CN116873145A - Automatic cleaning method, system, equipment and medium for underwater robot - Google Patents
Automatic cleaning method, system, equipment and medium for underwater robot Download PDFInfo
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- CN116873145A CN116873145A CN202311067819.5A CN202311067819A CN116873145A CN 116873145 A CN116873145 A CN 116873145A CN 202311067819 A CN202311067819 A CN 202311067819A CN 116873145 A CN116873145 A CN 116873145A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000004891 communication Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
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- 238000000576 coating method Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 5
- 239000013535 sea water Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
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- 238000004519 manufacturing process Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000003373 anti-fouling effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 239000002184 metal Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of intelligent cleaning of ships and discloses an automatic cleaning method, an automatic cleaning system, automatic cleaning equipment and an automatic cleaning medium for an underwater robot. The method is used for enabling the robot to move along the Manhattan distance track to clean the plane to be cleaned, and at least comprises the steps of path planning, cleaning and obstacle avoidance. The path planning step comprises the following steps: a plane coordinate system is established according to the basic information of the plane to be cleaned by taking the position of the robot as an origin; presetting a cleaning area in each quadrant of a plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of a plane to be cleaned; presetting a plurality of cleaning units with equal-side length rectangles in a cleaning area, wherein a Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; and presetting first check point sequences at two side edges of the preset cleaning area, which are parallel to each other, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning of ships, in particular to an automatic cleaning method, an automatic cleaning system, automatic cleaning equipment and an automatic cleaning medium for an underwater robot.
Background
Any underwater object such as an underwater pipeline, a jacket of an oil extraction platform, a buoy, a bank, a ship, a floating oil storage and oil discharge device and the like can be in a seawater environment for a long time, even if the surface is coated with antifouling paint, marine organisms can still be attached and grown on the surface after a period of time, so that the sailing resistance of the ship is increased. The main reason is that the attached organisms change the streamline shape of the ship body, and the load of the ship body is increased, so that the attached organism weight per square meter on the ship body without protective measures within half a year can reach 150KG according to statistics, thereby not only reducing the sailing speed of the ship, but also greatly increasing the fuel consumption; secondly, the attached organisms can damage the anti-corrosion coating on the surface of the attached object, so that the coating falls off, and the metal on the attached object is exposed and corroded by seawater, so that danger is caused; in addition, the attached organisms can block underwater facilities, reducing the operating efficiency of the equipment.
At present, the method for cleaning marine organisms on the surfaces of large objects such as ship bodies, floating oil storage and discharge devices and the like mainly comprises the steps of cleaning the surfaces of the large objects on the coasts, but the cost of cleaning the surfaces of the large objects on the surfaces is very high, the efficiency is low, the time for misworking such as ships is long, and the comprehensive cleaning cost is high. In addition, the method for cleaning the landing, such as high-pressure water cleaning, has the defects of high pressure, high energy consumption, dangerous operation, damage to the original coating and the like; the sand blasting method has the defects of loud noise, pollution, harm to personnel health, coating damage and the like; the manual shoveling method has the defects of high cost, low efficiency, poor effect, coating damage and the like. Another approach is underwater cleaning, and the existing underwater cleaning equipment generally observes the surrounding environment through a camera, but in a water area with high turbidity, the underwater visibility is less than one meter, and under the condition, an operator cannot control a robot to perform cleaning operation.
Disclosure of Invention
The invention aims to solve the technical problems of improving the underwater cleaning equipment and researching and developing an automatic cleaning method so as to realize the automatic cruising and cleaning of the underwater cleaning equipment in a water area with higher turbidity.
