Underwater exploration and operation collaborative robot and control method

Abstract

The invention provides an underwater exploration and operation collaborative robot and a control method. The robot comprises an underwater robot body; the electric telescopic rod is arranged at the execution end of the underwater robot body; the plurality of operation modules are detachably arranged at the tail end of the electric telescopic rod through a quick disassembly tool; the adsorption device is slidably arranged on the electric telescopic rod and is used for providing stable support for the operation module; the image acquisition module at least comprises two underwater industrial cameras, one underwater industrial camera is used for acquiring an underwater working environment so as to plan a working path, and the other underwater industrial camera is used for monitoring underwater exploration and working conditions in real time and uploading the underwater exploration and working conditions to the cloud to establish a digital file; the controller is used for controlling the mechanical arm and the electric telescopic rod to cooperatively act, so that the operation module can efficiently execute the operation task; the underwater operation capability, the operation efficiency and the operation stability can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater exploration and operation equipment, and in particular to an underwater exploration and operation collaborative robot and a control method. Background Art

[0002] Underwater robot technology has been widely used in recent years, especially in deep-sea exploration, shipwreck salvage, underwater pipeline repair, seabed resource exploration, and maintenance of underwater facilities such as hydropower stations. Existing underwater robot systems generally use mechanical arms or fixed devices to complete tasks, but these systems have certain limitations when dealing with complex environments, which are mainly reflected in the following aspects:

[0003] 1. Insufficient operating capacity: When performing high-load or deep-reaching operations, existing robotic arm systems have difficulty completing some high-demand tasks, such as deep-sea rescue or complex underwater structure inspection, due to insufficient torque and limited operating radius;

[0004] 2. Poor spatial adaptability: Existing systems often cannot effectively adapt to complex, narrow, curved and other irregular spaces, which limits their ability to operate in shipwrecks, submarine pipelines or underwater facilities of hydropower stations;

[0005] 3. Insufficient tool integration: The existing system has limited end-of-line tool integration and cannot quickly adapt to multi-task operations, resulting in frequent tool changes in actual operations, affecting efficiency;

[0006] 4. Limited stability: In strong water flow or deep water environment, the stability of existing robot systems is poor, especially when performing high-precision tasks, they are easily affected by water flow disturbances or deep water high pressure.

[0007] Therefore, there is an urgent need for an underwater exploration and operation collaborative robot and control method that can effectively improve underwater operation capabilities, operation efficiency and operation stability. Summary of the invention

[0008] The purpose of the present invention is to provide an underwater exploration and operation collaborative robot and a control method, aiming to solve the technical problems of low underwater operation ability, low efficiency and poor operation stability of traditional underwater exploration robots.

[0009] To achieve the above objectives, in a first aspect, the present invention provides an underwater exploration and operation collaborative robot, comprising:

[0010] The underwater robot body comprises a mobile base and a multi-axis mechanical arm arranged on the mobile base;

[0011] An electric telescopic rod, arranged at the execution end of the multi-axis mechanical arm;

[0012] A plurality of operation modules are detachably arranged at the end of the electric telescopic rod through quick-release tooling, and are used to perform underwater operation tasks;

[0013] An adsorption device, which can be slidably arranged on the electric telescopic rod, is used to be adsorbed on the place to be operated and provide stable support for the operation module;

[0014] An image acquisition module includes at least two underwater industrial cameras, one of which is used to acquire the underwater operating environment in order to plan the operating path, and the other is used to monitor the underwater exploration and operating conditions in real time and upload them to the cloud to establish a digital file;

[0015] The controller is used to control the coordinated action of the multi-axis robot arm and the electric telescopic rod so that the operation module can efficiently perform the operation task.

[0016] As a further improvement of the above solution, the adsorption device includes an adsorption seat, a universal joint hinged to the adsorption seat, and a connecting piece arranged at the end of the universal joint;

[0017] The adsorption seat is of magnetic type or negative pressure type, which can be flexibly selected according to the difference of materials in the working environment.

[0018] As a further improvement of the above solution, the operation module includes at least one operation unit, and the operation unit is a lighting fixture or a gripper or a crowbar.

[0019] As a further improvement of the above solution, the operation module includes but is not limited to operation tools such as grippers, crowbars, and wrenches.

