CN213182426U - Control system for underwater robot to adsorb wall surface of ship body - Google Patents
Control system for underwater robot to adsorb wall surface of ship body Download PDFInfo
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- CN213182426U CN213182426U CN202022440468.6U CN202022440468U CN213182426U CN 213182426 U CN213182426 U CN 213182426U CN 202022440468 U CN202022440468 U CN 202022440468U CN 213182426 U CN213182426 U CN 213182426U
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Abstract
The utility model discloses a control system of underwater robot absorption hull wall, include: a distance acquisition module; an electromagnet; a magnetic force control module; a setting module; the main control module comprises an attitude control unit and a PID control unit, wherein a first input end of the PID control unit is electrically connected with the setting module, a second input end of the PID control unit is electrically connected with the distance acquisition module, and an output end of the PID control unit is electrically connected with the magnetic control module. The position of the underwater robot is adjusted by the attitude control unit, and then the magnetic control module is controlled by the PID control unit according to the expected distance value to adjust the magnetic force of the electromagnet, so that the real-time distance between the underwater robot and the wall surface of the ship body is quickly, accurately and finely adjusted, a fixed buffer distance is reserved between the underwater robot and the wall surface of the ship body, the underwater robot can be prevented from colliding with the wall surface of the ship body, and the service life of the underwater robot is prolonged.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to underwater robot adsorbs control system of hull wall.
Background
In order to ensure the safety of the ship body in trip, the wall surface of the ship body needs to be cleaned and repaired; the underwater robot carrying the working modules of detection, cleaning, drilling, cutting and the like is used for underwater work, and the detection, cleaning and repair work is carried out on the wall surface of the iron ship body.
At present, in an adsorption mode of an underwater robot, the underwater robot needs to be in contact with a wall surface of a ship body, and a buffer distance does not exist between the underwater robot and the wall surface of the ship body. When the underwater robot is in a working state, the underwater robot can vibrate, and when the underwater robot vibrates, the underwater robot can collide with the wall surface of a ship body, so that the underwater robot is easily damaged, and the service life of the underwater robot is shortened.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a control system that underwater robot adsorbs hull wall, can prolong underwater robot's life.
The utility model provides a solution of its technical problem is:
a control system for an underwater robot to adsorb a wall surface of a ship body is applied to the underwater robot and comprises: the distance acquisition module is used for detecting the real-time distance between the underwater robot and the wall surface of the ship body; the electromagnet is used for providing magnetic force so that the underwater robot is adsorbed on the wall surface of the ship body; the magnetic force control module is used for adjusting the magnetic force of the electromagnet; the setting module is used for acquiring a set distance interval and an expected distance value; the main control module comprises an attitude control unit and a PID control unit, wherein the attitude control unit is used for adjusting the position of the underwater robot according to the distance interval, a first input end of the PID control unit is electrically connected with the setting module, a second input end of the PID control unit is electrically connected with the distance acquisition module, an output end of the PID control unit is electrically connected with the magnetic control module, and the PID control unit is used for controlling the magnetic control module according to the expected distance value so as to adjust the magnetic force of the electromagnet.
The control system for the underwater robot to adsorb the wall surface of the ship body at least has the following beneficial effects: the position of the underwater robot is adjusted by utilizing the attitude control unit of the main control module, so that the real-time distance between the underwater robot and the wall surface of the ship body is within a set distance interval, and the preliminary positioning of the underwater robot is realized; the PID control unit is used for adjusting the magnetic control module according to the expected distance value, and the magnetic control module is controlled to provide current for the electromagnet so as to adjust the magnetic force of the electromagnet, so that the real-time distance between the underwater robot and the wall surface of the ship body can be quickly, accurately and finely adjusted; a fixed buffer distance is reserved between the underwater robot and the wall surface of the ship body, and when the underwater robot is in a working state, the underwater robot vibrates and can be prevented from colliding with the wall surface of the ship body compared with an adsorption method that the underwater robot is in contact with the wall surface of the ship body, so that the service life of the underwater robot is prolonged.
As a further improvement of the above technical solution, the distance acquisition module is disposed on a bottom surface of the underwater robot.
As a further improvement of the above technical solution, the electromagnet is electrically connected to the magnetic control module, and the electromagnet is disposed on the bottom surface of the underwater robot.
