CN113218689B - Self-adaptive acquisition system and method for ship antifouling bottom attached organisms - Google Patents
Self-adaptive acquisition system and method for ship antifouling bottom attached organisms Download PDFInfo
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- CN113218689B CN113218689B CN202110604205.0A CN202110604205A CN113218689B CN 113218689 B CN113218689 B CN 113218689B CN 202110604205 A CN202110604205 A CN 202110604205A CN 113218689 B CN113218689 B CN 113218689B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
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Abstract
The application discloses a self-adaptive collection system and a self-adaptive collection method for ship antifouling bottom attached organisms. The collecting ship is used for bearing all equipment and approaching to the collected ship on the water surface; the lifting platform is used for lifting and lowering relevant equipment for collecting all samples, so that the equipment is close to the position to be collected of the ship anti-fouling bottom; the mechanical arm is used for providing feeding and retracting movements of the acquisition assembly; the clamp assembly is used for connecting the mechanical arm and the acquisition assembly; the collection component is used for adaptively collecting the attached living things attached to the antifouling bottom of the ship. The system can collect the attached biological samples of the ship antifouling bottoms on the water surface, can adapt to ships with different sizes, and can perform self-adaptive collection on collection areas with different sizes. The whole system is safe, stable and efficient, takes the collection ship as a carrier, and completes sample collection work completed by traditional manual ascending through the laser ranging auxiliary robot.
Description
Technical Field
The application relates to the field of mechanical automation, in particular to a self-adaptive acquisition system and method for fouling-resistant bottom attached organisms of ships.
Background
In the field of ship safety management, foreign species brought by ship anti-fouling bottoms need to be manually climbed to be collected, so that the method is used for scientific research. However, the traditional manual collection has the disadvantages of high labor intensity, severe working environment, dangerous operation process and low efficiency. The existing intelligent sample collection system is mainly oriented to the land environment, and is fresh in the field of collection of ship attached organism samples on water surfaces. In addition, the existing attached organism collection system has higher damage degree to different types of organism bodies.
Disclosure of Invention
According to the problems existing in the prior art, the application discloses a self-adaptive acquisition system for ship antifouling bottom attached organisms, which comprises the following components: a harvesting vessel for controlling the system to move on the water surface for approaching the anti-fouling bottom of the vessel being harvested;
the device comprises a ship, a clamp assembly, a lifting platform, a mechanical arm, a sample collection assembly, a sample collection device and a sample collection device, wherein the ship is connected with the lifting platform;
the lifting platform comprises a carrying platform, a drag chain plate and a drag chain, wherein the carrying platform is used for carrying the mechanical arm, the clamp assembly and the acquisition assembly and providing lifting power in space, the connecting carrying platform is connected with the drag chain through the drag chain plate, and the drag chain is used for carrying a power line and a signal line and moves along with the lifting platform;
the mechanical arm is used for bearing the clamp assembly and the acquisition assembly and providing power for the clamp assembly and the acquisition assembly to move along a tool coordinate system;
the clamp assembly comprises a connecting plate, a supporting arm, an upper half enclasping device, a lower half enclasping device and a ranging module, wherein the connecting plate is connected with the supporting arm, the lower half enclasping device is fixedly connected with the supporting arm, the upper half enclasping device is connected with the lower half enclasping device through bolts to realize the enclasping process, the connecting plate is arranged on a flange plate at the tail end of the mechanical arm, and the ranging module is arranged on the connecting plate and is used for detecting the distance information between the connecting plate and an antifouling bottom;
the collection assembly comprises an electric circular saw and a circular tooth blade, wherein the electric circular saw is fixed on the clamp assembly through an upper half enclasping device and a lower half enclasping device, and the circular tooth blade is arranged on the electric circular saw.
The system further comprises a collection groove, the collection groove is welded at the lower end of the electric circular saw, the forefront end of the collection groove is located at the forefront end of the electric circular saw in the direction of the z axis of the tool coordinate system, and when the electric circular saw contacts the anti-fouling bottom, the collection groove cannot interfere with the anti-fouling bottom.