[0020] As a further improvement of the above solution, the adsorption device is slidably arranged on the electric telescopic rod through a slidable mechanism;

[0021] The slidable mechanism is a lead screw module installed on the housing of the electric telescopic rod, and the connecting piece is connected to the lead screw nut of the lead screw module.

[0022] As a further improvement of the above scheme, when there are debris or irregular shapes on the surface of the underwater structure, the adsorption device can find a suitable adsorption point to complete the adsorption by means of a slidable mechanism across the obstacle;

[0023] The adsorption position is determined by the following formula:

[0024]

[0025] in:

[0026] P 吸附 is the target position of the adsorption device;

[0027] P基点 is the base point position of the slide rail;

[0028] d 轨 is the movement distance of the slide rail;

[0029] is the unit vector of the slide direction.

[0030] As a further improvement of the above scheme, the selection of the adsorption point of the adsorption device is based on the moment balance principle. Specifically, the moment balance equation is as shown below:

[0031] τ 总 =τ 臂 +τ 伸缩杆 -τ 负载

[0032] in:

[0033] τ 总 : The total output torque of the system;

[0034] τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm;

[0035] τ 伸缩杆 =F 杆 ·L 杆 ·cosθ 杆 , is the torque of the electric telescopic rod;

[0036] τ 负载 =W 负载 ·L 负载 , is the moment of the target load;

[0037] F 臂 、F 杆 : The forces provided by the robotic arm and the electric telescopic rod respectively;

[0038] L 臂 , L 杆 , L 负载 : are the arm lengths of the robot arm, electric telescopic rod and load respectively;

[0039] θ 臂 ,θ 杆 : are the inclination angles of the robotic arm and the electric telescopic rod respectively;

[0040] W 负载 is the total weight of the load.

[0041] As a further improvement of the above scheme, the underwater exploration and operation collaborative robot also includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable operation path;

[0042] The laser radar and the two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory.

[0043] As a further improvement of the above solution, when the adsorption device adopts a negative pressure adsorption universal joint, the supporting force provided by the adsorption device is calculated by the following formula:

[0044]

[0045] in:

[0046] F 吸附 : The supporting force provided by the adsorption device;

[0047] P 内 , P 外 : are the pressure inside and outside the adsorption device respectively;

[0048] A 吸附 : Effective contact area of ​​the adsorption device.

[0049] As a further improvement of the above solution, the electric telescopic rod is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state;

[0050] The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the working environment and the workpiece 杆 ;

[0051] The real-time telescopic length L of the electric telescopic rod is adjusted based on the following formula:

[0052]

[0053] The real-time tilt angle θ of the electric telescopic rod 杆 Adjustments are made based on the following formula:

[0054]

[0055] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point respectively.

[0056] As a further improvement of the above solution, the underwater robot body is also equipped with a remote control interface, allowing remote operation and control of the robot system for exploration and operation.

[0057] In a second aspect, the present invention further provides a control method for the underwater exploration and operation collaborative robot, the steps of which include:

[0058] S1. After entering the underwater working environment, use cameras, radars and laser rangefinders to scan the environment, obtain information about the environment to be explored and the working environment based on the scanned environment, automatically establish an environmental map model and obtain a reasonable working path;

[0059] S2, the underwater robot body moves to the initial position of the operation path, controls the mechanical arm to move and drives the electric telescopic rod to approach the work site, and the underwater industrial camera set at the end of the electric telescopic rod obtains the work target at the current work site;

[0060] S3, based on the current operation target, calculate the adsorption position of the adsorption device, move the adsorption device to the adsorption position, and calculate the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 杆 ;

[0061] S4, the adsorption device is adsorbed at the obtained adsorption position, the electric telescopic rod is extended, and based on the current operation target, the operation module is moved to the operation target in coordination with the robotic arm to perform the operation, and the operation status is wirelessly transmitted to the cloud or an external receiving device;

[0062] S5. After the operation of the current operation target is completed, the electric telescopic rod drives the operation module to retract, and the adsorption fixation of the adsorption device is released;

[0063] Then move to the next operation target to perform the operation, and the underwater industrial camera set at the end of the electric telescopic rod obtains the operation target at the current operation location; repeat steps S3 and S4 until the operation within the operation path is completed.