In a first aspect, an embodiment of the present invention provides an automatic cleaning method for an underwater robot, where the automatic cleaning method is used for moving the robot along a manhattan distance track to clean a plane to be cleaned, and the automatic cleaning method at least includes path planning, cleaning, and obstacle avoidance; wherein,,
the path planning step comprises the following steps: a plane coordinate system is established by taking the position of the robot as an origin and simultaneously according to basic information of a plane to be cleaned; presetting a cleaning area on each quadrant in the plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of the plane to be cleaned; presetting a plurality of cleaning units with equal-side-length rectangles in the cleaning area, wherein the Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; presetting first check point sequences on two parallel side edges of the preset cleaning area, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner;
the cleaning step comprises the following steps: generating a cleaning instruction for driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned;
the obstacle avoidance step comprises the following steps: and if the cleaning unit in the advancing direction of the robot is detected to be an obstacle unit, driving the robot to move along a new Manhattan distance track so as to bypass the obstacle unit and return to the original Manhattan distance track.
In the above method, optionally, the side length of the cleaning unit is smaller than or equal to the maximum cleaning width when the robot moves.
The method above, optionally, recording the walked path of the robot as a cleaned path.
In the above method, optionally, the obstacle unit is a cleaning unit with an obstacle; alternatively, the cleaning unit located on the cleaned path and behind the obstacle unit is an edge unit of the cleaning plane.
In the above method, optionally, if the obstacle unit is a cleaning unit with an obstacle, the obstacle avoidance step includes:
presetting the cleaning unit which is positioned on the Manhattan distance track and is positioned in front of the obstacle unit as a first priority point, and planning to form the new Manhattan distance track according to the first priority point;
the robot is driven to move along the new manhattan distance trajectory to reach the first priority point.
In the above method, optionally, if the obstacle unit is the edge unit, the obstacle avoidance step includes:
presetting a second priority point on the Manhattan distance track and positioned in front of the edge unit, and forming the new Manhattan distance track according to the second priority point;
the robot is driven to move along the new Manhattan distance trajectory to reach the second priority point.
In the above method, optionally, when the cleaned path of the robot is an edge path surrounding the plane to be cleaned, the cleaning step includes:
generating a contour path of the plane to be cleaned according to the cleaned path;
clearing the first checkpoint sequence;
presetting second check point sequences at two opposite side edges of the contour path in a coordinate range and on an unwashed area, wherein each second check point is sequentially arranged on the Manhattan distance track and is positioned at a corner of the Manhattan distance track, and two sequentially adjacent second check points are arranged at intervals of one corner;
and driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned.
In a second aspect, an embodiment of the present invention provides an underwater robot system, the system being configured to a controller of the robot, the controller establishing a data signal transmission connection with the robot, the system comprising:
the path planning module is used for taking the position of the robot as an origin and simultaneously establishing a plane coordinate system according to basic information of a plane to be cleaned; presetting a cleaning area on each quadrant in the plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of the plane to be cleaned; presetting a plurality of cleaning units with equal-side-length rectangles in the cleaning area, wherein the Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; presetting first check point sequences on two parallel side edges of the preset cleaning area, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner;
the cleaning module is used for generating a cleaning instruction for driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned;
and the obstacle avoidance module is used for driving the robot to move along a new Manhattan distance track to bypass the obstacle unit and return to the original Manhattan distance track if the cleaning unit in the advancing direction of the robot is detected to be the obstacle unit.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the automatic cleaning method for an underwater robot according to any one of claims 1 to 8 when executing a program stored on a memory.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for automatically cleaning an underwater robot according to any of the embodiments of the first aspect.