The system further comprises a leather bag which is fixed on the upper edge of the front part of the collecting tank and used for compensating the gap between the collecting tank and the ship anti-fouling bottom.
A method for collecting a self-adaptive collection system of marine antifouling bottom attached organisms comprises the following steps:
s1, the collection ship moves along the water surface to the vicinity of the antifouling bottom of the ship to be collected, so that the z axis of a tool coordinate system of a mechanical arm for maintaining the initial pose is vertical to the surface of a sample to be collected, and the lifting platform moves forward to a working position;
s2, performing off-line calibration between the ranging module and the mechanical arm and between the ranging module and the clamp assembly, and controlling the feeding amount of the tail end of the mechanical arm according to the distance between the ranging module and the antifouling bottom measured by the ranging module when the mechanical arm advances;
s3, lifting the lifting platform, and according to the measured distance of the ranging module and a reference preset value, stopping lifting the lifting platform when the measured distance reaches the preset value;
s4, the circular tooth plate starts to rotate in a constant torque control mode, the mechanical arm positively feeds t according to the z-axis of the end tool coordinate system according to the distance data measured by the distance measuring module, the circular tooth plate is enabled to be in contact with the adhesive organisms at the ship antifouling bottom, the adhesive organisms fall into the biological sample collection groove, the upper computer determines the hardness level of the adhesive organisms by judging the motor current change of the circular tooth plate due to resistance, the rotating speed of the circular tooth plate is adjusted in real time, and the damage of the circular tooth plate to the adhesive organism body characteristics is reduced;
s5, the mechanical arm positively feeds a distance a at a constant speed along the z axis of the tool coordinate system, the reference ranging module feeds back data, the reference preset value is used, and when the measured distance reaches the preset value, the mechanical arm stops moving;
s6, the mechanical arm moves downwards by a specific distance b along the y axis of the tool coordinate system at a uniform speed in a negative direction, and the mechanical arm stops in place by referring to the feedback of the joint data of the mechanical arm;
s7, the mechanical arm is backwards retracted by a distance c along the z axis of the tool coordinate system, is translated by a distance d along the x axis of the tool coordinate system at a constant speed, and is upwards moved by a distance b along the y axis of the tool coordinate system at a constant speed;
s8, the mechanical arm takes S1 to S7 as a cycle period to perform sample collection operation, and the work of sampling the attached organisms within a certain plane range of the ship anti-fouling bottom is completed;
and S9, the mechanical arm and the circular tooth plates are powered off, the mechanical arm returns to the initial pose, the lifting platform descends and moves back to the initial position, and the collection ship returns to the shore.
By adopting the technical scheme, the self-adaptive acquisition system and the self-adaptive acquisition method for the adhesive organisms at the ship antifouling bottoms can be used for completing the acquisition of the adhesive organism samples at the ship antifouling bottoms on the water surface, can adapt to ships with different sizes, can perform self-adaptive acquisition aiming at acquisition areas with different sizes, are safe, sanitary and efficient, take the acquisition ship as a carrier, and assist a robot to complete the work of manual ascending through laser ranging.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic view of a clamp assembly of the present application;
FIG. 3 is a schematic diagram of an acquisition assembly of the present application;
FIG. 4 is a schematic view of a lifting platform according to the present application;
fig. 5 is a schematic diagram of motion planning for an acquisition assembly according to the present application.
In the figure: 1. the device comprises a collection ship, 2, a lifting platform, 3, a mechanical arm, 4, a clamp assembly, 5, a collection assembly, 6, a connecting plate, 7, a supporting arm, 8, an upper half enclasping device, 9, a lower half enclasping device, 10, a ranging module, 11, an electric circular saw, 12, a circular tooth blade, 13, a collection groove, 14, a leather pocket, 15, a carrier, 16, a drag chain plate, 17 and a drag chain.
