Automatic collision avoidance system for underwater robot

Abstract

The utility model discloses an automatic collision avoidance system of an underwater robot, which relates to the technical field of intelligent control of underwater robots and comprises a robot body and a central control system. The robot body is provided with a driving module used for driving the robot body to move, a sonar detector used for detecting the position of an obstacle in the environment, an altimeter used for measuring the distance between the robot body and the seabed, and a data acquisition module used for collecting information of the sonar detector and the altimeter. The central control system is in signal connection with the data acquisition module and the driving module so as to control operation of the driving module according to information acquired by the data acquisition module, and when the robot body is close to the seabed, the data acquisition module acquires information of the altimeter and then transmits the information to the central control system. After receiving the information, the central control system controls the driving module to drive the robot body to ascend so as to control the distance between the robot body and the seabed, and the underwater robot is prevented from making contact with the seabed when executing tasks in the complex submarine topography environment.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robot intelligent control, in particular to an automatic collision avoidance system for an underwater robot. Background Art

[0002] Underwater robots have a wide range of application values ​​in the fields of maritime rescue, underwater anti-intrusion technology, species tracking and detection, etc. In the underwater environment, sediments such as shipwrecks and reefs make the underwater environment very complex, and underwater robots need to be able to actively and effectively avoid these obstacles. However, existing underwater robots often have the risk of hitting the bottom when performing tasks in complex seabed terrain environments. Collision or contact with the seabed or seabed sediments will affect the performance of the underwater robot, which may lead to the failure of the underwater robot to perform its mission or even damage the underwater robot.

[0003] Therefore, how to prevent underwater robots from coming into contact with the seabed when performing tasks in a complex seabed terrain environment is a technical problem that technicians in this field currently need to solve. Utility Model Content

[0004] The utility model aims to provide an automatic collision avoidance system for an underwater robot, which can prevent the underwater robot from contacting the seabed when performing tasks in a complex seabed terrain environment.

[0005] In order to achieve the above-mentioned purpose, the utility model provides an automatic collision avoidance system for an underwater robot, comprising:

[0006] The robot body is provided with a driving module for driving the robot body to move, a sonar detector for detecting the position of obstacles in the environment, an altimeter for measuring the distance between the robot body and the seabed, and a data acquisition module for collecting information from the sonar detector and the altimeter;

[0007] The central control system is signal-connected to the data acquisition module and the drive module to control the operation of the drive module according to the information obtained by the data acquisition module.

[0008] Preferably, the central control system includes:

[0009] A data processor is connected to the data acquisition module, and the data processor can call the data collected by the data acquisition module;

[0010] The server is connected to the data processor through a wireless transceiver module. The server is connected to the visualization terminal and the drive module. The server restores the data fed back by the data processor and displays it through the visualization terminal to obtain obstacle information. The server sends collision avoidance instructions and collision avoidance trajectory signals to the drive module to adjust the heading of the robot body.

[0011] Preferably, the driving module includes:

[0012] Two horizontal drivers are arranged on both sides of the bottom of the robot body and are used for horizontal movement of the robot body;

[0013] A vertical driver is arranged on the top of the robot body and is used to drive the robot body to move vertically;

[0014] When the two horizontal drives have the same rotation speed, the robot body moves in a straight line within the plane to move forward and backward;

[0015] When the two horizontal actuators rotate at different speeds, the robot body moves in a curve within the plane to achieve left and right turns.

[0016] Preferably, a turntable is rotatably provided on the top of the robot body, an adjustment seat is provided on the side of the turntable facing away from the robot body, and the ejector is adjustably arranged on the adjustment seat so that the ejector can rotate around the axis of the turntable with the turntable, and the ejector can emit sound waves and light waves to expel the creatures around the robot body.

[0017] Preferably, a power source is provided inside the robot body, and an output end of the power source is fixedly connected to the turntable through a positioning member, so that the output end can drive the turntable to rotate around its own axis.

[0018] Preferably, there are multiple groups of sonar detectors, and each sonar detector is respectively embedded on the peripheral side surface of the robot body.

[0019] Compared with the above-mentioned background technology, the automatic collision avoidance system of an underwater robot provided by the utility model includes a robot body and a central control system. The robot body is provided with a driving module for driving the robot body to move, a sonar detector for detecting the position of obstacles in the environment, an altimeter for measuring the distance between the robot body and the seabed, and a data acquisition module for collecting information from the sonar detector and the altimeter; the central control system signal is connected to the data acquisition module and the driving module to control the operation of the driving module according to the information obtained by the data acquisition module.

