CN207224015U - A kind of compensation of undulation fishing robot system - Google Patents
A kind of compensation of undulation fishing robot system Download PDFInfo
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- CN207224015U CN207224015U CN201720749003.4U CN201720749003U CN207224015U CN 207224015 U CN207224015 U CN 207224015U CN 201720749003 U CN201720749003 U CN 201720749003U CN 207224015 U CN207224015 U CN 207224015U
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- 239000012636 effector Substances 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 6
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Abstract
A kind of compensation of undulation fishing robot system is the utility model is related to, which is installed on ship；It is characterized in that：Including mechanical arm mechanism, inertial navigation sensor, motion controller, computer and visual detector；Robot in the utility model device has the working space of bigger by cross slide way and longitudinal rail, is moved easily compared with ordinary robot, easy to be stored in cabin and etch-proof housing；In this way, adding its service life, maintenance is easily facilitated；Using the mechanism of cascade in the utility model device, position forecast, precision higher are more readily available compared with the compensation of undulation platform of conventional parallel；The utility model device and control method can the effective single traditional wave compensating device of alternative functions, make that the structure of whole compensation system is simpler, operates more convenient, work efficiency higher；In ship traveling process, operation workpiece salvaging can also be carried out above deck.
Description
Technical field
It the utility model is related to marine ships and salvage field, more particularly to a kind of compensation of undulation fishing robot system.
Background technology
China is ocean big country, and seas under its jurisdiction are wide, and the potentiality that marine resources can develop are very big, with accelerating development
Marine industries, promote the development of marine economy, ocean platform or ship more and more continually carry out the operation at sea, due to wind
The influence of wave, the ship of operation on the sea can be produced when salvaging it is irregular wave, the difficulty of salvaging also increases therewith, or even meeting
Cause the interruption of salvaging and endanger the safety of staff.So caused by wave the rolling of ship, pitching and
Influence of the yawing to salvaging will be an emphasis and intractable solve the problems, such as.
At present, marine ships fishing device is mostly manually-operated loop wheel machine formula cable fishing device.Existing fishing device
It is to install loop wheel machine on a ship 's, by manually carrying out marine fishing to the operation that cable lifts, is being salvaged
During, due to the influence of stormy waves, ship will ceaselessly do oscillating motion, and staff constantly will rise cable
Drop compensation, the accuracy and efficiency for capturing target will be very low.Marine object can also be constantly occurring the phase of position at the same time
To change, due to artificial observing, operation hawser has certain retardance, this will seriously affect location of workpiece accuracy
Fast and effectively salvage workpiece.
A kind of compensation of undulation special purpose robot as described in 201610617770 .X of Chinese patent, has forearm, wrist machine
Structure, end effector driver and end effector mechanism, forearm front end connection Wrist mechanism rear end, Wrist mechanism front end rigidly connects
Connect end effector driver, end effector driver connection end effector mechanism, Wrist mechanism during initial position is parallel
In ship deck, Wrist mechanism front end be directed toward immediately ahead of fore to, it is characterized in that：The rear end of Wrist mechanism includes first, second
Driver, front end include a differential attachment and two support arms, and centre is supporting rack, and supporting rack and forearm front end are affixed, branch
The centre position of support connects firmly driver framework, and first, second driver is positioned opposite and common in the arranged on left and right sides of driver framework
Connect driver framework, the equal left and right horizontal arrangement of central shaft of first, second driver；Affixed the first from left in front side of supporting rack is right
Two support arms of arrangement, are differential attachments between two support arms；Differential attachment is by four bevel gears, a yawing axis and two
A pitching driving shaft composition, yawing axis are arranged vertically up and down, first, second pitching driving shaft centerline collineation, with yawing axis
Center line is perpendicular and the first from left right side is arranged symmetrically in the both sides of yawing axis, the common energy in one end of first, second pitching driving shaft
Differential attachment supporting block is rotationally connected, the other end is supported on the corresponding support arm of homonymy, the same between centers of interlude of yawing axis
Gap passes through the centre bore of differential attachment supporting block, passes through coaxial bearing connection third hand tap gear, yawing axis on the epimere of yawing axis
Hypomere on be fixedly and coaxially connected first bevel gear；Coaxial fixing sleeve dress is solidly connected with each other on first pitching driving shaft the
Two bevel gears and first pulley, coaxial fixing sleeve dress is solidly connected with each other on the second pitching driving shaft the 4th bevel gear and the
Three belt wheels, first bevel gear are meshed with second bevel gear, the 4th bevel gear, third hand tap gear and second bevel gear, the 4th
Bevel gear is also meshed；The output shaft of first driver is fixedly and coaxially connected the 4th belt wheel, and the output shaft of the second driver is same
Axis is fixedly connected with the second belt wheel, and first pulley connects the second belt wheel by the first odontoid belt, and the 3rd belt wheel passes through the second tooth form
Belt connects the 4th belt wheel；Bevel gear passes through the affixed end effector driver of connector.