[0064] Since the present invention adopts the above technical solution, the beneficial effects of this application are:

[0065] 1. The present invention provides an underwater exploration and operation collaborative robot. By arranging an electric telescopic rod at the end of a mechanical arm, and replacing a plurality of operation modules at the end of the electric telescopic rod through a quick-release tool, the mechanical arm and the electric telescopic rod work together to drive the operation modules to different operation targets to perform different operation tasks; at the same time, an adsorption device is slidably provided on the electric telescopic rod, and the adsorption device can be adsorbed on the place to be operated to provide stable support for the operation module, so that the operation can be stable even in an irregular underwater surface or a strong water flow environment, thereby greatly reducing the operation load of the mechanical arm, and improving the operation stability of the operation module, thereby improving the operation accuracy;

[0066] In some preferred embodiments, the adsorption device includes an adsorption seat, a universal joint hinged to the adsorption seat, and a connector arranged at the end of the universal joint; the adsorption seat is magnetic or negative pressure, which can be flexibly selected according to the difference of materials in the working environment; the setting of the universal joint adsorption device can provide stable support while being flexible, so that the working module can also flexibly operate on the curved surface working target; at the same time, the adsorption device can select a magnetic adsorption universal joint or a negative pressure adsorption universal joint, which can be flexibly selected according to the material of the workpiece. For metal workpieces, a magnetic adsorption universal joint can be selected; for non-metal workpieces, a negative pressure adsorption universal joint can be selected, which can improve the versatility of the collaborative robot system;

[0067] At the same time, the operating module is detachably arranged at the end of the electric telescopic rod through a quick-release tool. The detachable arrangement enables the execution end of the collaborative robot to be equipped with various operating tools according to the operating conditions. At the same time, the detachable arrangement through the quick-release tool makes the replacement of the operating module convenient and fast; preferably, the operating module is a camera, a gripper, a crowbar or an underwater welding tool, etc., which can meet different operating requirements; thereby effectively improving the operating ability and efficiency of the collaborative robot.

[0068] 2. The present invention provides an underwater exploration and operation collaborative robot, wherein the adsorption device is slidably arranged on the electric telescopic rod through a slidable mechanism; the slidable mechanism is a screw module installed on the housing of the electric telescopic rod, and the connecting piece is connected to the screw nut of the screw module; the setting of the slidable mechanism, when restricted by obstacles or complex terrain, can drive the adsorption device to move to find a suitable adsorption point through the slidable mechanism, thereby improving the operation ability of the collaborative robot; at the same time, before adsorption, the suitable adsorption point can be found through the movement of the slidable mechanism to break through the restriction of complex terrain; in the operation process after adsorption, the adsorption device can also be fine-tuned through the movement of the slidable mechanism, thereby optimizing the operation accuracy.

[0069] 3. The present invention provides an underwater exploration and operation collaborative robot, wherein the cooperation of a mechanical arm, an electric telescopic rod and a universal adsorption device can adjust the real-time telescopic length L and the real-time tilt angle θ of the electric telescopic rod in real time. 杆 , ensuring that the operation module always maintains the best posture with the operation target, thus adapting to the application of complex underwater scenes.

[0070] 4. The present invention provides an underwater exploration and operation collaborative robot, including an image acquisition module, including at least two underwater industrial cameras, one of which is used to acquire the underwater operation environment in order to plan the operation path, and the other is used to monitor the underwater exploration and operation conditions in real time and upload them to the cloud to establish a digital file for archiving and viewing;

[0071] The underwater robot body is also equipped with a remote control interface, which allows remote operation and control of the robot system for underwater operations, thereby making the collaborative robot system more intelligent, and remote control operation can reduce the risk of manual operation and reduce harm to operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] 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 the structures shown in these drawings without paying any creative work.

[0073] Figure 1 This is a schematic diagram of the main view of an underwater exploration and operation collaborative robot disclosed in the present invention;

[0074] Figure 2 It is a front view schematic diagram of an underwater exploration and operation collaborative robot (excluding the underwater robot body) disclosed in the present invention;

[0075] Figure 3 A side view schematic diagram of the adsorption device disclosed in the present invention Figure 1 ;

[0076] Figure 4 A side view schematic diagram of the adsorption device disclosed in the present invention Figure 2 ;

[0077] Reference numerals:

[0078] 1. Underwater robot body; 11. Mobile base; 12. Robotic arm; 2. Electric telescopic rod; 3. Operation module; 4. Quick-release tooling; 5. Adsorption device; 51. Adsorption seat; 52. Universal joint; 53. Connector; 6. Screw module.