Compared with the prior art, the invention has at least one of the following beneficial technical effects:
the automatic cleaning method of the underwater robot can be applied to equipment immersed in seawater for a long period of time on the surface of a ship, such as an underwater pipeline, a jacket of an oil production platform, a buoy, a bank and the like, and the automatic cleaning method is used for enabling the robot to move along a Manhattan distance track to clean a plane to be cleaned, and at least comprises three steps of path planning, cleaning and obstacle avoidance. Even in the higher waters of turbidity, also can realize that the robot independently cruises, keeps away the barrier independently and washs under water, operating personnel on the bank through intelligent terminal operation robot can to reduce the manual cleaning cost, improve cleaning efficiency
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a path planning step of an automatic cleaning method of an underwater robot;
fig. 2 is a schematic view of an application scenario of the automatic cleaning method of an underwater robot provided by the invention;
FIG. 3 is a schematic diagram of a path of an underwater robot according to the present invention along a first Manhattan distance trajectory;
FIG. 4 is a schematic flow chart of the obstacle avoidance step according to the present invention when an obstacle unit is an obstacle;
FIG. 5 is a schematic diagram of a path of an underwater robot according to the present invention traveling along a second Manhattan distance trajectory;
FIG. 6 is a schematic flow chart of the obstacle avoidance step according to the present invention when the obstacle units are edge units;
FIG. 7 is a schematic flow chart of a cleaning step of the automatic cleaning method of the underwater robot;
fig. 8 is a schematic diagram of a path of a robot walking around an edge unit of a plane to be cleaned;
FIG. 9 is a block schematic diagram of an underwater robotic system provided by the present invention;
fig. 10 is a block schematic diagram of a computer device according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "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 is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification 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 the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1 and 2, fig. 1 is a schematic flow chart of an automatic cleaning method for an underwater robot according to an embodiment of the present invention; fig. 2 is a schematic diagram of an application scenario of an automatic cleaning method for an underwater robot according to an embodiment of the present invention. In this embodiment, the automatic cleaning method of the underwater robot is applied to the processor 17 of the underwater robot, the automatic cleaning method of the underwater robot is executed by an application program installed in the controller 12, the underwater robot is further provided with a wireless signal transmitter 11, and the controller 12 and the wireless signal transmitter 11 establish communication connection with the intelligent terminal 13 to realize transmission of signals and data information. The controller 12 is a component used for controlling each unit module in the underwater robot, such as a control circuit board with an MCU chip in the underwater robot, and the wireless signal transmitter 11 can establish communication connection with an external intelligent terminal 13 to wirelessly transmit information; the controller 12 may receive a control signal from the intelligent terminal 13 and control the underwater robot.
The automatic cleaning method of the underwater robot can be applied to equipment immersed in seawater for a long time on the surface of a ship, such as an underwater pipeline, a jacket of an oil production platform, a buoy, a bank, and the like, and can realize autonomous cruising and underwater cleaning even in a water area with high turbidity. The automatic cleaning method is used for enabling a robot to move along a Manhattan distance track to clean a plane to be cleaned, wherein the Manhattan distance is the distance between two points in the north-south direction plus the distance in the east-west direction, namely d (i, j) = |xi-xj|+|yi-yj|. The automatic cleaning method at least comprises three steps of path planning, cleaning and obstacle avoidance, and the specific implementation process of the automatic cleaning method for the underwater robot provided by the embodiment of the invention is explained in detail below.
As shown in FIG. 1, the path planning step includes steps S110 to S140.
In steps S110 to S140, the Manhattan distance track is the first Manhattan distance track.
S110, taking the position of the robot as an origin and simultaneously establishing a plane coordinate system according to basic information of a plane to be cleaned.
In a specific embodiment, an operator can control the robot to drain and move to any position of a plane to be cleaned through an intelligent terminal 13 such as a remote control, a mobile phone app and the like, and keep the robot attached to the plane to be cleaned to walk; an operator can obtain basic information of a plane to be cleaned through public channels such as manufacturers, product introduction and the like, and input the basic information into an MCU chip of the robot for storage, wherein the basic information comprises data such as category, length, width, height or draft of the plane to be cleaned.
S120, presetting a cleaning area on each quadrant in a plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of a plane to be cleaned.
Because the plane coordinate system is provided with four quadrants, the initial position of the robot is any position of the plane to be cleaned, and the rectangle with equal side length and side length larger than or equal to the length of the plane to be cleaned is preset on each quadrant, no matter where the robot is positioned on the plane to be cleaned, the plane to be cleaned can be completely covered in the range of the cleaning area, thereby reducing the occurrence of the condition of missing cleaning partial areas.