The transfer structure of belt wheel is used in above-mentioned patent, causes complicated mechanism, working space is narrow and small, troublesome maintenance
And service life is low, the transmission accuracy of belt wheel is poor；
For above-mentioned salvaging problem, the utility model devises a kind of compensation of undulation fishing robot system.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of compensation of undulation fishing robot system, which has
The function of compensation of undulation and automatic identification, can be directed to stormy waves and cause rolling, pitching and yawing the progress real-Time Compensation of ship true
Protect end effector and do not produce seriously to rock and can automatically snap with marine Lidar Equation and judge marine mobile object
Accurate location, to complete efficient, accurate, reliable completion salvaging task.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of compensation of undulation fishing robot system,
The compensation of undulation fishing robot system is installed on ship；Its innovative point is：Including mechanical arm mechanism, inertial navigation sensor,
Motion controller, computer and visual detector；
The mechanical arm mechanism includes pedestal, longitudinal rail, cross slide way and mechanical arm；The longitudinal rail is with laterally leading
Rail is orthogonal and is arranged in same level, and the pedestal can be along mutually perpendicular cross slide way by motion controller
Moved back and forth with longitudinal rail；The mechanical arm is fixedly connected on pedestal by bolt group, and mechanical arm follows pedestal along horizontal stroke
Direction guiding rail or longitudinal rail movement；The mechanical arm is driven by servomotor；
The inertial navigation sensor is located at the side of mechanical arm and is fastened on pedestal, and measurement is caused by stormy waves in real time
Data convert and tested data are sent to computer；
The computer carries out data exchange with inertial navigation sensor, motion controller and visual detector respectively；The meter
The data of calculation machine processing inertial navigation sensor output are simultaneously handled and are established model, prediction and output data；The computer
Send and instruct to motion controller；The transmission data of the computer disposal visual detector；
One end of the motion controller and computer carry out data exchange, the other end of motion controller and mechanical arm
Servomotor is connected and control machinery arm compensates movement；
The vision processor includes the first video camera and the second video camera；First video camera is pacified respectively with the second video camera
On mechanical arm mechanism.
The method of work of the system is：
S1：Vision processor gathers the image of workpiece to be salvaged first, and by obtained workpiece image to be salvaged according to mark
Fixed template graphics are compared, and find the pattern image with the template matches, and pattern image extracts reflection through computer
The pose deviation information of actuator and workpiece, according to the coordinate system of the first video camera and the second video camera and mechanical arm coordinate system
The mapping relations of system are converted, and are obtained coordinate of the workpiece in mechanical arm coordinate system, are obtained by the characteristic error of image
The movement position increment of mechanical arm, and the servomotor of mechanical arm is passed it to, determine rotating speed and the steering of servomotor, root
Workpiece coordinate, which is salvaged, according to band calculates robotic arm path locus；
S1：The coordinate data arrived according to the first video camera and the second camera acquisition, by driving motor to sense inertial navigation
Device and mechanical arm are moved to operating position by cross slide way and longitudinal rail；
S2：Detect that ship changes the rolling, vertical to detect ship caused by stormy waves in real time using inertial navigation sensor
Shake with yawing kinematic parameter, and these data are input in computer, and a prediction algorithm is provided to computer；
S3：The data of inertial navigation sensor conveying are filtered pretreatment and data normalized and establish in a computer
Model, the data that computer is detected according to the model and inertial navigation sensor of foundation, predict the situation of wave；Computer is according to pre-
The wave situations of survey determine the position coordinates under the wave action of target point, and are carried out pair with an actual institute clearly coordinate of ground point
Than calculating offset data；
S4：Offset data is passed to motion controller by computer, and motion controller becomes according to the displacement of ship and speed
The size of rate, provides control signal after computing, and passes it to mechanical arm servo-driver, and servo-driver is according to control
The size of signal processed, determines rotating speed and the steering of servomotor, and servomotor driving mechanical arm completes compensation of undulation function；
S5：Inertial navigation sensor is constantly by parameter feedbacks such as the actual displacement of the ship detected, speed to computer, meter
Feed back to motion controller after the processing of calculation machine, motion controller according to the size of displacement and the change rate of speed calculate it is next
The size of cycle control signal, and mechanical arm servo-driver is passed it to, carry out the control in next cycle；
S6：Servomotor drives mechanical arm, the salvaging of workpiece to be salvaged according to compensation of undulation data and visual processes data
Task.