[0079] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0080] 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.

[0081] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0082] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0083] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0084] Example 1

[0085] See also Figure 1-Figure 4 The present invention provides an underwater exploration and operation collaborative robot, comprising:

[0086] The underwater robot body 1 includes a mobile base 11 and a multi-axis mechanical arm 12 arranged on the mobile base 11;

[0087] An electric telescopic rod 2, arranged at the execution end of the multi-axis mechanical arm 12;

[0088] Several operation modules 3 are detachably arranged at the end of the electric telescopic rod 2 through quick-release tooling 4, and are used to perform underwater operation tasks; specifically, the operation module 3 includes at least one operation unit, which is a lighting fixture, a gripper, or a crowbar, etc., and is flexibly combined and arranged according to the operation scene; in some embodiments, a lighting fixture unit and a camera unit can be arranged on an operation module 3 to detect the underwater environment; in some embodiments, for example, under a dam, especially during the flood season when a large amount of water flows, a lot of gravel or garbage is accumulated at the bottom of the dam. If it is not handled in time, it will entangle the fishing net or affect subsequent transportation. In this scenario, the operation module 3 is switched to a gripper, and in conjunction with the setting of the lighting fixture, a lot of gravel or garbage accumulated at the bottom of the dam is removed by the gripper. For large gravel that is inconvenient to remove at one time, the operation module 3 can be switched to a crowbar, and the large gravel is pried by the crowbar; the operation module 3 includes but is not limited to operation tools such as grippers, crowbars, and wrenches;

[0089] Adsorption device 5, see Figure 2-Figure 4 , which can be slidably arranged on the electric telescopic rod 2, and is used to be adsorbed at the place to be operated to provide stable support for the operation module 3; the adsorption device 5 includes an adsorption seat 51, a universal joint 52 hinged to the adsorption seat 51, and a connecting piece 53 arranged at the end of the universal joint 52; the adsorption seat 51 is a magnetic suction type or a negative pressure type, which can be flexibly selected according to the difference of materials in the working environment;

[0090] An image acquisition module includes at least two underwater industrial cameras, one of which is used to acquire the underwater operating environment in order to plan the operating path, and the other is used to monitor the underwater exploration and operating conditions in real time and upload them to the cloud to establish a digital file;

[0091] A controller, used to control the coordinated action of the multi-axis robot arm 12 and the electric telescopic rod 2, so that the operation module 3 can efficiently perform the operation task;

[0092] By arranging an electric telescopic rod at the end of the mechanical arm 12, and replacing a plurality of operation modules 3 at the end of the electric telescopic rod 2 through a quick-release tool 4, the mechanical arm 12 and the electric telescopic rod 2 work together to drive the operation module 3 to different operation targets to perform different operation tasks; at the same time, an adsorption device 5 is slidably provided on the electric telescopic rod 2, and the adsorption device 5 can be adsorbed at the place to be operated to provide stable support for the operation module 3, so that it can operate stably even on irregular underwater surfaces or strong water flow environments, thereby greatly reducing the operating load of the mechanical arm 12, and improving the operating stability of the operation module 3, thereby improving the operation accuracy;

[0093] The setting of the universal joint 52 type adsorption device 5 can provide stable support and can also move flexibly, so that the operation module 3 can also flexibly operate on the curved surface operation target; at the same time, the adsorption device 5 can select a magnetic adsorption universal joint 52 or a negative pressure adsorption universal joint 52, which can be flexibly selected according to the material of the workpiece. For metal workpieces, a magnetic adsorption universal joint 52 can be selected; for non-metal workpieces, a negative pressure adsorption universal joint 52 can be selected, which can improve the versatility of the collaborative robot system;

[0094] At the same time, the operation module 3 is detachably arranged at the end of the electric telescopic rod 2 through the quick-release tooling 4. The detachable arrangement enables the execution end of the collaborative robot to be equipped with various different operation tools according to the operation conditions. At the same time, the detachable arrangement of the quick-release tooling 4 makes the replacement of the operation module 3 convenient and fast; preferably, the operation module 3 is a camera, a gripper, a crowbar or an underwater welding tool, etc., which can meet different operation requirements; thereby, the operation capability and efficiency of the collaborative robot can be effectively improved.

