Man-machine cooperation ship maintenance system

Abstract

The invention discloses a man-machine cooperation ship maintenance system, and relates to the technical field of robots, and the system comprises a scene perception interaction module, at least one multi-degree-of-freedom mechanical arm, a plurality of ship cabin base adapters, a plurality of ship cabin base adapters with visual marks, and a plurality of operation tools. The two ends of each multi-degree-of-freedom mechanical arm are each provided with a modularized mechanical arm end executor. Each modular mechanical arm end effector is provided with a quick-change interface and a first visual sensor, the quick-change interface is used for locking a ship cabin base adapter or an operation tool, and the first visual sensor is used for identifying a visual mark of the ship cabin base adapter; the scene perception interaction module is used for identifying a control instruction of an operator and controlling the multi-degree-of-freedom mechanical arm to execute a maintenance task according to the control instruction; the control instruction is a voice instruction, a gesture instruction or a bioelectricity information instruction. According to the invention, the efficiency and safety of maintenance work can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a human-machine collaborative ship maintenance system. Background Art

[0002] At present, the maintenance of smart ships mainly relies on on-site operations by personnel, which not only consumes a large amount of human resources, but also faces many challenges such as harsh working environment and difficult operations. Summary of the invention

[0003] The purpose of this application is to provide a human-machine collaborative ship maintenance system that can improve the efficiency and safety of maintenance work.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a human-machine collaborative ship maintenance system, comprising: a scene perception interaction module, at least one multi-degree-of-freedom robotic arm, a plurality of ship cabin base adapters, a plurality of ship cabin base adapters with visual markings, and a plurality of working tools, wherein a modular robotic arm end effector is respectively configured at both ends of each of the multi-degree-of-freedom robotic arms; each of the modular robotic arm end effectors is configured with a quick-change interface and a first visual sensor, each ship cabin base adapter is fixed in the ship cabin, the quick-change interface is used to lock the ship cabin base adapter or the working tool, and the first visual sensor is used to identify the visual markings of the ship cabin base adapter; the ship cabin base adapter is used to power the multi-degree-of-freedom robotic arm;

[0006] The scene perception interaction module is used to identify the control instructions of the operator and control the multi-degree-of-freedom robotic arm to perform maintenance tasks according to the control instructions; the control instructions are voice instructions, gesture instructions or bioelectric information instructions.

[0007] Optionally, the scene perception interaction module includes a second visual sensor, which is used to collect a posture image of the operator and identify the control instruction represented by the posture image through a human posture algorithm.

[0008] Optionally, the scene perception interaction module includes a wearable bioelectric sensor, and the wearable bioelectric sensor is used to collect bioelectric signals of the operator and generate the bioelectric information instruction according to the bioelectric signals.

[0009] Optionally, the scene perception interaction module includes a voice sensor, which is used to collect the voice signal of the operator and generate the voice command according to the voice information signal.

[0010] Optionally, the human-machine collaborative ship maintenance system also includes a remote robotic arm control terminal, the multi-degree-of-freedom robotic arm includes a torque sensor and a position sensor, the torque sensor and the position sensor are both communicatively connected to the remote robotic arm control terminal, and the remote robotic arm control terminal is used to remotely control the position and end posture of the multi-degree-of-freedom robotic arm.

[0011] Optionally, the torque sensor is used to control the multi-degree-of-freedom robotic arm to stop moving when the collected torque is greater than a set value.

[0012] Optionally, the visual mark includes at least one of an AR code and a Tag code.

[0013] Optionally, the working tools include plugging and extraction tools, shearing tools, screwing tools and clamping tools.

[0014] Optionally, the scene perception interaction module is also used to perform trajectory planning according to the control instruction, and control the corresponding multi-degree-of-freedom robotic arm to move to a specified position.

[0015] Optionally, the scene perception interaction module is also used to move to a to-be-determined position after the multi-degree-of-freedom robotic arm moves to perform a maintenance task.