S130, presetting a plurality of cleaning units with equal-side-length rectangles in a cleaning area, wherein a first Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction. Wherein the side length of the cleaning unit is smaller than or equal to the maximum cleaning width when the robot moves.
In a specific embodiment, in order to further reduce the occurrence of the condition of missing cleaning of a partial area, the side length of the cleaning unit is set to be smaller than or equal to the maximum cleaning width of the cleaning assembly when the robot moves; the actual running track of the robot can not be well fit with the first Manhattan distance track planned by the controller sometimes due to the influence of sea water flow, floating objects or animals in the sea, and the like, so that when the side length of the cleaning unit is smaller than the maximum cleaning width of the cleaning assembly when the robot moves, the effect of cleaning the plane to be cleaned by the robot is optimal.
S140, presetting first check point sequences on two parallel side edges of a preset cleaning area, wherein each first check point is sequentially arranged on a first Manhattan distance track and is positioned at a corner of the first Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner.
In the specific embodiment, as shown in fig. 3, the first checkpoint sequence takes the order of A, B, C, D, E, F points as an example, the point a is the first order, the point a is located at the farthest horizontal distance from the origin of the robot to the west direction, the point B is located at the farthest horizontal distance from the point a to the first cleaning unit in the north direction, the point C is located at the farthest horizontal distance from the point B to the first cleaning unit in the north direction, the point D is located at the farthest horizontal distance from the point C to the first cleaning unit in the north direction, the point E is located at the farthest horizontal distance from the point D to the first cleaning unit in the north direction, the point F is located at the farthest horizontal distance from the point E to the first cleaning unit in the north direction, and so on if the first checkpoint is added, and a first manhattan distance track from the point a to the point F of the robot is formed. The first check point sequence is set up so that the robot can clean along the path track of the bow shape, and the bow shape cleaning can cover the cleaning range to the plane to be cleaned.
In a specific embodiment, the controller marks the path that the robot has walked as a cleaned path (the cleaned path is shown in a hatched portion in fig. 8), the robot R1 occupies a position of a cleaning unit in the cleaning area, and the cleaned path and the position of the robot R1 in the cleaning area can be visually presented on the intelligent terminal 13.
The cleaning step comprises the following steps: a cleaning instruction is generated for driving the robot to move along a first manhattan distance trajectory to clean a plane to be cleaned.
As shown in fig. 3, after receiving the data of the first manhattan distance track of the robot walking, the controller generates a cleaning instruction for driving the robot to move along the first manhattan distance track, so as to drive the robot to walk and clean the plane to be cleaned.
As shown in fig. 4 to 6, the obstacle avoidance step includes: if the cleaning unit in the advancing direction of the robot is detected to be an obstacle unit, the robot is driven to move along the new Manhattan distance track so as to bypass the obstacle unit and return to the first Manhattan distance track.
The obstacle avoidance step can be applied to two different situations: firstly, the obstacle unit is a cleaning unit with an obstacle; and the second obstacle unit is a cleaning unit which is positioned on the cleaned path and behind the obstacle unit and is an edge unit of the cleaning plane.
As shown in fig. 4, if the obstacle unit is a cleaning unit with an obstacle, the specific obstacle avoidance step includes steps S210 to S220.
In the obstacle avoidance steps S210-S220, the new Manhattan distance trajectory is the second Manhattan distance trajectory.
S210, presetting a previous cleaning unit which is located on the obstacle Z1 on the first Manhattan distance track as a first priority point Y1, and planning to form a second Manhattan distance track according to the first priority point Y1.
As shown in fig. 5, in the embodiment, if an obstruction signal of the obstruction Z1 is detected on the first manhattan distance trajectory of the robot R1 along the advancing direction, the position of the obstruction unit is marked; the first priority point Y1 is preset at the previous cleaning unit of the obstacle unit along the first manhattan distance trajectory, and the controller 12 recalculates the shortest manhattan distance of the robot R1 reaching the first priority point Y1 to plan and form the second manhattan distance trajectory reaching the first priority point Y1.
