CN106514668A - Underwater robot positioning system based on double-manipulator encircling pile column - Google Patents
Underwater robot positioning system based on double-manipulator encircling pile column Download PDFInfo
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- CN106514668A CN106514668A CN201611175821.4A CN201611175821A CN106514668A CN 106514668 A CN106514668 A CN 106514668A CN 201611175821 A CN201611175821 A CN 201611175821A CN 106514668 A CN106514668 A CN 106514668A
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- Prior art keywords
- robot
- underwater
- double
- pile
- manipulator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater robot positioning system based on a double-manipulator encircling pile column. The underwater robot positioning system comprises a water surface console and an underwater working robot capable of being absorbed to the pile column. The two sides of the underwater working robot are symmetrically provided with double hydraulic encircling manipulators for tightly holding the pile column. The water surface console is connected with the underwater working robot through a signal and used for controlling the actions of the underwater working robot and the double hydraulic encircling manipulators. By the adoption of the underwater robot positioning system, the positioning capacity and the working efficiency of the underwater working robot are improved greatly, and the problems that the energy consumption of the power positioning manner of the robot is high, it is difficult for the manipulators to align with a target due to the fact that the robot position shakes and consequently the working efficiency is low are solved effectively.
Description
Technical field
The present invention relates to underwater performance robot localization technical field, more particularly to one kind encircles pile based on double-manipulator
Underwater robot location system.
Background technology
The ocean operation demand of underwater robot is increasingly lifted, in a large number using under water if in marine oil and gas mining industry
Robot.Very important, the underwater robot of operation is pushed away often with neutral buoyancy state in water environment with multiple propeller vectors
Enter mode with overcome ocean current power, wave force, operation counteracting force and dynamic is positioned in water.Compare positioned at Ground Operation equipment
Positioning, the positional precision of the dynamic positioning of underwater robot is very different, and easily under the change of external applied load destruction of balance and it is big
Width deviates dynamic position location so that accurate task difficulty greatly improves, or working performance decline to a great extent.The fact is existing water
Lower robot has fettered its large-scale commercial application due to high cost, positioning operation deficiency in economic performance, investment payback time length.
Marine oil and gas platform is the most occasions of underwater performance robot application, and which usually has stake column construction.During operation
Underwater robot is positioned except above-mentioned dynamic positioning form, the mode for being fixed on pile also by vacuum cup or magnetic-disc.
Vacuum cup or magnetic-disc are fixed on the positioning mode of pile and are limited to adhesive force, usually fall down, and reliability of positioning is not high, affect
Accurate operation simultaneously reduces working performance and safety.Underwater robot hydrolocation research at present is concentrated mainly on dynamic positioning
Form.The technical program greatly improves positioning by encircling the underwater performance robot localization technology of pile based on double-manipulator
Reliability, so that improve operation accuracy, working performance and operational security.This technology is using multi-robot in water environment
Work compound, technical difficulty is high but technology development prospect is wide, thus with larger popularization space.
The content of the invention
It is an object of the invention to provide a kind of underwater intelligent robot system with multi-robot work compound ability,
Which adopts the underwater performance robot localization technical approach for encircling pile based on double-manipulator, realizes underwater robot 3 d pose
Positioning.The positioning that effectively solving existing underwater robot dynamic positioning, vacuum cup or magnetic disk-form are existed by the technology can
By property it is not high, be difficult to accurate operation working performance and the low technical barrier of safety.
Technical scheme is as follows：
The underwater robot location system of pile is encircled based on double-manipulator, including water surface control station, be can be adsorbed on pile
Underwater performance robot, underwater performance robot both sides are symmetrically arranged with and encircle double-mechanical for the hydraulic pressure for holding pile tightly
Handss, the water surface control station are connected with underwater performance robot signal, encircle double for controlling underwater performance robot and hydraulic pressure
The action of mechanical hand.
Further, if described underwater performance robot includes arranging for adsorbing the adsorbent equipment of pile, vector
Dry propeller, hydraulic pressure multi-freedom joint mechanical hand, illuminating lamp, CCD camera and aided positioning system under water.
Further, the quantity of described propeller is six.
Further, described aided positioning system under water is short baseline acoustic positioning system.
Further, described adsorbent equipment is vacuum cup or magnetic-disc.
Further, described water surface control station includes industrial computer, mechanical hand Operation control panel, the mechanical manual task
Control panel is used for control machinery hand action；The industrial computer is used for controlling robot movement.
Compared to existing technology, the invention has the beneficial effects as follows：The technical program encircles the positioning of double-manipulator by hydraulic pressure
Mode, greatly improves reliability of positioning, so as to improve operation accuracy, working performance and operational security, solves well
A underwater robot operation difficult problem is solved, is particularly suitable for the practical situation of operation under the conditions of pile.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
Fig. 2 is the principle schematic of the embodiment of the present invention.
In figure：1. underwater performance robot, 2. propeller, 3. hydraulic pressure encircle double-manipulator, 4. hydraulic pressure multiple degrees of freedom close
Section manipulator, 6. pile.
Specific embodiment
The purpose of the present invention is described in further detail below by specific embodiment, embodiment is unable to here one by one
Repeat, but therefore embodiments of the present invention are not defined in following examples.
As depicted in figs. 1 and 2, the underwater robot location system of pile is encircled based on double-manipulator, including water surface control
Platform, the underwater performance robot 1 that can be adsorbed on pile 6,1 both sides of underwater performance robot are symmetrically arranged with for holding tightly
The hydraulic pressure of pile 6 encircles double-manipulator 3, and the water surface control station is connected with underwater performance robot 1 signal, for control under water
Work robot 1 and hydraulic pressure encircle the action of double-manipulator 3.