The inertial navigation sensor can detect rolling, pitching, yawing, surging, swaying, heaving and surging, horizontal stroke in real time
Swing the speed data with heaving and be conveyed to computer and handled.
It is by the way that the data that inertial navigation sensor conveys are led to after zero-mean and tranquilization processing that model is established in the S3
Cross computer and calculate auto-correlation function acf and deviation―related function pacf, the AR models judged according to function curve, according to judgement
AR models identify that model parameter continuously predicts ship by computer.
The utility model has the advantage of：
1）Robot in the utility model device has compared with ordinary robot by cross slide way and longitudinal rail
The working space of bigger, is moved easily, easy to be stored in cabin and etch-proof housing.In this way, adding it uses the longevity
Life, easily facilitates maintenance.
2）Using the mechanism of cascade in the utility model device, compared with the compensation of undulation platform of conventional parallel
Relatively it is more readily available position forecast, precision higher.
3）The utility model device and control method can the effective single traditional wave compensating device of alternative functions, make
Entirely the structure of compensation system is simpler, operates more convenient, work efficiency higher., can also in ship traveling process
Operation carries out article salvaging above deck.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall structure diagram of the compensation of undulation robot system of the utility model.
Fig. 2 is the vision processor structure chart of the utility model.
Fig. 3 is the control system flow chart of the utility model.
Fig. 4 is the control structure figure of the utility model.
Embodiment
The following examples can make professional and technical personnel that the utility model be more fully understood, but therefore will not
The utility model is limited among the embodiment described scope.
A kind of compensation of undulation fishing robot system as shown in Figures 1 to 4, compensation of undulation fishing robot system peace
On ship；Including mechanical arm mechanism 1, inertial navigation sensor 2, motion controller 3, computer and visual detector 4.
Mechanical arm mechanism includes pedestal 11, longitudinal rail, cross slide way and mechanical arm 12；The longitudinal rail is with laterally leading
Rail is orthogonal and is arranged in same level, and the pedestal 11 can be led by motion controller along mutually perpendicular transverse direction
Rail is moved back and forth with longitudinal rail；The mechanical arm 12 is fixedly connected on the base 11 by bolt group, and mechanical arm 12 follows base
Seat 11 is moved along cross slide way or longitudinal rail；The mechanical arm 12 is driven by servomotor.
Inertial navigation sensor 2 is located at the side of mechanical arm 12 and is fastened on pedestal 11, and measurement in real time causes because of stormy waves
Data conversion and send tested data to computer.
Computer carries out data exchange with inertial navigation sensor 2, motion controller 3 and visual detector 4 respectively；The calculating
The data of 2 output of machine processing inertial navigation sensor are simultaneously handled and are established model, prediction and output data；The computer to
Motion controller 3 sends instruction；The transmission data of the computer disposal visual detector 4.
One end of motion controller 3 carries out data exchange, the other end and the mechanical arm 12 of motion controller 3 with computer
Servomotor is connected and control machinery arm 12 compensates movement.
Vision processor 4 includes the first video camera 41 and the second video camera 42；First video camera 41 and the second video camera 42
It is separately mounted on mechanical arm mechanism 1.