As a further improvement of the above technical solution, the distance acquisition module includes three ultrasonic sensors, and the three ultrasonic sensors are sequentially disposed on the bottom surface of the underwater robot along the length direction of the underwater robot.
As a further improvement of the above technical solution, the control system further includes: and the moving assembly is used for driving the underwater robot to move, and the distance acquisition module and the moving assembly are respectively and electrically connected with the attitude control unit.
As a further improvement of the above technical solution, the moving assembly includes a paddle set and a motor set, the motor set is used for driving the paddle set, and the attitude control unit and the paddle set are respectively electrically connected to the motor set.
As a further improvement of the above technical solution, the paddle set includes four propellers, the motor set includes four driving motors, and the four driving motors are electrically connected to the four propellers one by one.
As a further improvement of the above technical solution, the control system further includes: the detection module comprises a speed sensor, a temperature sensor and a water pressure sensor, and the detection module is electrically connected with the main control module.
As a further improvement of the above technical solution, the control system further includes: the alarm, the alarm with host system electric connection, the alarm is used for responding host system's early warning signal, reports to the police.
As a further improvement of the above technical solution, the control system further includes: the camera module is electrically connected with the main control module; and the human-computer interaction module is electrically connected with the main control module.
Drawings
The utility model is further explained with the attached drawings and the embodiments;
FIG. 1 is a block diagram of the system of the present invention;
fig. 2 is a system block diagram of the attitude control unit of the present invention;
FIG. 3 is a system block diagram of the PID control unit of the present invention;
FIG. 4 is a schematic structural view of the present invention;
FIG. 5 is a system block diagram of the electric machine set of the present invention;
reference numbers in the figures:
100-distance acquisition module, 110-ultrasonic sensor, 200-electromagnet, 300-magnetic control module, 400-setting module, 500-main control module, 510-attitude control unit, 520-PID control unit, 600-moving component, 610-paddle group, 611-propeller, 620-motor group, 621-driving motor, 700-detection module, 710-speed sensor, 720-temperature sensor, 730-water pressure sensor, 800-alarm, 910-camera module and 920-man-machine interaction module.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, words such as setting, installation, electric connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in combination with the specific content of the technical solution.
In some embodiments of the present invention, as shown in fig. 1 to 3, a control system for an underwater robot to adsorb a hull wall surface is applied to an underwater robot, including:
the distance acquisition module 100 is used for detecting the real-time distance between the underwater robot and the wall surface of the ship body;
an electromagnet 200 for providing a magnetic force to make the underwater robot adhere to the wall surface of the ship body;
a magnetic force control module 300 for adjusting the magnetic force of the electromagnet 200;
a setting module 400, configured to obtain a set distance interval and a desired distance value;
the main control module 500 comprises an attitude control unit 510 and a PID control unit 520, wherein the attitude control unit 510 is used for adjusting the position of the underwater robot according to a distance interval, a first input end of the PID control unit 520 is electrically connected with the setting module 400, a second input end of the PID control unit 520 is electrically connected with the distance acquisition module 100, an output end of the PID control unit 520 is electrically connected with the magnetic control module 300, and the PID control unit 520 is used for controlling the magnetic control module 300 according to the expected distance value so as to adjust the magnetic force of the electromagnet 200.
In the above embodiment, after the underwater robot enters water, the set distance interval and the expected distance value are obtained in the setting module 400, and the attitude control unit 510 of the main control module 500 is used to adjust the position of the underwater robot, so that the real-time distance between the underwater robot and the wall surface of the hull is within the set distance interval, and the initial positioning of the underwater robot is realized, and at this time, the underwater robot keeps a larger distance from the wall surface of the hull; the magnetic control module 300 provides current for the electromagnet 200, the PID control unit 520 is used for controlling the magnetic control module 300 according to the expected distance value, and the magnitude of the current provided by the magnetic control module 300 for the electromagnet 200 is controlled so as to adjust the magnetic force of the electromagnet 200, so that the real-time distance between the underwater robot and the wall surface of the ship body can be adjusted rapidly, accurately and finely; a fixed buffer distance is reserved between the underwater robot and the wall surface of the ship body, when the underwater robot is in a working state, the underwater robot can frequently vibrate, and compared with an adsorption method that the underwater robot is in contact with the wall surface of the ship body, the underwater robot can be prevented from colliding with the wall surface of the ship body, and therefore the service life of the underwater robot is prolonged.