[0020] The data acquisition module for collecting information from sonar detectors and altimeters is connected to the central control system. At the same time, the central control system can control the driving module arranged on the robot body to drive the robot body to move according to the acquired data information. Specifically, when the robot body is close to the seabed, the data acquisition module obtains the information from the altimeter that the robot body is close to the seabed and transmits it to the central control system. After receiving the information, the central control system controls the driving module to drive the robot body to rise, so as to control the distance between the robot body and the seabed and prevent the robot body from touching the bottom. This can avoid the contact between the underwater robot and the seabed when performing tasks in a complex seabed terrain environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model 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 in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of an automatic collision avoidance system for an underwater robot provided by an embodiment of the utility model;

[0023] Figure 2 A schematic diagram of the transmission relationship of each module provided in the embodiment of the utility model;

[0024] Figure 3 This is a flow chart of the underwater robot automatic collision avoidance system provided by an embodiment of the utility model.

[0025] in:

[0026] 1- robot body, 2- sonar detector, 3- horizontal drive, 4- vertical drive, 5- turntable, 6- adjustment seat, 7- ejector. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "top" and "bottom" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the position or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation of the present invention.

[0030] The utility model aims to provide an automatic collision avoidance system for an underwater robot, which can prevent the underwater robot from contacting the seabed when performing tasks in a complex seabed terrain environment.

[0031] See also Figure 1 and Figure 2To achieve the above-mentioned purpose, the utility model provides an automatic collision avoidance system for an underwater robot, comprising a robot body 1 and a central control system.

[0032] The robot body 1 is provided with a driving module for driving the robot body 1 to move, a sonar detector 2 for detecting the position of obstacles in the environment, an altimeter for measuring the distance between the robot body 1 and the seabed, and a data acquisition module for collecting information from the sonar detector 2 and the altimeter. The sonar detectors 2 are multiple groups, and each sonar detector 2 is respectively embedded on the peripheral side surface of the robot body 1;

[0033] The central control system signal is connected to the data acquisition module and the drive module to control the operation of the drive module according to the information obtained by the data acquisition module.

[0034] It is connected to the central control system through a data acquisition module for collecting information from the sonar detector 2 and the altimeter. At the same time, the central control system can control the driving module arranged on the robot body 1 to drive the robot body 1 to move according to the acquired data information. Specifically, when the robot body 1 is close to the seabed, the data acquisition module obtains the information from the altimeter that the robot body 1 is close to the seabed and transmits it to the central control system. After receiving the information, the central control system controls the driving module to drive the robot body 1 to rise, so as to control the distance between the robot body 1 and the seabed and prevent the robot body 1 from touching the bottom. This can avoid the contact between the underwater robot and the seabed when performing tasks in a complex seabed terrain environment.

[0035] Among them, the central control system includes a data processor and a server. The data processor is connected to the data acquisition module. The data processor can call the data collected by the data acquisition module, compare and analyze the data, eliminate invalid data, and retain valid data.

[0036] The server is connected to the data processor through a wireless transceiver module. The server is connected to the visualization terminal and the drive module. The server restores the data fed back by the data processor and displays it through the visualization terminal. At the same time, the server calculates the collision avoidance behavior according to the feedback obstacle information. The server sends a collision avoidance command and a collision avoidance trajectory signal to the drive module. The drive module receives the command signal and adjusts the heading of the robot body 1.

[0037] Furthermore, the driving module includes a vertical driver 4 and two horizontal drivers 3. The two horizontal drivers 3 are arranged on both sides of the bottom of the robot body 1 for horizontal movement of the robot body 1; the vertical driver 4 is arranged at the top of the robot body 1 for driving the robot body 1 to move vertically. Four vertical drivers 4 are provided and are located around the top of the robot body 1 to maintain the balance of the robot body 1 during the vertical movement.

[0038] When the two horizontal drives 3 have the same rotation speed, the robot body 1 moves in a straight line in the plane to realize forward and backward movement; when the two horizontal drives 3 have different rotation speeds, the robot body 1 moves in a curve in the plane to realize turning left and right. In addition, a steering rudder group can also be provided to realize the steering of the robot body 1. The specific details of the steering rudder group can be referred to the prior art and will not be repeated here.

[0039] In another embodiment, considering that moving objects are very attractive to aggressive and curious underwater creatures, when such creatures gather or approach the robot body 1 individually, it is easy to cause a very large impact on the operation of the robot body 1, and even the robot body 1 is easily damaged by the underwater creatures. A turntable 5 is rotatably provided on the top of the robot body 1, and an adjustment seat 6 is provided on the side of the turntable 5 away from the robot body 1. The expellor 7 is adjustably set on the adjustment seat 6. A power source is provided inside the robot body 1, and the output end of the power source is fixedly connected to the turntable 5 through a positioning piece, so that the expellor 7 can rotate with the turntable 5 around the axis of the turntable 5. After the robot body 1 is put into the water, the expellor 7 is turned on in time, and the sound waves and light waves of the expellor 7 are swung at the maximum angle through the turntable 5 and the adjustment seat 6 to expel the creatures that are too close to the robot body 1.