S220, driving the robot R1 to move along the second Manhattan distance track to reach the first priority point Y1.
In a specific embodiment, after receiving the data of the second manhattan distance trajectory, the controller 12 generates a new cleaning instruction for driving the robot R1 to move along the second manhattan distance trajectory, so as to drive the robot R1 to bypass the obstacle Z1 to reach the first priority point Y1, and then continue to walk along the first manhattan distance trajectory and clean the plane to be cleaned. The second Manhattan distance track can detour along any direction above or below the obstacle unit, and the obstacle avoidance algorithm only calculates the shortest Manhattan distance reaching the first priority point Y1; if the two shortest paths are obtained after the obstacle avoidance algorithm is calculated, the obstacle avoidance algorithm places all path calculation results into an array, and starts a program to traverse the array, so that the array obtains two identical minimum values, and finally the program selects the minimum value with the small sequence number.
As shown in fig. 6 to 8, if the obstacle unit is the edge unit Z2, the specific obstacle avoidance step includes steps S310 to S320.
In the obstacle avoidance steps S310-S320, the new Manhattan distance trajectory is the third Manhattan distance trajectory.
S310, presetting a second priority point Y2 on the first Manhattan distance track and in front of the edge unit Z2, and planning to form a third Manhattan distance track according to the second priority point Y2.
In a specific embodiment, since the starting position of the robot is any position of the plane to be cleaned, the starting position of the robot is not necessarily one side edge of the plane to be cleaned, and thus the robot may encounter a situation that the robot has actually reached the edge of the plane to be cleaned in the travelling process. If the controller 12 detects that the robot has an edge unit Z2 on the first manhattan distance track along the advancing direction, a second priority point Y2 is preset at a position of a cleaning unit before the edge unit Z2 along the first manhattan distance track, the controller 12 recalculates the shortest manhattan distance of the robot reaching the second priority point Y2, and plans to form a third manhattan distance track.
S320, driving the robot to move along the third Manhattan distance trajectory to reach the second priority point Y2.
In a specific embodiment, after receiving the data of the third manhattan distance trajectory, the controller 12 generates a new cleaning instruction for driving the robot to move along the third manhattan distance trajectory, so as to drive the robot to detour along the edge unit Z2 and clean the plane to be cleaned.
As shown in fig. 7 and 8, if the controller 12 receives data that the cleaned path of the robot is an edge path around the plane to be cleaned, the cleaning step further includes steps S410 to S440.
In the cleaning steps S410-S440, the Manhattan distance trajectory is a fourth Manhattan distance trajectory.
S410, generating a contour path of the plane to be cleaned according to the cleaned path.
In a specific embodiment, if the controller 12 continuously detects the edge unit Z2, step S310 is repeated while driving the robot R1 to walk and clean until the controller 12 detects that the edge unit Z2 coincides, and the cleaned path of the robot R1 is an edge path surrounding the plane to be cleaned, so as to generate a contour path of the surface to be cleaned.
S420, emptying the first check point sequence.
Wherein, only the data of the first check point sequence in the cleaning area is cleared, and the data of the obstacle units, the cleaned path, the edge contour and the like are reserved.
S430, presetting second check point sequences at the edges of two opposite sides of the unwashed area in the coordinate range of the contour path, wherein each second check point is sequentially arranged on the fourth Manhattan distance track and is positioned at the corner of the fourth Manhattan distance track, and two sequentially adjacent second check points are arranged at intervals of one corner.
As shown in fig. 8, in the specific embodiment, the second inspection point sequence takes the order of a, b, c, d, e points as an example, and the point a is the first order, so that the robot R1 walks toward the point a and walks to the fourth manhattan distance track of the point e. The second check point sequence and the fourth Manhattan distance track are arranged, so that the cleaning range can be covered to all the unwashed areas, and the cleaning is repeated at the position where the fourth Manhattan distance track coincides with the cleaned path.