[0095] As a preferred embodiment, the adsorption device 5 is slidably disposed on the electric telescopic rod 2 through a slidable mechanism;

[0096] The slidable mechanism is a screw module 6 installed on the housing of the electric telescopic rod 2, and the connecting member 53 is connected to the screw nut of the screw module 6;

[0097] The setting of the sliding mechanism can drive the adsorption device 5 to move and find a suitable adsorption point through the sliding mechanism when there are obstacles or complex terrain restrictions, thereby improving the operating ability of the collaborative robot; at the same time, before adsorption, the suitable adsorption point can be found through the movement of the sliding mechanism to break through the restrictions of complex terrain. In the operation process after adsorption, the adsorption device 5 can also be fine-tuned through the movement of the sliding mechanism to optimize the operating accuracy.

[0098] As a preferred embodiment, when there are debris or irregular shapes on the surface of the underwater structure, the adsorption device 5 can find a suitable adsorption point through a slidable mechanism to cross the obstacle and complete the adsorption;

[0099] The adsorption position is determined by the following formula:

[0100]

[0101] in:

[0102] P 吸附 The target position of the adsorption device 5;

[0103] P 基点 is the base point position of the slide rail;

[0104] d轨 is the movement distance of the slide rail;

[0105] is the unit vector of the slide rail direction;

[0106] Before adsorption, the adsorption device 5 is driven to move by moving the slidable mechanism to find a suitable adsorption point, that is, to find a suitable support point, to provide a guarantee for the stable operation of the subsequent operation module 3, and the adsorption point is determined based on the formula of the adsorption position to break through the limitation of complex terrain;

[0107] In some embodiments, during the operation after adsorption, the adsorption device 5 can be fine-tuned by moving the slidable mechanism to optimize the operation accuracy; specifically, when the adsorption point deviates from the operation center, the position of the adsorption device 5 can be fine-tuned by the slidable mechanism, so that the terminal operation module 3 is aligned with the operation target;

[0108] The position correction formula for fine-tuning after adsorption is:

[0109]

[0110] Where ΔP 修 A displacement vector representing the fine-tuning.

[0111] As a preferred embodiment, in order to provide stable support for the operation module 3, the selection of the adsorption point is also crucial. The weight of the load, that is, the weight of the operation module 3, for a specific operation module 3, the weight of each operation module 3 is known, the length of the mechanical arm 12 of the underwater robot body 1 is also known, and the length of the electric telescopic arm can be adjusted;

[0112] The selection of the adsorption point of the adsorption device 5 is based on the moment balance principle. Specifically, the moment balance equation is as follows:

[0113] τ 总 =τ 臂 +τ 伸缩杆 -τ 负载

[0114] in:

[0115] τ 总 : The total output torque of the system;

[0116] τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm;

[0117] τ 伸缩杆 =F 杆 ·L 杆·cosθ 杆 , is the torque of the electric telescopic rod 2;

[0118] τ 负载 =W 负载 ·L 负载 , is the moment of the target load;

[0119] F 臂 、F 杆 : are the forces provided by the mechanical arm 12 and the electric telescopic rod 2 respectively;

[0120] L 臂 , L 杆 , L 负载 : are the arm lengths of the mechanical arm 12, the electric telescopic rod 2 and the load respectively;

[0121] θ 臂 ,θ 杆 : are the inclination angles of the mechanical arm 12 and the electric telescopic rod 2 respectively;

[0122] W 负载 is the total weight of the load. In this embodiment, the load is the operation module.

[0123] As a preferred embodiment, the underwater exploration and operation collaborative robot further includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable operation path.

[0124] The laser radar and two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory;

[0125] Preferably, the operation path includes the walking path of the collaborative robot and the operation path of the operation module 3;

[0126] Such a setting can improve work efficiency and ensure that each work target in the confined space is explored and operated to avoid omissions.

[0127] As a preferred embodiment, when the adsorption device 5 adopts a negative pressure adsorption universal joint 52, the supporting force provided by the adsorption device 5 is calculated by the following formula:

[0128]

[0129] in:

[0130] F 吸附 : The supporting force provided by the adsorption device 5;

[0131] P 内 , P 外 : are the pressures inside and outside the adsorption device 5 respectively;

[0132] A 吸附 : The effective contact area of ​​the adsorption device 5.