Detailed Description
In order to make the technical scheme and advantages of the present application more clear, the technical scheme in the embodiment of the present application is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present application:
the self-adaptive collection system for the marine antifouling bottom attached organisms shown in fig. 1 comprises a collection ship 1, a lifting platform 2, a mechanical arm 3, a clamp assembly 4 and a collection assembly 5. The application adopts electric drive to complete the collection work of the ship antifouling bottom attached organisms.
The lifting platform 2 is placed on the deck of the collection ship 1, the base of the mechanical arm 3 is fixed on the carrying platform 15 through bolts, the clamp assembly 4 is connected to the tail end of the mechanical arm 3 through bolts, and the collection assembly 5 is fixed on the clamp assembly 4 through the upper half enclasping device 8 and the lower half enclasping device 9.
The clamp assembly 4 consists of a connecting plate 6, a supporting arm 7, an upper enclasping device 8 and a lower enclasping device 9. With reference to fig. 2, the support arm 7 is welded to the connection plate 6, then the lower half enclasping device 9 is welded to the support arm 7, the upper half enclasping device 8 is connected with the lower half enclasping device 9 through bolts, finally the connection plate 6 is connected to the end flange of the mechanical arm 3 through bolts, and the ranging module 10 is fixed on the connection plate 6 through bolts.
The collection assembly 5 is composed of an electric circular saw 11 and circular teeth 12. Referring to fig. 3, the circular blade 12 is mounted on the rotation shaft of the electric circular saw 11 by a nut; the collection groove 13 is welded at the lower end of the shell of the electric circular saw 11. The foremost end of the collecting groove 13 is located at a position further behind the foremost end of the electric circular saw 11 in the direction of the z-axis of the tool coordinate system, that is, when the electric circular saw 11 contacts the living beings, the collecting groove 13 is still located at a certain distance from the living beings. The leather 14 is a flexible rubber material and is fastened to the front upper edge of the collecting tank 13 by bolts in an inclined manner to compensate for the gap between the collecting tank 13 and the anti-fouling bottom of the ship, thereby preventing the scraped-off attached organisms from falling out of the collecting tank 13.
The lifting platform 2 is used for bearing the equipment related to collection and providing lifting of the equipment in space. As shown in fig. 4, the lifting platform 2 is connected to the drag chain 17 by the drag chain plate 16, and the transmission of control signals and power transmission is completed by the cable carried in the drag chain 17.
The method for collecting the attached organisms of the ship antifouling bottom in the embodiment of the application comprises the following steps:
in the first step, the distance measuring module 10 is calibrated offline with the lifting platform 2, the mechanical arm 3 and the clamp assembly 4, and the required movement position of the lifting platform 2 and the mechanical arm 3 can be determined according to the measurement data of the distance measuring module 10 when the lifting platform and the mechanical arm 3 move.
And secondly, after the collected ship is stopped stably, the collected ship 1 sails along the water surface to the vicinity of the antifouling bottom of the collected ship, the lifting platform 2 moves to a working position, the mechanical arm 3 is lifted, the distance measurement module 10 is used for measuring the antifouling bottom of the ship, and the movement of the lifting platform 2 is stopped until the antifouling bottom of the ship enters the working range of the mechanical arm 3.
Third, as shown in fig. 5, the circular blade 12 starts to rotate in a constant torque control manner. The mechanical arm 3 forwards feeds t according to the z-axis of the end tool coordinate system according to the distance data measured by the distance measuring module 10 1 The circular tooth piece 12 is contacted with the adhesive organism of the ship anti-fouling bottom, and the adhesive organism falls onto the pocket skin 14 in a 'digging' mode and slides into the biological sample collection groove 13. The upper computer determines the hardness level of the adhesive organisms by judging the motor current change of the circular tooth plates 12 due to resistance, adjusts the rotating speed of the circular tooth plates 12 in real time, and reduces the damage of the circular tooth plates 12 to the characteristics of the adhesive organisms.
Fourth, the mechanical arm 3 is positively and uniformly fed along the z-axis of the tool coordinate system for a distance a 1 (distance a 1 Equivalent to the sample acquisition thickness), the reference ranging module 10 feeds back data, stopping in place.
