, and a power assembly 8 for supplying power, and the robot main body 1 is provided with a waterproof switch 81 for controlling the power supply of the power assembly 8.
Referring to fig. 4, the control unit 7 includes a controller 71, a Pixhawk flight controller 72 and a depth sensor 73, the controller 71 is electrically connected with the parallel driving unit 3 through an RS485 converter, the Pixhawk flight controller 72 controls the operation of the propulsion unit 4 and the gripper 2 through PWM pulses, and the depth sensor 73 and the Pixhawk flight controller 72 are connected through an I2C bus.
In this embodiment, the controller 71 uses raspberry group 4B.
In this embodiment, the camera 52 and the camera 54 are all connected to the controller 71 by a USB connection, and the searchlight 53 and the pan-tilt steering engine 55 are all operated by the Pixhawk flight controller 72 in a PWM pulse control manner.
In this embodiment, the control assembly 7 further includes a control terminal 74 located on shore, where the control terminal 74 and the control cabin 13 are electrically connected by a zero-floating line and communicate with each other by a power carrier. Wherein, the control terminal 74 is a PC. For operation, the PC is communicatively connected to a remote control handle 75 via a USB connection.
The foregoing description of the utility model is merely exemplary of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions, without departing from the scope of the utility model as defined in the accompanying claims.

Claims (9)

1. An underwater robot comprising:
the robot body realizes linear movement in the horizontal direction and the vertical direction and rotation in the horizontal direction through the propulsion component;
the mechanical claw is used for grabbing objects and is positioned right below the robot body;
the parallel driving assembly is positioned on the robot body, and the robot body drives the mechanical claw to move in multiple degrees of freedom relative to the robot body through the parallel driving assembly.
2. The underwater robot of claim 1 wherein: the propulsion assembly comprises a first propulsion unit used for driving the robot body to linearly move and rotate in the horizontal direction and a second propulsion unit used for driving the robot body to linearly move in the vertical direction, the first propulsion unit and the second propulsion unit comprise four propellers, the four propellers of the first propulsion unit are symmetrically arranged front and back in the horizontal transverse direction of the robot body, two propellers located on the same side of the robot body in the first propulsion unit are symmetrically arranged left and right in the horizontal longitudinal direction of the robot body, the propulsion direction of the propellers is obliquely arranged relative to the direction of the robot body in the linear movement in the horizontal direction, the four propellers of the second propulsion unit are symmetrically arranged left and right in the horizontal longitudinal direction of the robot body, and the propulsion direction of the propellers in the first propulsion unit is perpendicular to the propulsion direction of the propellers in the second propulsion unit.
3. The underwater robot of claim 1 wherein: the parallel driving assembly comprises a static platform and a movable platform, the static platform is detachably arranged on the bottom surface of the robot body, the static platform and the movable platform are connected through a parallel mechanism, and the mechanical claw is arranged on the bottom surface of the movable platform.
4. The underwater robot of claim 1 wherein: the robot body comprises a main body, a floating body and a control cabin, wherein the floating body is fixed at the top end of the main body, the control cabin is installed on the side face of the main body, and a control assembly for controlling a propulsion assembly and a parallel driving assembly and an electric power assembly for supplying power are arranged in the control cabin.
5. The underwater robot of claim 4 wherein: the control assembly comprises a controller, a Pixhawk flight controller and a depth sensor, wherein the controller is electrically connected with the parallel driving assembly through an RS485 converter, the Pixhawk flight controller controls the operation of the propulsion assembly and the mechanical claw through PWM pulses, and the depth sensor is connected with the Pixhawk flight controller through an I2C bus.
6. The underwater robot of claim 4 wherein: the control terminal is electrically connected with the control cabin through a zero-floating line, and communication is realized between the control terminal and the control cabin through a power carrier.
7. The underwater robot of claim 4 wherein: the bottom surface of the main body is detachably provided with a supporting frame, and the mechanical claw is positioned in the cavity of the supporting frame.
8. The underwater robot of claim 7 wherein: the camera for observing the mechanical claw and the searchlight for providing the light source are detachably arranged on the supporting frame, and the camera and the pan-tilt steering engine for driving the camera to rotate are arranged on the robot main body.
9. A gripping control method based on the underwater robot as claimed in claims 1 to 8, characterized by comprising the steps of:
step one: acquiring an environment image, wherein the underwater robot moves linearly through the propulsion assembly, and the camera rotates through the pan-tilt steering engine and acquires the image of the environment where the underwater robot is positioned, so that the position where the object to be grabbed is positioned is obtained;
step two: the underwater robot moves in a straight line to the position of the object to be grabbed through the propulsion component until the underwater robot moves to the position right above the object to be grabbed;
step three: acquiring an image of a grabbed object, and rotating the underwater robot through a propulsion assembly, and acquiring image information of the grabbed object by a camera at the same time, so as to obtain three-dimensional information of the grabbed object and position information of a relative mechanical claw;
step four: the underwater robot drives the mechanical claw to move according to the position of the object to be grabbed through the parallel driving assembly 3, and then the mechanical claw performs opening and closing adjustment according to the three-dimensional information of the object to be grabbed and grabs the object to be grabbed.
CN202310671977.5A 2023-06-07 2023-06-07 Underwater robot and grabbing method thereof Pending CN116619378A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310671977.5A CN116619378A (en) 2023-06-07 2023-06-07 Underwater robot and grabbing method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310671977.5A CN116619378A (en) 2023-06-07 2023-06-07 Underwater robot and grabbing method thereof

Publications (1)

Publication Number Publication Date
CN116619378A true CN116619378A (en) 2023-08-22

Family

ID=87641743

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310671977.5A Pending CN116619378A (en) 2023-06-07 2023-06-07 Underwater robot and grabbing method thereof

Country Status (1)

Country Link
CN (1) CN116619378A (en)

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