[0133] As a preferred embodiment, the electric telescopic rod 2 is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state;

[0134] The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the working environment and the workpiece 杆 ;

[0135] The real-time telescopic length L of the electric telescopic rod 2 is adjusted based on the following formula:

[0136]

[0137] The real-time tilt angle θ of the electric telescopic rod 2 杆 Adjustments are made based on the following formula:

[0138]

[0139] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point position respectively;

[0140] The dynamically adjusted length and tilt angle of the telescopic rod can ensure that the operation module 3 always maintains the best operating posture with the operation target and can adapt to underwater operation conditions in multiple scenarios.

[0141] As a preferred embodiment, the underwater robot body 1 is also equipped with a remote control interface, which allows remote operation and control of the robot system for exploration and operation; thereby making the collaborative robot system more intelligent, and the remote control operation can reduce the risk of manual operation and reduce harm to the operator.

[0142] Example 2

[0143] The present invention also provides a control method for the underwater exploration and operation collaborative robot as described in Example 1, the steps of which include:

[0144] S1. After entering the underwater working environment, use cameras, radars and laser rangefinders to scan the environment, obtain information about the environment to be explored and the working environment based on the scanned environment, automatically establish an environmental map model and obtain a reasonable working path;

[0145] S2, the underwater robot body 1 moves to the initial position of the operation path, controls the mechanical arm 12 to move and drives the electric telescopic rod 2 to approach the work site, and the underwater industrial camera set at the end of the electric telescopic rod 2 obtains the work target at the current work site;

[0146] S3, based on the current operation target, calculate the adsorption position of the adsorption device 5, move the adsorption device 5 to the adsorption position, and calculate the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 2 杆 ;

[0147] The adsorption position is determined by the following formula:

[0148]

[0149] in:

[0150] P 吸附 The target position of the adsorption device 5;

[0151] P 基点 is the base point position of the slide rail;

[0152] d 轨 is the movement distance of the slide rail;

[0153] is the unit vector of the slide rail direction;

[0154] The real-time telescopic length L of the electric telescopic rod 2 is adjusted based on the following formula:

[0155]

[0156] The real-time tilt angle θ of the electric telescopic rod 2 杆 Adjustments are made based on the following formula:

[0157]

[0158] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point position respectively;

[0159] The dynamically adjusted length and tilt angle of the telescopic rod can ensure that the operation module 3 always maintains the best working posture with the operation target and can adapt to underwater operation conditions in multiple scenarios;

[0160] S4, the adsorption device 5 is adsorbed at the obtained adsorption position, the electric telescopic rod 2 is extended, and based on the current operation target, the operation module 3 is moved to the operation target in coordination with the robot arm 12 to perform the operation, and the operation status is wirelessly transmitted to the cloud or an external receiving device;

[0161] S5. After the operation of the current operation target is completed, the electric telescopic rod 2 drives the operation module 3 to retract, and the adsorption fixation of the adsorption device 5 is released;

[0162] Then move to the next operation target to perform the operation, and the underwater industrial camera set at the end of the electric telescopic rod 2 obtains the operation target at the current operation location; repeat steps S3 and S4 until the operation within the operation path is completed;

[0163] The collaborative robot system controls the length and tilt angle of the electric telescopic rod 2 through high-precision drive, so that the control method provided by the present invention is suitable for exploration and operation in deep underwater locations; and by slidably adjusting the position of the adsorption device 5 on the electric telescopic rod 2, the support point can be flexibly selected, which improves the flexibility of torque distribution, thereby improving the operating ability and operating stability of the collaborative robot.

[0164] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An underwater exploration and operation collaborative robot, characterized in that: include: The underwater robot body comprises a mobile base and a multi-axis mechanical arm arranged on the mobile base; An electric telescopic rod, arranged at the execution end of the multi-axis mechanical arm; A plurality of operation modules are detachably arranged at the end of the electric telescopic rod through quick-release tooling, and are used to perform underwater operation tasks; An adsorption device, which can be slidably arranged on the electric telescopic rod, is used to be adsorbed on the place to be operated and provide stable support for the operation module; An image acquisition module includes at least two underwater industrial cameras, one of which is used to acquire the underwater operating environment in order to plan the operating path, and the other is used to monitor the underwater exploration and operating conditions in real time and upload them to the cloud to establish a digital file; The controller is used to control the coordinated action of the multi-axis robot arm and the electric telescopic rod so that the operation module can efficiently perform the operation task.