[0040] See also Figure 3 In summary, the robot body 1 is started, the route planning information is stored in the robot body 1, and the robot body 1 maintains a wireless communication connection with the server on the shore; the robot body 1 goes into the water; the sonar detector 2 is fully turned on, and the sonar detector 2 is used to detect the surrounding environment of the underwater robot body 1 in real time, and the altimeter detects the height from the bottom to prevent the robot body 1 from sinking too low and causing the risk of falling to the bottom. At the same time, the sonar detector 2 feeds back the image information scanned by the sonar detector 2 and the information of the altimeter to the server through the wireless transceiver module, and the image information and height information are displayed through the visualization terminal; the server determines whether there are obstacles in the robot's running direction on the planned trajectory based on the feedback information. If there are no obstacles, the robot maintains the established trajectory. If there is an obstacle, calculate the distance between the obstacle and the running track; determine whether collision avoidance will occur. If collision avoidance will not occur, the robot body 1 will travel along the predetermined track. If collision avoidance will occur, the server will re-plan the track according to the feedback information of the sonar detector 2 and the altimeter, and the robot body 1 will run according to the newly planned track, and the sonar detector 2 will continue to feed back the image information scanned by the sonar detector 2 and the information of the altimeter to the server through the wireless transceiver module; the position signal of the robot body 1 will be fed back to the server in real time, and the server will determine the position information of the robot body 1 according to the feedback signal of the robot body 1. When the robot body 1 reaches the end point, it will stop moving forward, and the robot body 1 will choose the original path to return or float on the ground and wait for recovery according to the instruction.

[0041] Further, the action of "the server determines whether there are obstacles in the running direction of the robot on the planned trajectory according to the feedback information. If there are no obstacles, the robot maintains the established trajectory. If there are obstacles, calculate the distance between the obstacle and the running trajectory" further includes: dividing the sonar image into regions: dividing the sonar detection distance into a near-danger distance d1, a warning distance d2, and a safe distance d3, where d3 > d2 > d1, and the distance between the underwater robot and the obstacle is d; determining whether the robot needs to perform an obstacle avoidance action by judging the numerical relationship between d and d1, d2, and d3; when d > d3, drive along the established trajectory; when d2 < d < d3, the obstacle is far from the robot body 1 and there is no need to avoid; when d1 < d < d2, the robot body 1 enters a warning state; when d < d1, start obstacle avoidance and adjust the route in real time.

[0042] Furthermore, the action of "when d1 < d < d2, the robot body 1 enters a warning state" further includes: detecting the relative position information of the obstacle in real time and judging whether the obstacle is moving. If the obstacle is a moving obstacle, the obstacle avoidance speed and direction of the robot body 1 are re-planned again.

[0043] It should be noted that after the action of "the robot body 1 enters the water", it includes: driving the turntable 5 and the expeller 7 to rotate through the power source, and at the same time, the expeller 7 can emit sound waves and light waves to expel the organisms around the robot body 1.

[0044] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0045] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. An automatic collision avoidance system for an underwater robot, characterized in that: include: A robot body, provided with a driving module for driving the robot body to move, a sonar detector for detecting the position of obstacles in the environment, an altimeter for measuring the distance between the robot body and the seabed, and a data acquisition module for collecting information from the sonar detector and the altimeter; The central control system is signal-connected to the data acquisition module and the drive module to control the operation of the drive module according to the information obtained by the data acquisition module.

2. The underwater robot automatic collision avoidance system according to claim 1, characterized in that: The central control system comprises: A data processor, connected to the data acquisition module, and capable of calling the data collected by the data acquisition module; The server is connected to the data processor via a wireless transceiver module. The server is connected to a visualization terminal and the drive module. The server restores the data fed back by the data processor and displays it via the visualization terminal to obtain obstacle information. The server sends a collision avoidance instruction and a collision avoidance trajectory signal to the drive module to adjust the heading of the robot body.

3. The underwater robot automatic collision avoidance system according to claim 2, characterized in that: The driving module comprises: Two horizontal drivers, arranged on both sides of the bottom of the robot body, for horizontal movement of the robot body; A vertical driver, disposed on the top of the robot body, for driving the robot body to move vertically; When the two horizontal drives rotate at the same speed, the robot body moves in a straight line within the plane to move forward and backward; When the two horizontal drives rotate at different speeds, the robot body moves in a curve within a plane to achieve left and right turns.

4. The underwater robot automatic collision avoidance system according to claim 3, characterized in that: A turntable is rotatably provided on the top of the robot body, an adjustment seat is provided on the side of the turntable facing away from the robot body, and an ejector is adjustably arranged on the adjustment seat so that the ejector can rotate around the axis of the turntable along with the turntable, and the ejector can emit sound waves and light waves to expel the creatures around the robot body.

5. The underwater robot automatic collision avoidance system according to claim 4, characterized in that: A power source is provided inside the robot body, and an output end of the power source is fixedly connected to the turntable through a positioning member, so that the output end can drive the turntable to rotate around its own axis.

6. The underwater robot automatic collision avoidance system according to any one of claims 1 to 5, characterized in that: There are multiple groups of sonar detectors, and each of the sonar detectors is embedded on the peripheral side surface of the robot body.

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