[0016] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0017] The present application provides a human-machine collaborative ship maintenance system, which perceives the operating intention of operators through a scene perception interaction module, generates control instructions to control a multi-degree-of-freedom robotic arm to perform maintenance tasks, avoids operators performing maintenance tasks in dangerous scenarios, reduces labor costs, and improves maintenance efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a human-machine collaborative ship maintenance system provided in one embodiment of the present application;

[0020] Figure 2 A schematic diagram of a human-computer interaction process provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the operation flow of a human-machine collaborative ship maintenance system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] This application provides a human-machine collaborative ship maintenance system, such as Figure 1 As shown, the human-machine collaborative ship maintenance system includes: a scene perception interaction module, at least one multi-degree-of-freedom robotic arm, multiple ship cabin base adapters, multiple ship cabin base adapters with visual markings and multiple working tools, each of the multi-degree-of-freedom robotic arm is respectively configured with a modular robotic arm end effector at both ends; each of the modular robotic arm end effectors is configured with a quick-change interface and a first visual sensor, each ship cabin base adapter is fixed in the ship cabin, the quick-change interface is used to lock the ship cabin base adapter or the working tool, and the first visual sensor is used to identify the visual markings of the ship cabin base adapter; the ship cabin base adapter is used to power the multi-degree-of-freedom robotic arm and provide signals.

[0025] like Figure 2 As shown, the scene perception interaction module is used to identify the control instructions of the operator and control the multi-degree-of-freedom robotic arm to perform maintenance tasks according to the control instructions; the control instructions are voice instructions, gesture instructions or bioelectric information instructions.

[0026] The multi-degree-of-freedom manipulator is specifically a multi-degree-of-freedom manipulator with waterproof capability and force feedback, and is composed of multiple joints connected in series. The working tool is a quick-change end tool. One end of the multi-degree-of-freedom manipulator is connected to the ship cabin base adapter through a modular manipulator end effector, and the other end is connected to the quick-change end tool through a modular manipulator end effector.

[0027] The ship cabin base adapter is a supporting equipment for the multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm determines the position of the ship cabin base adapter by detecting the visual marks on the base adapter through the visual sensor and moves to that position.

[0028] The ship cabin base adapter is connected to the host computer, and the host computer provides a signal, that is, message information of the control command, to the multi-degree-of-freedom manipulator through the ship cabin base adapter.

[0029] Maintenance tasks include item delivery, collaborative handling, and other tasks that can be used to inspect, repair, and maintain smart ships. This application designs crawling interfaces inside and outside the ship's cabin, allowing operators and multi-degree-of-freedom robotic arms to more efficiently complete cabin position movement and complex terminal operations. At the same time, the universal multifunctional operating tool adopts a modular design, and the operating tool can be replaced according to different maintenance tasks, further improving the scenario applicability of the maintenance system.

[0030] In an exemplary embodiment, the scene perception interaction module includes a second visual sensor, which is used to collect a posture image of the operator and identify the control instruction represented by the posture image through a human posture algorithm. Identifying the control instruction represented by the posture image through a human posture algorithm specifically includes: using a human posture recognition model to identify the control instruction represented by the posture image, and the human posture recognition model is obtained through machine learning training.

[0031] In an exemplary embodiment, the scene perception interaction module includes a wearable bioelectric sensor, which is used to collect bioelectric signals of the operator and generate the bioelectric information instructions based on the bioelectric signals.

[0032] In an exemplary embodiment, the scene perception interaction module includes a voice sensor, which is used to collect the voice signal of the operator and generate the voice command according to the voice information signal.

[0033] Operators can use corresponding sensors to control the multi-degree-of-freedom robotic arm through voice, gestures, or bioelectric information commands. At the same time, the multi-degree-of-freedom robotic arm can perceive the task environment and operator status through external vision and internal force sensors, so as to better observe the working environment and working process, discover and solve problems in time, and improve the reliability of human-machine collaborative operation.

[0034] In an exemplary embodiment, the human-machine collaborative ship maintenance system also includes a remote robotic arm control terminal, the multi-degree-of-freedom robotic arm includes a torque sensor and a position sensor, the torque sensor and the position sensor are both communicatively connected to the remote robotic arm control terminal, and the remote robotic arm control terminal is used to remotely control the position and end posture of the multi-degree-of-freedom robotic arm.

[0035] In an exemplary embodiment, the torque sensor is used to control the multi-degree-of-freedom robotic arm to stop moving when the collected torque is greater than a set value.

[0036] In an exemplary embodiment, the visual marker includes at least one of an AR code (Augmented Reality Marker) and a Tag code. A Tag code is a label used to classify and identify information.

[0037] In an exemplary embodiment, the working tools are mainly composed of a variety of systems that can be used for intelligent ship maintenance. The working tools include working adaptation tools such as plug-in tools, shearing tools, screwing tools and clamping tools. The multi-degree-of-freedom robotic arm achieves different working capabilities by locking and docking the end with the quick-change end tool, thereby carrying out delicate maintenance operations.

[0038] In an exemplary embodiment, the scene perception interaction module is also used to perform trajectory planning according to the control instruction to control the corresponding multi-degree-of-freedom robotic arm to move to a specified position.