S440, driving the robot R1 to move along the fourth Manhattan distance track so as to clean the plane to be cleaned.
In a specific embodiment, in the process that the robot R1 moves along the fourth manhattan distance trajectory to clean the plane to be cleaned, if the controller 12 detects that the cleaning unit in the advancing direction of the robot is an obstacle unit, the obstacle avoidance steps S210 to S220 or S310 to S320 are repeated. When the controller 12 does not sense the position of the next second check point, the robot R1 is controlled to send a cleaning completion signal to the intelligent terminal 13; if the controller 12 receives a position signal of the intelligent terminal 13 for moving the robot R1 to another surface to be cleaned, the automatic cleaning method of the underwater robot is circulated.
In contrast, by using the underwater robot and the automatic cleaning method, even in a water area with low underwater visibility, autonomous cruising, autonomous obstacle avoidance and underwater cleaning of the robot can be realized, and an operator can operate the robot on the bank through the intelligent terminal 13, so that the manual cleaning cost is reduced, and the cleaning efficiency is improved.
In correspondence to the above-mentioned automatic cleaning method of the underwater robot, the embodiment of the present invention further provides an underwater robot system 100, wherein the underwater robot system 100 can be configured in the controller 12 of the underwater robot, and the underwater robot system 100 is used for executing any embodiment of the foregoing automatic cleaning method of the underwater robot. Specifically, referring to fig. 9, fig. 9 is a schematic block diagram of an underwater robot system according to an embodiment of the present invention.
As shown in fig. 9, the underwater robot system 100 includes a path planning module 101, a cleaning module 102, and an obstacle avoidance module 103.
The path planning module 101 is configured to establish a plane coordinate system according to basic information of a plane to be cleaned while taking a position of the robot as an origin; presetting a cleaning area on each quadrant in the plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of the plane to be cleaned; presetting a plurality of cleaning units with equal-side-length rectangles in the cleaning area, wherein the Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; and presetting first check point sequences on two parallel side edges of the preset cleaning area, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner.
And the cleaning module 102 is used for generating a cleaning instruction for driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned.
And the obstacle avoidance module 103 is configured to, if it is detected that the cleaning unit in the advancing direction of the robot is an obstacle unit, drive the robot to move along a new manhattan distance track so as to bypass the obstacle unit and return to the original manhattan distance track.
As shown in fig. 10, an embodiment of the present invention further provides a computer device 20, including a processor 17, a communication interface 15, a memory 14, and a communication bus 16, where the processor 17, the communication interface 15, and the memory 14 complete communication with each other through the communication bus 16; in one embodiment of the invention, the memory 14 is used for storing a computer program; the processor 17 is configured to implement the steps of the automatic cleaning method for the underwater robot provided in any one of the foregoing method embodiments when executing the program stored in the memory 14.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a controller, implements the steps of the automatic cleaning method for an underwater robot provided in any one of the method embodiments described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or air conditioner that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or air conditioner. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or air conditioner that comprises the element.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. An automatic cleaning method for an underwater robot is characterized by comprising the following steps of: the automatic cleaning method is used for enabling the robot to move along a Manhattan distance track to clean a plane to be cleaned, and at least comprises path planning, cleaning and obstacle avoidance; wherein,,
the path planning step comprises the following steps: a plane coordinate system is established by taking the position of the robot as an origin and simultaneously according to basic information of a plane to be cleaned; presetting a cleaning area on each quadrant in the plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of the plane to be cleaned; presetting a plurality of cleaning units with equal-side-length rectangles in the cleaning area, wherein the Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; presetting first check point sequences on two parallel side edges of the preset cleaning area, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner;
the cleaning step comprises the following steps: generating a cleaning instruction for driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned;
the obstacle avoidance step comprises the following steps: and if the cleaning unit in the advancing direction of the robot is detected to be an obstacle unit, driving the robot to move along a new Manhattan distance track so as to bypass the obstacle unit and return to the original Manhattan distance track.