2. The underwater exploration and operation collaborative robot according to claim 1, characterized in that: The adsorption device comprises an adsorption seat, a universal joint hinged to the adsorption seat, and a connecting piece arranged at the end of the universal joint; The adsorption seat is of magnetic type or negative pressure type, which can be flexibly selected according to the difference of materials in the working environment.

3. An underwater exploration and operation collaborative robot according to claim 1 or 2, characterized in that: The operation module comprises at least one operation unit, and the operation unit is a lighting fixture, a gripper or a crowbar.

4. The underwater exploration and operation collaborative robot according to claim 2, characterized in that: The adsorption device is slidably arranged on the electric telescopic rod through a slidable mechanism; The slidable mechanism is a lead screw module installed on the housing of the electric telescopic rod, and the connecting piece is connected to the lead screw nut of the lead screw module.

5. An underwater exploration and operation collaborative robot according to claim 1 or 2, characterized in that: When there are debris or irregular shapes on the surface of the underwater structure, the adsorption device uses a sliding mechanism to cross the obstacles and find a suitable adsorption point to complete the adsorption; The adsorption position is determined by the following formula: in: P 吸附 is the target position of the adsorption device; P 基点 is the base point position of the slide rail; d 轨 is the movement distance of the slide rail; is the unit vector of the slide rail direction.

6. The underwater exploration and operation collaborative robot according to claim 5, characterized in that: The selection of the adsorption point of the adsorption device is based on the moment balance principle. Specifically, the moment balance equation is as follows: t 总 =t 臂 +t 伸缩杆 -t 负载 in: τ 总 : The total output torque of the system; τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm; τ 伸缩杆 =F 杆 ·L 杆 ·cosθ 杆 , is the torque of the electric telescopic rod; τ 负载 =W 负载 ·L 负载 , is the moment of the target load; F 臂 、F 杆 : The forces provided by the robotic arm and the electric telescopic rod respectively; L 臂 , L 杆 , L 负载 : are the arm lengths of the robot arm, electric telescopic rod and load respectively; θ 臂 ,θ 杆 : are the inclination angles of the robotic arm and the electric telescopic rod respectively; W 负载 is the total weight of the load.

7. An underwater exploration and operation collaborative robot according to claim 1 or 2, characterized in that: The underwater exploration and operation collaborative robot also includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable operation path; The laser radar and the two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory.

8. An underwater exploration and operation collaborative robot according to claim 1 or 2, characterized in that: The electric telescopic rod is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state; The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the working environment and the workpiece 杆 ; The real-time telescopic length L of the electric telescopic rod is adjusted based on the following formula: The real-time tilt angle θ of the electric telescopic rod 杆 Adjustments are made based on the following formula: where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point respectively.

9. An underwater exploration and operation collaborative robot according to claim 1 or 2, characterized in that: The underwater robot body is also equipped with a remote control interface, allowing remote operation and control of the robot system for exploration and operation.

10. A control method for an underwater exploration and operation collaborative robot according to any one of claims 1 to 9, characterized in that: The steps include: S1. After entering the underwater working environment, use cameras, radars and laser rangefinders to scan the environment, obtain information about the environment to be explored and the working environment based on the scanned environment, automatically establish an environmental map model and obtain a reasonable working path; S2, the underwater robot body moves to the initial position of the operation path, controls the mechanical arm to move and drives the electric telescopic rod to approach the work site, and the underwater industrial camera set at the end of the electric telescopic rod obtains the work target at the current work site; S3, based on the current operation target, calculate the adsorption position of the adsorption device, move the adsorption device to the adsorption position, and calculate the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 杆 ; S4, the adsorption device is adsorbed at the obtained adsorption position, the electric telescopic rod is extended, and based on the current operation target, the operation module is moved to the operation target in coordination with the robotic arm to perform the operation, and the operation status is wirelessly transmitted to the cloud or an external receiving device; S5. After the operation of the current operation target is completed, the electric telescopic rod drives the operation module to retract, and the adsorption fixation of the adsorption device is released; Then move to the next operation target to perform the operation, and the underwater industrial camera set at the end of the electric telescopic rod obtains the operation target at the current operation location; repeat steps S3 and S4 until the operation within the operation path is completed.

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