Underwater robot control system

Abstract

The utility model relates to an underwater robot control system, a signal receiving device and a control device are installed in an underwater robot, the signal receiving device is electrically connected with the control device, a signal transmitting device is used for being fixedly installed in a target area, and the target area is an area where the underwater robot travels. When the distance between the signal receiving device and the signal transmitting device reaches a preset receiving distance in the running process of the underwater robot, the signal receiving device receives a target signal transmitted by the signal transmitting device, and the control device is used for generating a control instruction corresponding to the target signal according to the target signal and sending the control instruction to the underwater robot. The control instruction is used for controlling the underwater robot to perform preset actions; therefore, by arranging the signal transmitting device and the signal receiving device, the effect of controlling the underwater robot in multiple modes can be achieved, the underwater robot can be controlled according to the received target signal transmitted by the signal transmitting device in the running process, and then the running control diversity of the underwater robot is improved.

Description

Technical Field

[0001] This application relates to the field of underwater robots, and more particularly to an underwater robot control system. Background Technology

[0002] With the development of society, the application of various small robots is becoming more and more widespread, such as sweeping robots and underwater cleaning robots. Underwater robots are mainly used for cleaning underwater, such as in swimming pools, ponds, and water storage areas. The functions of these robots are relatively simple, and they only need to repeat the pre-configured cleaning instructions.

[0003] Although existing underwater robots clean according to preset cleaning instructions, there are still many problems with the maintenance and control of the robots. For example, after the underwater robot completes the cleaning instruction, it may stop in place, making salvage difficult. Or, if the underwater robot is prohibited from entering a certain area, it may enter the prohibited area according to the cleaning instruction. This is the problem of the current underwater robot's driving control method being too simplistic. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides an underwater robot control system.

[0005] In a first aspect, this application provides an underwater robot control system, comprising: an underwater robot and a signal transmitting device, wherein the underwater robot is equipped with a signal receiving device and a control device, and the signal receiving device is electrically connected to the control device;

[0006] The signal transmitting device is used for fixed installation within the target area, which is the area where the underwater robot travels;

[0007] During the underwater robot's operation, when the distance between the signal receiving device and the signal transmitting device reaches a preset receiving distance, the signal receiving device receives the target signal transmitted by the signal transmitting device.

[0008] The control device is used to generate a control command corresponding to the target signal based on the target signal, and the control command is used to control the underwater robot to perform a preset action.

[0009] Optionally, the signal transmitting device is a near-field communication device.

[0010] Optionally, the signal transmitting device is disposed on the bottom surface of the target area, and the signal receiving device is disposed on the bottom plate of the underwater robot.

[0011] Optionally, the signal transmitting device is disposed on the side wall of the target area, the vertical distance between the signal transmitting device and the bottom surface of the target area is a first distance, the vertical distance between the signal receiving device and the bottom position of the underwater robot is a second distance, and the difference between the first distance and the second distance is less than the preset receiving distance.

[0012] Optionally, the signal transmitting device is an RFID card, and the signal receiving device is an RFID card reader.

[0013] Optionally, the underwater robot further includes a drive unit, which is electrically connected to the control unit.

[0014] The drive device is used to output the drive power corresponding to the control command.

[0015] Optionally, the underwater robot further includes a waterproof compartment, and the drive unit and the control unit are disposed inside the waterproof compartment.

[0016] This application provides an underwater robot control system, including an underwater robot and a signal transmitting device. The underwater robot is equipped with a signal receiving device and a control device, which are electrically connected. The signal transmitting device is fixedly installed within a target area, which is the area where the underwater robot travels. When the underwater robot is traveling and the distance between the signal receiving device and the signal transmitting device reaches a preset receiving distance, the signal receiving device receives the target signal transmitted by the signal transmitting device. The control device generates a control command corresponding to the target signal based on the target signal. The control command is used to control the underwater robot to perform preset actions. Thus, by setting up a signal transmitting device and a signal receiving device, the underwater robot can be controlled in multiple ways. This allows the underwater robot to not only rely on preset cleaning commands to operate, but also be controlled based on the target signal received by the signal transmitting device during travel. This solves the problem of the single driving control method in existing underwater robots, thereby improving the diversity of underwater robot driving control. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This application provides a schematic diagram of the underwater robot structure in an underwater robot control system.

[0020] Figure 2 This is a schematic diagram illustrating an application scenario of an underwater robot control system provided in an embodiment of this application.

[0021] Figure 3 A schematic diagram of an underwater robot structure is provided for another embodiment of the underwater robot control system provided in this application;

[0022] Figure 4 This is a schematic diagram illustrating another application scenario of an underwater robot control system provided in an embodiment of this application.