[0039] The multi-DOF kinematic mechanism has motors at each joint to provide power. The movement is a crawling motion through the deployment of several ship cabin base adapters.

[0040] After multiple multi-degree-of-freedom robotic arms reach the specified position, they have the functions of collaborative collision avoidance and trajectory planning during the operation process. By combining two or more of the same or different quick-change end tools, collaborative operations of complex maintenance tasks can be achieved.

[0041] The collaborative strategy of multiple multi-DOF robotic arms is generated in the upper computer of the robotic arm, and the upper computer sends the collaborative motion strategy to the corresponding multi-DOF robotic arms through the communication link to achieve the collaboration of multiple multi-DOF robotic arms.

[0042] In an exemplary embodiment, the scene perception interaction module is also used to move the multi-degree-of-freedom manipulator to a predetermined position after the manipulator moves to perform a maintenance task, such as Figure 3 shown.

[0043] In practical applications, this multimodal human-robot collaborative maintenance system can replace some on-site manual labor to repair and replace complex parts. Operators can accurately operate and maintain the internal equipment of the ship simply by remotely controlling the robotic arm. This not only reduces the number and workload of maintenance personnel, but also greatly improves the safety and efficiency of operations.

[0044] In addition, the application of this system will also help improve the level of automated maintenance and system reliability of smart ships. By introducing advanced robotics technology and artificial intelligence algorithms, real-time monitoring and predictive maintenance of ship status can be achieved, so that potential problems can be discovered and resolved in a timely manner, ensuring the safe and stable operation of the ship.

[0045] This application is mainly applicable to the field of intelligent ships, and is mainly used for remote operation inside and outside the ship's cabin. In addition, the quick-change end tool proposed in this application is combined with the end effector of the robotic arm. Through human-robot collaboration on site, the workload of operators is reduced, the degree of automation of maintenance is improved, and a variety of complex operation tasks are realized.

[0046] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A human-machine collaborative ship maintenance system, characterized in that: The human-machine collaborative ship maintenance system comprises: a scene perception interaction module, at least one multi-degree-of-freedom robotic arm, a plurality of ship cabin base adapters, a plurality of ship cabin base adapters with visual markings and a plurality of working tools, each of the multi-degree-of-freedom robotic arms is respectively provided with a modular robotic arm end effector at both ends; each of the modular robotic arm end effectors is provided with a quick-change interface and a first visual sensor, each ship cabin base adapter is fixed in the ship cabin, the quick-change interface is used to lock the ship cabin base adapter or the working tool, and the first visual sensor is used to identify the visual markings of the ship cabin base adapter; the ship cabin base adapter is used to power the multi-degree-of-freedom robotic arm; The scene perception interaction module is used to identify the control instructions of the operator and control the multi-degree-of-freedom robotic arm to perform maintenance tasks according to the control instructions; the control instructions are voice instructions, gesture instructions or bioelectric information instructions.

2. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The scene perception interaction module includes a second visual sensor, which is used to collect the posture image of the operator and identify the control instruction represented by the posture image through a human posture algorithm.

3. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The scene perception interaction module includes a wearable bioelectric sensor, which is used to collect the bioelectric signal of the operator and generate the bioelectric information instruction according to the bioelectric signal.

4. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The scene perception interaction module includes a voice sensor, which is used to collect the voice signal of the operator and generate the voice command according to the voice information signal.

5. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The human-machine collaborative ship maintenance system also includes a remote robotic arm control end, the multi-degree-of-freedom robotic arm includes a torque sensor and a position sensor, the torque sensor and the position sensor are both communicatively connected to the remote robotic arm control end, and the remote robotic arm control end is used to remotely control the position and end posture of the multi-degree-of-freedom robotic arm.

6. The human-machine collaborative ship maintenance system according to claim 5, characterized in that: The torque sensor is used to control the multi-degree-of-freedom mechanical arm to stop moving when the collected torque is greater than a set value.

7. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The visual mark includes at least one of an AR code and a Tag code.

8. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The working tools include plugging and pulling tools, shearing tools, screwing tools and clamping tools.

9. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The scene perception interaction module is also used to perform trajectory planning according to the control instruction, and control the corresponding multi-degree-of-freedom robotic arm to move to a specified position.

10. The human-machine collaborative ship maintenance system according to claim 1, characterized in that: The scene perception interaction module is also used to move the multi-degree-of-freedom robotic arm to a predetermined position after the robot arm moves to perform a maintenance task.

Images