A linear motion control method for underwater cleaning robot

Abstract

The present invention provides a linear motion control method for an underwater cleaning robot, comprising: obtaining in real time the observed coordinate data of the underwater cleaning robot for filtering, collecting in real time the precise depth data of the underwater cleaning robot, the relative position data of a control ship and a ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot; correcting the observed coordinate data of the underwater cleaning robot by using the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot; predicting the coordinate data of the underwater cleaning robot at a next moment by using the corrected coordinate data of the underwater cleaning robot at a previous moment; and controlling the underwater cleaning robot to move to the predicted position at the next moment according to the predicted coordinate data of the underwater cleaning robot at the next moment, thereby solving the problem of missed cleaning and repeated cleaning of ships and improving the cleaning efficiency of ships.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a linear motion control method for an underwater cleaning robot. Background Art

[0002] When ships are immersed in seawater for a long time, marine organisms will reproduce and grow on the surface, forming an adsorption layer. The adsorption layer formed by the attachment of marine organisms will increase the navigation resistance of the ship and reduce the navigation speed. The attachment of marine organisms will also damage the paint protective layer and accelerate the corrosion rate of the ship.

[0003] In order to reduce navigation resistance and extend the service life of ships, ships must regularly remove marine organisms from the bottom of the ship. In the past, divers had to dive into the water to manually polish and clean the bottom of the ship to complete this task, but this was associated with high safety risks, low efficiency, incomplete cleaning, and the inability to observe. With the introduction of underwater cleaning robots, a better solution for ship cleaning has been provided. However, existing underwater cleaning robots mainly use remote control or travel along a planned path, which results in problems such as missed cleaning and repeated cleaning, which seriously affects the cleaning effect and efficiency of the ship.

[0004] Therefore, how to prevent underwater cleaning robots from missing parts and repeatedly cleaning the same part and improve ship cleaning efficiency has become an urgent problem to be solved. Summary of the invention

[0005] In order to overcome the shortcomings and deficiencies of the prior art, the present invention provides a linear motion control method for an underwater cleaning robot, which controls the underwater cleaning robot to maintain linear operation during the cleaning process, and cleans up debris on the operation route through repeated linear return operations, thereby solving the problems of the underwater cleaning robot missing or repeatedly cleaning the same part, and improving the cleaning efficiency of the ship.

[0006] The present invention provides a linear motion control method for an underwater cleaning robot, comprising:

[0007] S1. Obtain the observed coordinate data of the underwater cleaning robot in real time for filtering, and collect the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot in real time;

[0008] S2, fusing and calculating the observed coordinate data of the underwater cleaning robot according to the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot to obtain the corrected coordinate data of the underwater cleaning robot;

[0009] S3, using the corrected coordinate data of the underwater cleaning robot at the previous moment to make a prediction, and obtain the predicted coordinate data of the underwater cleaning robot at the next moment;

[0010] S4. Controlling the underwater cleaning robot to move to the predicted position at the next moment according to the predicted coordinate data of the underwater cleaning robot at the next moment.

[0011] Furthermore, the filtering process in S1 includes one of mean filtering, median filtering and Kalman filtering.

[0012] Furthermore, the step S2 specifically includes:

[0013] The Z coordinate of the observation coordinate data of the underwater cleaning robot is replaced by the precise depth data of the underwater cleaning robot, and the X coordinate and Y coordinate of the observation coordinate data of the underwater cleaning robot are recalculated according to the proportional relationship among the X coordinate, Y coordinate and Z coordinate of the observation coordinate data of the underwater cleaning robot to obtain the locked depth coordinate data of the underwater cleaning robot;

[0014] Calculating the control ship observation coordinate data according to the relative position data between the control ship and the ship to be cleaned and the relative position data between the control ship and the underwater cleaning robot, wherein the control ship observation coordinate data is the relative position data between the underwater cleaning robot and the ship to be cleaned obtained by the control ship;

[0015] The observation coordinate data, the depth locking coordinate data and the control ship coordinate data of the underwater cleaning robot are assigned different weight values ​​and accumulated and calculated to obtain the corrected coordinate data of the underwater cleaning robot.

[0016] Furthermore, the step S3 specifically includes:

[0017] According to the three-point-one-line principle, the coordinate data of the underwater cleaning robot at the next moment is calculated using the corrected coordinate data of the underwater cleaning robot at the previous two moments, so as to obtain the predicted coordinate data of the underwater cleaning robot at the next moment.