The method of work of the compensation fishing robot system is：
Step 1：Vision processor 4 gathers workpiece image, and calculating processing through computer carries out workpiece to demarcate definite workpiece
The mapping relations of character modules shape and the workpiece position coordinates in vision processor 4 and mechanical arm 12.Specifically, first have to provide
Scaling board, the scaling board have the pattern image identical with workpiece to be salvaged, namely the size of scaling board and work to be salvaged
Part is identical, determines to salvage the picture catching search range of workpiece.Afterwards, determine scaling board in mechanical arm mechanism by installing to position
Position in 1, next, starting mechanical arm 12 drives the first video camera 41 and the second video camera 42 collection scaling board information, and
According to the image making feature templates collected, the parameters such as the location and shape of pattern image are included in the template.Last basis
Pattern image on scaling board is taken the photograph in the coordinate parameters of mechanical arm 12 and corresponding pattern image in the first video camera 41 and second
Position in the coordinate system of camera 42, determines that the mapping between the coordinate system of binocular camera and mechanical arm coordinate system is closed
System.
Step 2：By wave compensation system and calculate at the location determination mechanical arm and workpiece that handle workpiece features figure
In relative static conditions.Inertial navigation sensor 2 is installed on mechanical arm pedestal 11, and so-called inertial navigation sensor 2 can provide adding for carrier
The three-dimensional motion parameters such as speed, angular speed, and the important informations such as position, the posture of carrier are drawn according to above-mentioned parameter.Posture
Frame of reference measures carrier movement parameter and orientation using acceleration transducer, gyroscope and electronic compass, passes through
Measured value is pocessed and is calculated, realizes and real-time tracking monitoring is carried out to the position of carrier and motion state.Inertia measurement list
Member measures carrier acceleration and angular speed using acceleration transducer and gyroscope, to obtain carrier in inertial reference system
Under movement and state device.
Inertial navigation sensor 2 detects the rolling, pitching and yawing kinematic parameter of ship, and passes data to motion control
Device 3, motion controller 3 obtain digital signal, through D/A according to the displacement of ship and the size of percentage speed variation by processing
Converter obtains analog signal, and analog signal passes to mechanical arm servo-driver in the form of a pulse, servo-driver according to
The size of pulse signal, determines rotating speed and the steering of servomotor, and servomotor driving mechanical arm completes compensation of undulation function；Together
When, detecting system is constantly by parameter feedbacks such as the actual displacement of the ship detected, speed to motion controller, motion control
Device is calculating the size of next cycle control signal according to the size of displacement and the change rate of speed, and passes it to machinery
Arm servo-driver, carries out the control in next cycle.
Meanwhile first video camera 41 and the second video camera 42 collection workpiece image, and sought in obtained workpiece image
Look for the matched characteristic image of the feature templates, by the collection image of video camera, obtain workpiece image, the image for two dimension
Image, is compared in the template image by being demarcated before, finds collected workpiece features image, characteristic image
The pose deviation information of reflection actuator and workpiece is extracted through computer, which is known as characteristics of image error, is passing through figure
The characteristic error of picture obtains robot motion's positional increment, and passes it to robot controller, robot controller transmission
Mechanical arm servo-driver is given, servo-driver determines rotating speed and the steering of servomotor, servo according to the size of control signal
Motor drive machinery arm 12 completes increment of motion, and relative static conditions are in workpiece to reach mechanical arm 12.Specifically, count
Calculate the characteristic image position in the coordinate system of the first video camera 41 and the second video camera 42 respectively of workpiece；Obtained according to previous
The first video camera 41 and the coordinate system of the second video camera 42 and the mapping relations of the coordinate system of mechanical arm arrived carries out coordinate
Conversion, machine is converted to by the coordinate system internal coordinate of the position of the characteristic image of workpiece from the first video camera 41 and the second video camera 42
Coordinate in the coordinate system of tool arm 12.
Step 3：In the state of mechanical arm 12 and workpiece are opposing stationary, the image of camera acquisition is handled through computer
The pattern image with the matched workpiece of feature templates is obtained afterwards.Specifically, the first video camera 41 and the second video camera 42 are passed through
The image of workpiece is gathered, obtains the image of two workpiece, which is two dimensional image, namely flat image.Afterwards, lead to
Cross the feature templates that computer had previously obtained, pattern image found on the workpiece image collected, obtain in image with spy
Levy the pattern image of the matched workpiece of mould shape.