[0023] 10. Underwater robot; 11. Signal receiving device; 12. Control device; 13. Drive device; 14. Waterproof tank; 20. Signal transmitting device. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] In the operating environment of underwater robots, due to the strong absorption effect of water on electromagnetic waves, existing underwater robots, including underwater drones, underwater photography robots, and underwater cleaning robots, lack effective communication and positioning methods. Most robots can only move along random routes or use inertial navigation devices, resulting in chaotic and repetitive trajectories and low work efficiency. Furthermore, the lack of effective positioning means that robots will randomly find a place to stop after completing their work, increasing the difficulty of retrieval by users and making them difficult to use. Positioning via floating devices, such as floating positioning devices, requires long cables, which are inconvenient to use and prone to tangling.

[0026] Existing technologies involve robots dragging a floating object equipped with a wireless communication module or antenna for communication and positioning. However, this method remains complex, with issues such as difficult cable management and tangling. Ultrasonic and laser positioning methods require expensive equipment modules, hindering large-scale civilian use; in other words, they suffer from high costs and application difficulties.

[0027] To address the aforementioned technical problems, this application provides an underwater robot control system. The underwater robot is equipped with a signal receiving device and a control device, which are electrically connected. A signal transmitting device is fixedly installed within a target area, which is the area where the underwater robot travels. During the underwater robot's movement, when the distance between the signal receiving device and the signal transmitting device reaches a preset receiving distance, the signal receiving device receives the target signal transmitted by the signal transmitting device. The control device generates a corresponding control command based on the target signal, which is used to control the underwater robot to perform preset actions. Therefore, by setting up a signal transmitting and receiving device, the underwater robot can be controlled in multiple ways. This allows the underwater robot to operate not only based on preset cleaning commands but also based on the target signal received during its movement, solving the problem of the single control method in existing underwater robot systems and thus improving the diversity of underwater robot movement control.

[0028] like Figure 1-4 As shown in the figure, this application discloses an embodiment of an underwater robot control system, including: an underwater robot 10 and a signal transmitting device 20. The underwater robot 10 is equipped with a signal receiving device 11 and a control device 12, and the signal receiving device 11 and the control device 12 are electrically connected.

[0029] Signal transmitting device 20 is used for fixed installation within the target area, which is the area where the underwater robot 10 travels;

[0030] When the underwater robot 10 is moving, if the distance between the signal receiving device 11 and the signal transmitting device 20 reaches the preset receiving distance, the signal receiving device 11 receives the target signal transmitted by the signal transmitting device 20.

[0031] The control device 12 is used to generate control commands corresponding to the target signal based on the target signal. The control commands are used to control the underwater robot 10 to perform preset actions.

[0032] In this embodiment, the control system of the underwater robot 10 fixes one or more signal transmitters 20 within the target area where the underwater robot 10 travels. During the underwater robot 10's travel, when the distance between the signal receiver 11 and the signal transmitter 20 reaches a preset receiving distance, the signal receiver 11 receives the target signal transmitted by the signal transmitter 20. The control device 12 of the underwater robot 10 then generates a control command corresponding to the target signal based on the target signal. This control command is used to control the underwater robot 10 to perform preset actions. Thus, when the robot travels to the position where the signal transmitter 20 is installed, it can be controlled by the target signal transmitted by the signal transmitter 20. This solves the problem of the existing single travel control method for the underwater robot 10, thereby improving the diversity of the underwater robot 10's travel control.

[0033] In an optional embodiment of this application, the signal transmitting device can be a near-field communication device; a near-field communication device refers to a device for transmitting low-frequency electromagnetic signals, such as a Near Field Communication (NFC) transmitting structure, a Radio Frequency Identification (RFID) transmitting structure, etc.; the low-frequency electromagnetic signal (compared to radio signals that can be transmitted over long distances, low-frequency electromagnetic signals have a lower frequency, shorter transmission distance in the air, and longer transmission distance underwater) can be set on the bottom or wall of a swimming pool using RFID radio frequency card information to obtain relevant ID card numbers or other stored information. RFID cards have the advantages of not requiring power, being waterproof, small in size, and easy to install and maintain, and can be used for location marking. For example, using an RFID card carrying specific information to mark the stopping position of a robot, so that when the robot reads the card information while working underwater, it can indicate that it is currently at that position. Since the reading distance of RFID cards is usually relatively short, about 2-10 cm, the preset receiving distance can be 2-10 cm, which has high positioning accuracy, and the absorption effect of water at this distance is small, so there is no need to increase the power. Of course, some special-purpose positioning cards can also be added to mark restricted areas, but this embodiment does not specifically limit this.

[0034] like Figure 1-2 As shown, in an optional embodiment of this application, the signal transmitting device 20 is disposed on the bottom surface of the target area, and the signal receiving device 11 is disposed on the bottom plate of the underwater robot 10.