In this disclosure, the underwater cleaning robot can be an underwater cleaning robot carrying a cleaning tool, when the underwater cleaning robot enters a cleaning working state, the underwater cleaning robot utilizes the cleaning tool to clean, vibration can be generated, a fixed buffer distance is arranged between the underwater cleaning robot and the wall surface of the ship body, the underwater cleaning robot can be prevented from colliding with the wall surface of the ship body, and therefore the service life of the underwater cleaning robot is prolonged.
Preferably, the main control module 500 is an STM32 single chip microcomputer, so that the cost can be saved.
In some embodiments of the present invention, as shown in fig. 4, the distance acquisition module 100 is disposed on the bottom surface of the underwater robot, and by this embodiment, the bottom surface of the underwater robot faces the hull wall, and the distance acquisition module 100 is disposed on the bottom surface of the underwater robot, so as to ensure the effectiveness of real-time distance measurement.
In some embodiments of the present invention, as shown in fig. 4, the electromagnet 200 is electrically connected to the magnetic control module 300, the electromagnet 200 is disposed on the bottom surface of the underwater robot, and through this embodiment, the bottom surface of the underwater robot faces the hull wall surface, and the electromagnet 200 is disposed on the bottom surface of the underwater robot, so that the bottom surface of the underwater robot is adsorbed on the hull wall surface, thereby effectively performing work.
In some embodiments of the present invention, as shown in fig. 4, the distance acquisition module 100 includes three ultrasonic sensors 110, the three ultrasonic sensors 110 are sequentially disposed on the bottom surface of the underwater robot along the length direction of the underwater robot, and through this embodiment, the three ultrasonic sensors 110 can improve the anti-interference capability of the distance measurement.
It is understood that in the art, the length direction of an underwater robot generally refers to a direction in which a head of the robot points to a tail.
Preferably, the ultrasonic sensor 110 is of the type HC-SR 04.
In another alternative embodiment, the distance acquisition module 100 employs an infrared distance measurement sensor, which can reduce the cost.
In another alternative embodiment, the distance acquisition module 100 employs a laser ranging sensor, which can improve the measurement accuracy.
In some embodiments of the present invention, as shown in fig. 2, the control system further includes:
the moving assembly 600 is used for driving the underwater robot to move, and the distance acquisition module 100 and the moving assembly 600 are respectively electrically connected with the attitude control unit 510.
It can be understood that the underwater robot can ensure the effectiveness of positioning the underwater robot by moving the assembly 600 to complete the preliminary positioning.
In some embodiments of the utility model, as shown in fig. 5, remove subassembly 600 including oar group 610 and motor group 620, motor group 620 is used for driving oar group 610, and attitude control unit 510 and oar group 610 respectively with motor group 620 electric connection, through this embodiment, utilize motor group 620 drive oar group 610, guarantee the validity of underwater robot's removal.
In some embodiments of the present invention, as shown in fig. 5, the paddle set 610 includes four propellers 611, the motor set 620 includes four driving motors 621, the four driving motors 621 and the four propellers 611 are electrically connected one by one, and through this embodiment, the accuracy of the movement of the underwater robot can be ensured by the independent driving between the four driving motors 621 and the four propellers 611.
Preferably, the driving motor 621 is a servo motor, which can ensure the accuracy of control.
In some embodiments of the present invention, as shown in fig. 1, the control system further includes:
the detection module 700 includes a speed sensor 710, a temperature sensor 720 and a water pressure sensor 730, and the detection module 700 is electrically connected to the main control module 500.
It can be understood that the moving speed of the underwater robot is detected by the speed sensor 710, the ambient temperature is detected by the temperature sensor 720, and the water pressure is detected by the water pressure sensor 730, so that the environment of the underwater robot is effectively analyzed, the underwater robot is prevented from being in an unsafe underwater environment, and the service life of the underwater robot is prolonged.
In some embodiments of the present invention, as shown in fig. 1, the control system further includes:
the alarm 800, the alarm 800 is electrically connected to the main control module 500, and the alarm 800 is configured to respond to the early warning signal of the main control module 500 to alarm.