Fifthly, the mechanical arm 3 moves downwards at a specific distance b along the y-axis of the tool coordinate system at a uniform speed in a negative direction 1 And referring to the joint data feedback of the mechanical arm 3, stopping in place.
Sixth, the mechanical arm 3 is negatively retreated along the z-axis of the tool coordinate system by a distance c 1 Then forward translating along the X-axis of the tool coordinate system at uniform speed by a distance d 1 Then forward and uniformly moving upwards along the y-axis of the tool coordinate system by a distance b 1 。
And seventhly, the mechanical arm performs sample collection operation by taking the fourth step, the fifth step and the sixth step as a cycle period, and the work of sampling the attached organisms in a certain plane range of the ship antifouling bottom is completed.
And eighth step, the mechanical arm 3 and the circular tooth piece 12 are powered off, the mechanical arm 3 returns to the initial pose, the lifting platform 2 descends and moves back to the initial position, and the collection ship 1 returns to the shore.
In the embodiment of the application, a spatial relationship model between the ranging module 10 and other moving parts is established by a method of combining ranging sensing with spatial movement of equipment, namely by off-line calibration, and then the specific movement direction and movement of the lifting platform 2 and the mechanical arm 3 are determined by measuring the distance and performing kinematic solution in real time.
Furthermore, in embodiments of the present application, sample collection simulates manual "picking" of an attached sample using circular teeth 12 rotating at low speed. And the strength of the end sampling sample is estimated and adjusted by the motor current connected with the circular tooth plate 12. The damage to the bodies of different biological samples can be reduced while the attached biological samples are collected.
The attached organism collecting system in the embodiment has the advantages of stable and reliable structure, high intelligent and automatic level and strong adaptability, and can complete the collection work of the attached samples of the antifouling bottoms of the ships with different sizes. The whole system is safe and efficient, and the robot is assisted to replace the traditional manual sample collection work in a mode of combining distance measurement sensing and space movement.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, who is within the scope of the present application, should make equivalent substitutions or modifications according to the technical scheme of the present application and the inventive concept thereof, and should be covered by the scope of the present application.
Claims (4)
1. The utility model provides a self-adaptation collection system of antifouling end of boats and ships attached organism which characterized in that includes:
a harvesting vessel (1) controlling the system to move on the water surface for approaching the anti-fouling bottom of the vessel being harvested;
the device is characterized in that the collection ship (1) is connected with a lifting platform (2), the lifting platform (2) is connected with a mechanical arm (3), the mechanical arm (3) is connected with a clamp assembly (4), and the clamp assembly (4) is connected with a collection assembly (5) for collecting samples of the attached organisms at the antifouling bottom of the ship;
the lifting platform (2) comprises a carrying platform (15), a drag chain plate (16) and a drag chain (17), wherein the carrying platform (15) is used for carrying the mechanical arm (3), the clamp assembly (4) and the acquisition assembly (5) and providing lifting power in space, the carrying platform (15) is connected with the drag chain (17) through the drag chain plate (16), and the drag chain (17) is used for carrying a power line and a signal line and moves along with the lifting platform (2);
the mechanical arm (3) is used for bearing the clamp assembly (4) and the acquisition assembly (5) and providing power for the clamp assembly (4) and the acquisition assembly (5) to move along a tool coordinate system;
the clamp assembly (4) comprises a connecting plate (6), a supporting arm (7), an upper half enclasping device (8), a lower half enclasping device (9) and a ranging module (10), wherein the connecting plate (6) is connected with the supporting arm (7), the lower half enclasping device (9) is fixedly connected with the supporting arm (7), the upper half enclasping device (8) is in bolted connection with the lower half enclasping device (9) to realize the enclasping process, the connecting plate (6) is arranged on a flange plate at the tail end of the mechanical arm (3), and the ranging module (10) is arranged on the connecting plate (6) and is used for detecting distance information between the connecting plate and an antifouling bottom;
the collection assembly (5) comprises an electric circular saw (11) and a circular tooth sheet (12), wherein the electric circular saw (11) is fixed on the clamp assembly (4) through an upper half enclasping device (8) and a lower half enclasping device (9), and the circular tooth sheet (12) is installed on the electric circular saw (11).