Described underwater performance robot 1 includes six propellers for adsorbing the vacuum cup of pile 6, vector is arranged
2nd, hydraulic pressure multi-freedom joint mechanical hand 4, illuminating lamp, CCD camera and short baseline acoustic positioning system.Six of vector arrangement
Propeller 2 can be with the convenient, flexible movement for realizing 1 all directions of underwater performance robot.
Described short baseline acoustic positioning system, size little, easy to use spy high with technology maturation, positioning precision
Point, can fast and accurately obtain the position of underwater robot, be that system positions the parameter that provides the necessary technical.Illuminating lamp and CCD
Photographic head provides positional information auxiliary guiding by visual feedback, further improves the shift position precision of robot.
Described water surface control station includes industrial computer, mechanical hand Operation control panel, the mechanical hand Operation control panel
For control machinery hand action；The industrial computer is used for controlling robot movement and positions.
Alignment system as depicted includes that underwater performance robot 1 and hydraulic pressure encircle double-manipulator 3, each mechanical Handball Association
The mode of work can rely on object constraint design requirement to be designed according to different positioning.
During work, after underwater performance robot 1 is moved to predetermined work region, underwater performance robot 1 is true by which
Empty sucker suction on pile 6, meanwhile, hydraulic pressure is encircled double-manipulator 3 and holds pile 6 under the control of the water surface control station tightly,
So that underwater performance robot 1 is firmly attached on pile 6.Now, the hydraulic pressure multi-freedom joint machine of underwater performance robot 1
Tool handss 4 can carry out corresponding underwater performance, hydraulic pressure multi-freedom joint in the control of the mechanical hand Operation control panel
4 end operation track of mechanical hand is realized by System for Joint Motion of Manipulator.
The underwater performance robot 1 of the present embodiment encircles double-manipulator 3 by vacuum cup and hydraulic pressure and is attached to pile 6
On, to overcome the counteracting force of hydraulic efficiency manipulator action, when solving similar devices underwater performance, vacuum or magnetic suck fail
Problem, the 1 adhering mode increase of underwater performance robot are encircled function and supplement as stationkeeping ability or back up, and improve positioning reliable
Property and stability, so as to improve operation accuracy, working performance and operational security, effectively overcome robot " power
Positioning " form high energy consumption, the problem for causing working performance low because robot location shakes robot alignment target difficult.This reality
Example is applied using dual robot work compound in water environment, technology development prospect is wide, thus with larger popularization space.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change or variation of other multi-forms.There is no need to be exhaustive to all of embodiment.It is all the present invention
Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (6)
1. the underwater robot location system of pile is encircled based on double-manipulator, including water surface control station, can be adsorbed on pile (6)
On underwater performance robot (1), it is characterised in that：Underwater performance robot (1) both sides are symmetrically arranged with for holding tightly
The hydraulic pressure of pile (6) encircles double-manipulator (3), and the water surface control station is connected with underwater performance robot (1) signal, for controlling
Under controlling the water circulation, Work robot (1) and hydraulic pressure encircle the action of double-manipulator (3).
2. underwater robot location system according to claim 1, it is characterised in that：Described underwater performance robot
(1) include for adsorbing the adsorbent equipment of pile (6), some propellers (2) that vector is arranged, hydraulic pressure multi-freedom joint machinery
Handss (4), illuminating lamp, CCD camera and aided positioning system under water.
3. underwater performance robot positioning system according to claim 2, it is characterised in that：Described propeller (2)
Quantity is six.
4. underwater robot location system according to claim 2, it is characterised in that：Described aided positioning system under water
For short baseline acoustic positioning system.
5. underwater robot location system according to claim 2, it is characterised in that：Described adsorbent equipment is inhaled for vacuum
Disk or magnetic-disc.
6. underwater robot location system according to claim 1, it is characterised in that：Described water surface control station includes work
Control machine, mechanical hand Operation control panel, the mechanical hand Operation control panel are used for control machinery hand action；The industrial computer is used
In the movement of control robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611175821.4A CN106514668A (en) | 2016-12-19 | 2016-12-19 | Underwater robot positioning system based on double-manipulator encircling pile column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611175821.4A CN106514668A (en) | 2016-12-19 | 2016-12-19 | Underwater robot positioning system based on double-manipulator encircling pile column |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514668A true CN106514668A (en) | 2017-03-22 |
Family
ID=58339482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611175821.4A Pending CN106514668A (en) | 2016-12-19 | 2016-12-19 | Underwater robot positioning system based on double-manipulator encircling pile column |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
| WO2019205053A1 (en) * | 2018-04-26 | 2019-10-31 | 华南理工大学 | Positioning system for underwater operation robot based on auxiliary robot binding pile with cable |
| CN113386930A (en) * | 2021-05-14 | 2021-09-14 | 宁波工程学院 | Underwater robot applied to pier maintenance and maintenance method thereof |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019205053A1 (en) * | 2018-04-26 | 2019-10-31 | 华南理工大学 | Positioning system for underwater operation robot based on auxiliary robot binding pile with cable |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
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| CN113386930A (en) * | 2021-05-14 | 2021-09-14 | 宁波工程学院 | Underwater robot applied to pier maintenance and maintenance method thereof |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
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Application publication date: 20170322 |