[0035] In this embodiment, the underwater robot 10 has a signal receiving device 11 installed on the bottom plate, which can read the signal transmitting device 20 installed on the bottom surface of the target area. When the robot moves to the vicinity of the bottom surface of the target area where the signal transmitting device 20 is installed, the signal receiving device 11 can read the information of the signal transmitting device 20, such as the ID number or other data information carried. Using this information, the robot's current position can be obtained (the mapping of information, such as mapping a unique position) and the corresponding operation can be executed through the control device 12.

[0036] In one example, after each task, the underwater robot 10 needs to return to a designated location to stop and await retrieval by the user. Therefore, a positioning signal transmitter 20 can be attached to the bottom of the pool at that location. After the robot finishes its work, it can locate the transmitter 20 along its return route or using other strategies. Once the location is found and the information is successfully read, the robot can shut down or enter standby mode. When the user needs to retrieve the robot, they only need to go to the shore at the target location to find it and use a hook or other equipment to retrieve it directly ashore, avoiding the need to search for the robot elsewhere.

[0037] like Figure 3-4 As shown, in an optional embodiment of this application, the signal transmitting device 20 is disposed on the side wall of the target area, the vertical distance between the signal transmitting device 20 and the bottom surface of the target area is the first distance, the vertical distance between the signal receiving device 11 and the bottom position of the underwater robot 10 is the second distance, and the difference between the first distance and the second distance is less than the preset receiving distance.

[0038] In this embodiment, by setting the difference between the first distance between the signal transmitting device 20 and the bottom surface of the target area and the second distance between the signal receiving device 11 and the bottom of the underwater robot 10 to be less than a preset receiving distance, and the bottom of the underwater robot 10 is in contact with the bottom surface of the target area, the signal transmitting device 20 and the signal receiving device 11 are in a position of high proximity. When the underwater robot 10 moves to the vicinity of the signal transmitting device 20 on the side wall of the target area during operation, the signal receiving device 11 in the underwater robot 10 can read the information of the signal transmitting device 20.

[0039] In an optional embodiment of this application, the signal transmitting device 20 is an RFID card and the signal receiving device 11 is an RFID card reader.

[0040] In this embodiment, the underwater cleaning robot is equipped with an RFID card reader. The signal transmitting device 20 can emit low-frequency electromagnetic signals. Compared with radio signals that can be transmitted over long distances, RFID card signals have a lower frequency and a shorter transmission distance in the air than underwater. This allows the RFID card's ID card number or other stored information to be obtained through the low-frequency electromagnetic signals.

[0041] In an optional embodiment of this application, the underwater robot 10 further includes a drive device 13, which is electrically connected to the control device 12 and is used to output drive power corresponding to the control command.

[0042] In this embodiment, the driving device 13 can be a water jet motor, stepper motor or other device with output driving power, so that the driving power corresponding to the control command can be output by the driving device 13 to drive the underwater robot 10 to move.

[0043] In an optional embodiment of this application, the underwater robot 10 further includes a waterproof chamber 14, and the drive device 13 and the control device 12 are disposed within the waterproof chamber 14.

[0044] In this embodiment, the waterproof chamber 14 is located on the top of the underwater robot 10. The waterproof chamber 14 is a sealed structure to prevent water from entering the waterproof chamber 14.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] The foregoing has described specific embodiments of the embodiments described in this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0047] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An underwater robot control system, characterized in that, include: An underwater robot and a signal transmitting device, wherein the underwater robot is equipped with a signal receiving device and a control device, and the signal receiving device is electrically connected to the control device; The signal transmitting device is used for fixed installation within the target area, which is the area where the underwater robot travels; During the underwater robot's operation, when the distance between the signal receiving device and the signal transmitting device reaches a preset receiving distance, the signal receiving device receives the target signal transmitted by the signal transmitting device. The control device is used to generate a control command corresponding to the target signal based on the target signal, and the control command is used to control the underwater robot to perform a preset action.

2. The underwater robot control system according to claim 1, characterized in that, The signal transmitting device is a near-field communication device.

3. The underwater robot control system according to claim 1, characterized in that, The signal transmitting device is disposed on the bottom surface of the target area, and the signal receiving device is disposed on the bottom plate of the underwater robot.

4. The underwater robot control system according to claim 1, characterized in that, The signal transmitting device is disposed on the side wall of the target area. The vertical distance between the signal transmitting device and the bottom surface of the target area is a first distance. The vertical distance between the signal receiving device and the bottom position of the underwater robot is a second distance. The difference between the first distance and the second distance is less than the preset receiving distance.

5. The underwater robot control system according to claim 1, characterized in that, The signal transmitting device is an RFID card, and the signal receiving device is an RFID card reader.

6. The underwater robot control system according to claim 1, characterized in that, The underwater robot also includes a drive unit, which is electrically connected to the control unit. The drive device is used to output the drive power corresponding to the control command.

7. The underwater robot control system according to claim 6, characterized in that, The underwater robot also includes a waterproof compartment, and the drive unit and the control unit are located inside the waterproof compartment.

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