2. The marine antifouling bottom attached organism adaptive collection system of claim 1 wherein: the system further comprises a collection groove (13), wherein the collection groove (13) is welded at the lower end of the electric circular saw (11), the forefront end of the collection groove (13) is located at the forefront end of the electric circular saw (11) in the direction of the z axis of the tool coordinate system, and when the electric circular saw (11) contacts the anti-fouling bottom, the collection groove (13) cannot interfere with the anti-fouling bottom.
3. The marine antifouling bottom attached organism adaptive collection system of claim 1 wherein: the system further comprises a cover (14), wherein the cover (14) is fixed on the upper edge of the front part of the collecting tank (13) and is used for compensating the gap between the collecting tank (13) and the ship anti-fouling bottom.
4. A method of collecting a marine antifouling substrate periphyton adaptive collection system according to any of claims 1-3, comprising:
s1, a collection ship (1) is navigated to the vicinity of an antifouling bottom of a ship to be collected along the water surface, so that a tool coordinate system z-axis of a mechanical arm (3) for keeping an initial pose is vertical to the surface of a sample to be collected, and a lifting platform (2) is moved forward to a working position;
s2, performing off-line calibration between the ranging module (10) and the mechanical arm (3) and between the ranging module and the clamp assembly (4), wherein the feeding amount of the tail end of the mechanical arm is controlled according to the distance from the ranging module to the antifouling bottom measured by the ranging module (10) when the mechanical arm (3) advances;
s3, lifting the lifting platform (2), and according to the measured distance of the ranging module (10) and a reference preset value, stopping lifting the lifting platform (2) when the measured distance reaches the preset value;
s4, the circular tooth piece (12) starts to rotate in a constant torque control mode, the mechanical arm (3) forwards feeds t according to the z-axis of a terminal tool coordinate system according to distance data measured by the distance measuring module (10), the circular tooth piece (12) is enabled to be in contact with the adhesive organisms at the anti-fouling bottom of the ship, the adhesive organisms drop into the biological sample collection groove (13), the upper computer determines the adhesive organism hardness level by judging the motor current change of the circular tooth piece (12) caused by resistance, the rotating speed of the circular tooth piece (12) is adjusted in real time, and the damage of the circular tooth piece (12) to the adhesive organism body characteristics is reduced;
s5, the mechanical arm (3) positively feeds a distance a at a constant speed along the z axis of the tool coordinate system, the reference ranging module (10) feeds back data, a preset value is referenced, and when the measured distance reaches the preset value, the mechanical arm stops moving;
s6, the mechanical arm (3) moves downwards by a specific distance b along the y-axis of the tool coordinate system at a uniform speed in a negative direction, and the mechanical arm (3) joint data feedback is referred to, and the mechanical arm stops in place;
s7, the mechanical arm (3) is backwards retracted by a distance c along the z axis of the tool coordinate system, is uniformly translated by a distance d along the x axis of the tool coordinate system, and is uniformly moved upwards by a distance b along the y axis of the tool coordinate system;
s8, the mechanical arm takes S1 to S7 as a cycle period to perform sample collection operation, and the work of sampling the attached organisms within a certain plane range of the ship anti-fouling bottom is completed;
and S9, the mechanical arm (3) and the circular tooth piece (12) are powered off, the mechanical arm (3) returns to the initial pose, the lifting platform (2) descends and moves back to the initial position, and the collection ship (1) returns to the shore.
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| CN202110604205.0A CN113218689B (en) | 2021-05-31 | 2021-05-31 | Self-adaptive acquisition system and method for ship antifouling bottom attached organisms |
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| CN202110604205.0A CN113218689B (en) | 2021-05-31 | 2021-05-31 | Self-adaptive acquisition system and method for ship antifouling bottom attached organisms |
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| CN113218689B true CN113218689B (en) | 2023-10-03 |
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