[0018] Compared with the prior art, after adopting the above technical solution, the present invention has at least the following beneficial effects:

[0019] 1. The position data of the underwater cleaning robot collected at the previous moment is used to predict the position data of the underwater cleaning robot at the next moment, and the underwater cleaning robot is controlled to run in a straight line according to the predicted position data. The debris on the running route is cleaned through repeated straight-line return runs, which solves the problem of underwater cleaning robots missing and repeatedly cleaning the same part, and improves the ship cleaning efficiency.

[0020] 2. Collect the precise depth data of the underwater cleaning robot, the relative position data between the control ship and the ship to be cleaned, and the relative position data between the control ship and the underwater cleaning robot to correct the position data of the underwater cleaning robot, thereby improving the accuracy of the position data of the underwater cleaning robot and ensuring the accuracy of the predicted position data of the underwater cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a schematic diagram of an application scenario of the present invention;

[0023] Figure 2 The present invention provides a flow chart of a method for controlling the linear motion of an underwater cleaning robot. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] like Figure 1 As shown, a control ship carries an underwater cleaning robot to the vicinity of the ship to be cleaned. The control ship is equipped with various positioning equipment and measuring equipment. The underwater cleaning robot is equipped with an underwater acoustic positioning system, a depth sensor, an electronic compass, a GNSS base station and other related sensing equipment. The underwater cleaning robot is lowered into the water through a cable to clean the ship to be cleaned. The underwater cleaning robot is controlled to run repeatedly in a straight line close to the ship to clean up debris on the running route, which can solve the problems of missed cleaning and repeated cleaning in the cleaning process of existing underwater cleaning robots.

[0026] like Figure 2 As shown, an embodiment of the present invention provides a method for controlling the linear motion of an underwater cleaning robot, comprising the following steps:

[0027] S1. Obtain the observed coordinate data of the underwater cleaning robot in real time for filtering, and collect the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot in real time;

[0028] In this embodiment, the observed coordinate data of the underwater cleaning robot at the previous moment is measured to predict the coordinate data of the next moment of the straight line operation. The accuracy of the prediction result is based on the accuracy of the observed coordinate data of the underwater cleaning robot. Due to the influence of problems such as water flow and hull vibration, the observed coordinate data of the underwater cleaning robot at the previous moment needs to be corrected to ensure the accuracy of the predicted coordinate data at the next moment. On the one hand, the observed coordinate data of the underwater cleaning robot is filtered to filter out abnormal data to achieve relative stability in data acquisition; on the other hand, the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot are collected to correct the observed coordinate data of the underwater cleaning robot. The observed coordinate data and precise depth data of the underwater cleaning robot can be obtained by using the sensor equipment installed on the underwater cleaning robot, and the relative position data of the control ship and the ship to be cleaned and the relative position data of the control ship and the underwater cleaning robot are obtained by the measuring equipment installed on the control ship.

[0029] In a possible implementation manner, the filtering process includes one of mean filtering, median filtering and Kalman filtering.

[0030] S2, fusing and calculating the observed coordinate data of the underwater cleaning robot according to the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot to obtain the corrected coordinate data of the underwater cleaning robot;

[0031] In this embodiment, due to the influence of the environment, the underwater cleaning robot and the hull will inevitably fluctuate, resulting in fluctuations in the observed coordinate data of the underwater cleaning robot, and the position of the underwater cleaning robot is predicted in a fixed reference coordinate system, without taking into account the relative movement of the underwater cleaning robot and the hull. As the underwater cleaning robot moves, the error of the predicted data continues to accumulate, which will seriously affect the accuracy of the predicted coordinate data of the underwater cleaning robot, and it is difficult to ensure that the underwater cleaning robot runs in a straight line. It is necessary to use the collected precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot to correct the observed coordinate data of the underwater cleaning robot.

[0032] In a possible implementation, the step S2 specifically includes: replacing the Z coordinate of the observation coordinate data P of the underwater cleaning robot with the precise depth data of the underwater cleaning robot, and recalculating the X coordinate and Y coordinate of the observation coordinate data P of the underwater cleaning robot according to the proportional relationship of the X coordinate, Y coordinate and Z coordinate of the observation coordinate data P of the underwater cleaning robot to obtain the locked depth coordinate data H of the underwater cleaning robot; calculating the control ship observation coordinate data Q according to the relative position data of the control ship and the ship to be cleaned and the relative position data of the control ship and the underwater cleaning robot, wherein the control ship observation coordinate data Q is the relative position data of the underwater cleaning robot and the ship to be cleaned obtained by the control ship; assigning different weight values ​​α, β and γ to the observation coordinate data P, the locked depth coordinate data H and the control ship coordinate data Q of the underwater cleaning robot and performing cumulative calculations to obtain the corrected coordinate data P'=αP+βQ+γH of the underwater cleaning robot.