It can be understood that when the main control module 500 analyzes that the underwater robot is in an unsafe underwater environment, an early warning signal is sent out, and the alarm 800 gives an alarm in response to the early warning information, so as to prevent the underwater robot from being seriously damaged.
Preferably, the alarm 800 is a buzzer.
In some embodiments of the present invention, as shown in fig. 1, the control system further includes:
the camera module 910, wherein the camera module 910 is electrically connected with the main control module 500;
the human-computer interaction module 920, the human-computer interaction module 920 is electrically connected to the main control module 500.
It can be understood that the camera module 910 and the human-computer interaction module 920 can enable the underwater robot to have an image monitoring function, and the practicability of the underwater robot is increased.
Preferably, the camera module 910 is a wide-angle camera, which can perform monitoring in a wider range, and the human-computer interaction module 920 is a display screen, which can display a monitoring image in real time.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the knowledge range of those skilled in the art.
Claims (10)
1. The utility model provides a control system of underwater robot absorption hull wall, is applied to underwater robot, its characterized in that includes:
the distance acquisition module is used for detecting the real-time distance between the underwater robot and the wall surface of the ship body;
the electromagnet is used for providing magnetic force so that the underwater robot is adsorbed on the wall surface of the ship body;
the magnetic force control module is used for adjusting the magnetic force of the electromagnet;
the setting module is used for acquiring a set distance interval and an expected distance value;
the main control module comprises an attitude control unit and a PID control unit, wherein the attitude control unit is used for adjusting the position of the underwater robot according to the distance interval, a first input end of the PID control unit is electrically connected with the setting module, a second input end of the PID control unit is electrically connected with the distance acquisition module, an output end of the PID control unit is electrically connected with the magnetic control module, and the PID control unit is used for controlling the magnetic control module according to the expected distance value so as to adjust the magnetic force of the electromagnet.
2. The system for controlling the underwater robot to adsorb the wall surface of the ship body as claimed in claim 1, wherein the distance acquisition module is arranged on the bottom surface of the underwater robot.
3. The system as claimed in claim 2, wherein the electromagnet is electrically connected to the magnetic control module, and the electromagnet is disposed on a bottom surface of the underwater robot.
4. The system for controlling the underwater robot to adsorb the wall surface of the ship body as claimed in claim 2, wherein the distance acquisition module comprises three ultrasonic sensors, and the three ultrasonic sensors are sequentially arranged on the bottom surface of the underwater robot along the length direction of the underwater robot.
5. The control system for the underwater robot to adsorb the wall surface of the ship body as claimed in claim 1, further comprising:
and the moving assembly is used for driving the underwater robot to move, and the distance acquisition module and the moving assembly are respectively and electrically connected with the attitude control unit.
6. The system for controlling the underwater robot to adsorb the wall surface of the ship body as claimed in claim 5, wherein the moving assembly comprises a paddle set and a motor set, the motor set is used for driving the paddle set, and the attitude control unit and the paddle set are respectively and electrically connected with the motor set.
7. The system as claimed in claim 6, wherein the paddle set comprises four propellers, the motor set comprises four driving motors, and the four driving motors are electrically connected with the four propellers one by one.
8. The control system for the underwater robot to adsorb the wall surface of the ship body as claimed in claim 1, further comprising:
the detection module comprises a speed sensor, a temperature sensor and a water pressure sensor, and the detection module is electrically connected with the main control module.
9. The system of claim 8, wherein the control system further comprises:
the alarm, the alarm with host system electric connection, the alarm is used for responding host system's early warning signal, reports to the police.
10. The system for controlling the underwater robot to adsorb the wall surface of the ship body as claimed in any one of claims 1 to 9, further comprising:
the camera module is electrically connected with the main control module;
and the human-computer interaction module is electrically connected with the main control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022440468.6U CN213182426U (en) | 2020-10-28 | 2020-10-28 | Control system for underwater robot to adsorb wall surface of ship body |
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| CN202022440468.6U CN213182426U (en) | 2020-10-28 | 2020-10-28 | Control system for underwater robot to adsorb wall surface of ship body |
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| CN213182426U true CN213182426U (en) | 2021-05-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
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