2. The automatic cleaning method of an underwater robot according to claim 1, wherein the side length of the cleaning unit is smaller than or equal to the maximum cleaning width when the robot moves.
3. An automatic cleaning method of an underwater robot according to claim 1 or 2, characterized in that the walked path of the robot is recorded as a cleaned path.
4. A method for automatically cleaning an underwater robot according to claim 3, wherein the obstacle unit is a cleaning unit having an obstacle; alternatively, the cleaning unit located on the cleaned path and behind the obstacle unit is an edge unit of the cleaning plane.
5. The automatic cleaning method of an underwater robot according to claim 4, wherein if the obstacle unit is a cleaning unit having an obstacle, the obstacle avoidance step comprises:
presetting the cleaning unit which is positioned on the Manhattan distance track and is positioned in front of the obstacle unit as a first priority point, and planning to form the new Manhattan distance track according to the first priority point;
the robot is driven to move along the new manhattan distance trajectory to reach the first priority point.
6. The automatic cleaning method of an underwater robot according to claim 4, wherein if the obstacle unit is the edge unit, the obstacle avoidance step comprises:
presetting a second priority point on the Manhattan distance track and positioned in front of the edge unit, and forming the new Manhattan distance track according to the second priority point;
the robot is driven to move along the new Manhattan distance trajectory to reach the second priority point.
7. The automatic cleaning method of an underwater robot according to claim 6, wherein when the cleaned path of the robot is an edge path around the plane to be cleaned, the cleaning step comprises:
generating a contour path of the plane to be cleaned according to the cleaned path;
clearing the first checkpoint sequence;
presetting second check point sequences at two opposite side edges of the contour path in a coordinate range and on an unwashed area, wherein each second check point is sequentially arranged on the Manhattan distance track and is positioned at a corner of the Manhattan distance track, and two sequentially adjacent second check points are arranged at intervals of one corner;
and driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned.
8. An underwater robotic system, wherein the system is configured to a controller of the robot, the controller establishing a data signal transmission connection with the robot, the system comprising:
the path planning module is used for taking the position of the robot as an origin and simultaneously establishing a plane coordinate system according to basic information of a plane to be cleaned; presetting a cleaning area on each quadrant in the plane coordinate system, wherein the cleaning area is a rectangle with equal side length and side length greater than or equal to the length of the plane to be cleaned; presetting a plurality of cleaning units with equal-side-length rectangles in the cleaning area, wherein the Manhattan distance track is formed on a connecting line of each cleaning unit in the side length direction; presetting first check point sequences on two parallel side edges of the preset cleaning area, wherein each first check point is sequentially arranged on the Manhattan distance track and is positioned at the corner of the Manhattan distance track, and two sequentially adjacent first check points are arranged at intervals of one corner;
the cleaning module is used for generating a cleaning instruction for driving the robot to move along the Manhattan distance track so as to clean the plane to be cleaned;
and the obstacle avoidance module is used for driving the robot to move along a new Manhattan distance track to bypass the obstacle unit and return to the original Manhattan distance track if the cleaning unit in the advancing direction of the robot is detected to be the obstacle unit.
9. A computer device, characterized in that the computer device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the automatic cleaning method for an underwater robot according to any one of claims 1 to 7 when executing a program stored on a memory.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the automatic cleaning method of an underwater robot according to any of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311067819.5A CN116873145A (en) | 2023-08-23 | 2023-08-23 | Automatic cleaning method, system, equipment and medium for underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311067819.5A CN116873145A (en) | 2023-08-23 | 2023-08-23 | Automatic cleaning method, system, equipment and medium for underwater robot |
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| CN116873145A true CN116873145A (en) | 2023-10-13 |
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| CN202311067819.5A Pending CN116873145A (en) | 2023-08-23 | 2023-08-23 | Automatic cleaning method, system, equipment and medium for underwater robot |
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| Country | Link |
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| CN (1) | CN116873145A (en) |
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- 2023-08-23 CN CN202311067819.5A patent/CN116873145A/en active Pending
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