[0033] Among them, α, β and γ are determined according to empirical data, and α, β and γ satisfy α+β+γ=1.

[0034] S3, using the corrected coordinate data of the underwater cleaning robot at the previous moment to make a prediction, and obtain the predicted coordinate data of the underwater cleaning robot at the next moment;

[0035] In this embodiment, the corrected coordinate data of the underwater cleaning robot can be used for prediction to determine the position of the underwater cleaning robot at the next moment, so that the underwater cleaning robot can run in a straight line.

[0036] In a possible implementation, the step S3 specifically includes: according to the three-point-one-line principle, using the corrected coordinate data of the underwater cleaning robot at the previous two moments, calculating the coordinate data of the underwater cleaning robot at the next moment, and obtaining the predicted coordinate data of the underwater cleaning robot at the next moment.

[0037] For example, the predicted position at the next moment t can be calculated from the corrected coordinate data at moments t-1 and t-2. The position at moment t-2 is (0, 0, 0), and the position at moment t-1 is (0, 3, 5), then the predicted position at moment t is (0, 6, 10).

[0038] S4. Controlling the underwater cleaning robot to move to the predicted position at the next moment according to the predicted coordinate data of the underwater cleaning robot at the next moment.

[0039] In this embodiment, the underwater cleaning robot can be controlled to move to the predicted position each time it moves. Since the predicted positions are all located on a straight line trajectory, the underwater cleaning robot always keeps running in a straight line.

[0040] Through the above-mentioned linear motion control method of the underwater cleaning robot, the underwater cleaning robot is controlled to maintain straight line operation during the cleaning process, and the debris on the operation route is cleaned through repeated straight line return operation, which solves the problem of the underwater cleaning robot missing cleaning and repeatedly cleaning the same part, and improves the ship cleaning efficiency.

[0041] Although the present invention has been disclosed as above by way of embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the claims.

Claims

1. A linear motion control method for an underwater cleaning robot, characterized in that: include: S1. Obtain the observed coordinate data of the underwater cleaning robot in real time for filtering, and collect the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot in real time; S2, fusing and calculating the observed coordinate data of the underwater cleaning robot according to the precise depth data of the underwater cleaning robot, the relative position data of the control ship and the ship to be cleaned, and the relative position data of the control ship and the underwater cleaning robot to obtain the corrected coordinate data of the underwater cleaning robot; S3, using the corrected coordinate data of the underwater cleaning robot at the previous moment to make a prediction, and obtain the predicted coordinate data of the underwater cleaning robot at the next moment; S4, controlling the underwater cleaning robot to move to the predicted position at the next moment according to the predicted coordinate data of the underwater cleaning robot at the next moment; The step S2 specifically includes: The Z coordinate of the observation coordinate data of the underwater cleaning robot is replaced by the precise depth data of the underwater cleaning robot, and the X coordinate and Y coordinate of the observation coordinate data of the underwater cleaning robot are recalculated according to the proportional relationship among the X coordinate, Y coordinate and Z coordinate of the observation coordinate data of the underwater cleaning robot to obtain the locked depth coordinate data of the underwater cleaning robot; Calculating the control ship observation coordinate data according to the relative position data between the control ship and the ship to be cleaned and the relative position data between the control ship and the underwater cleaning robot, wherein the control ship observation coordinate data is the relative position data between the underwater cleaning robot and the ship to be cleaned obtained by the control ship; The observation coordinate data, the depth locking coordinate data and the control ship coordinate data of the underwater cleaning robot are assigned different weight values ​​and accumulated and calculated to obtain the corrected coordinate data of the underwater cleaning robot.

2. The linear motion control method of an underwater cleaning robot according to claim 1, characterized in that: The filtering process in S1 includes one of mean filtering, median filtering and Kalman filtering.

3. The linear motion control method of an underwater cleaning robot according to claim 1, characterized in that: The step S3 specifically includes: According to the three-point-one-line principle, the coordinate data of the underwater cleaning robot at the next moment is calculated using the corrected coordinate data of the underwater cleaning robot at the previous two moments, so as to obtain the predicted coordinate data of the underwater cleaning robot at the next moment.

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