Step 4：Camera acquisition image determines the location of workpiece, specifically, computer through computer using calibrating parameters
By calculating two pattern images of workpiece position in the coordinate system of the first video camera 41 and the second video camera 42 respectively,
According to the first video camera 41 and the coordinate system of the second video camera 42 previously obtained and the mapping relations of mechanical arm coordinate system
Converted, by the position of two pattern images of workpiece out of, the first video camera 41 and the second video camera 42 coordinate system
Coordinate is converted to the coordinate in mechanical arm coordinate system, determines coordinate position of the workpiece in mechanical arm coordinate system.
Step 5：Workpiece and mechanical arm are in opposing stationary position according to robotic arm path planning algorithm, calculate most
For rational path planning.Specifically, mechanical arm according to workpiece in position to be captured（X,Y,Z）Coordinate parameters, according to machine
Tool arm algorithm set in advance generates path of making rational planning for the most, which can be the calculation of the various appropriate types in this area
Method.
Step 6：Salvaging task is accurately and efficiently completed according to path planning.Specifically, mechanical arm 12 is according to generation
Path planning calculate mechanical arm 12 each servomotor moving compensating data, it is and with this that actuator is automatic, accurate
Be sent to the location of workpiece carry out crawl.After grasping movement is completed, the compensation of controller record, capture the information data of process simultaneously
Preserve.
It should be understood by those skilled in the art that the present utility model is not limited to the above embodiments, above-described embodiment and
The principle for simply illustrating the utility model described in specification, on the premise of not departing from the spirit and scope of the utility model,
The utility model also has various changes and modifications, these changes and improvements both fall within claimed the scope of the utility model
It is interior.The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (1)
1. a kind of compensation of undulation fishing robot system, which is installed on ship；Its feature
It is：Including mechanical arm mechanism, inertial navigation sensor, motion controller, computer and visual detector；
The mechanical arm mechanism includes pedestal, longitudinal rail, cross slide way and mechanical arm；The longitudinal rail and cross slide way are mutual
It is perpendicular and be arranged in same level, the pedestal by motion controller can along mutually perpendicular cross slide way with it is vertical
Direction guiding rail moves back and forth；The mechanical arm is fixedly connected on pedestal by bolt group, and mechanical arm follows pedestal to be led along horizontal
Rail or longitudinal rail movement；The mechanical arm is driven by servomotor；
The inertial navigation sensor is located at the side of mechanical arm and is fastened on pedestal, measures the data caused by stormy waves in real time
Convert and tested data are sent to computer；
The computer carries out data exchange with inertial navigation sensor, motion controller and visual detector respectively；The computer
The data of processing inertial navigation sensor output are simultaneously handled and are established model, prediction and output data；The computer is to fortune
Movement controller sends instruction；The transmission data of the computer disposal visual detector；
One end of the motion controller carries out data exchange, the other end of motion controller and the servo of mechanical arm with computer
Motor is connected and control machinery arm compensates movement；
The vision processor includes the first video camera and the second video camera；First video camera is separately mounted to the second video camera
On mechanical arm mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2017203119609 | 2017-03-28 | ||
| CN201720311960 | 2017-03-28 |
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| CN207224015U true CN207224015U (en) | 2018-04-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186752A (en) * | 2017-03-28 | 2017-09-22 | 江苏科技大学 | A kind of compensation of undulation fishing robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186752A (en) * | 2017-03-28 | 2017-09-22 | 江苏科技大学 | A kind of compensation of undulation fishing robot system |
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Effective date of registration: 20220107 Address after: 212003 4, South Xu Road, Zhenjiang, Jiangsu Province, 4 Patentee after: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY Patentee before: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY |
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Effective date of registration: 20220713 Address after: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Patentee after: JIANGSU University OF SCIENCE AND TECHNOLOGY Patentee after: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY Address before: 212003 4, South Xu Road, Zhenjiang, Jiangsu Province, 4 Patentee before: MARINE EQUIPMENT AND TECHNOLOGY INSTITUTE JIANGSU University OF SCIENCE AND TECHNOLOGY |
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Granted publication date: 20180413 |