CN116360462B - Obstacle avoidance method of netting cleaning robot - Google Patents
Obstacle avoidance method of netting cleaning robot Download PDFInfo
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- CN116360462B CN116360462B CN202310462492.5A CN202310462492A CN116360462B CN 116360462 B CN116360462 B CN 116360462B CN 202310462492 A CN202310462492 A CN 202310462492A CN 116360462 B CN116360462 B CN 116360462B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000003825 pressing Methods 0.000 claims description 26
- 238000005406 washing Methods 0.000 claims description 17
- 230000005484 gravity Effects 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The application provides an obstacle avoidance method of a netting cleaning robot, which assists an operator to remotely control an underwater robot to leave attached netting by switching a robot control mode, and automatically maintains the current gesture, heading and water depth, thereby realizing large-range obstacle crossing without deviating from the original track. Is an automatic auxiliary driving function for an underwater cleaning robot. The application has the advantages that the robot does not return to the horizontal state parallel to the sea level due to the return moment (the self-stabilizing force of the robot under water caused by the different points of the floating center and the gravity center) during obstacle crossing, but keeps parallel to the netting. Thereby remarkably reducing the driving difficulty of operators.
Description
Technical Field
The application relates to the technical field of sea cage culture, in particular to an obstacle avoidance method of a net cleaning robot.
Background
The netting in cage culture provides a proper environment for the growth of organisms such as various algae, shellfish and the like, and the permeability of the meshes is related to whether the cultured products can grow normally, so that the netting is cleaned to be one of important work for cage culture. However, due to the necessary fixing and supporting structures in the design of the net cage, some objects left behind and the like, the net cleaning robot becomes an obstacle in work, so that the net cleaning robot has a certain obstacle crossing capability. In some deep open sea cages, the need for obstacle surmounting capability is particularly pronounced with the usual steel structure or coarse rope designs.
At present, a plurality of enterprises develop products and cleaning methods for the netting at home and abroad. CN113275295 discloses that the use of tracks as running gear shows a spiral descending cleaning method and no obstacle surmounting is described. The robot for washing the net developed on the market at present usually uses a crawler belt as a travelling mechanism or uses a propeller to slide as a travelling mode, but in some complex net cases, the net adopts a hanging piece type structure, a plurality of net clothes are separated by the upright posts of the net case and are not communicated into a whole, when the robot is blocked by the upright posts with thick steel structures, the crawler belt is difficult to pass under the lubrication conditions of smooth outer surfaces and water, and the rugged barrier surface makes the sliding mode impossible.
Disclosure of Invention
In order to make up for the defects of the prior art, the application provides an obstacle avoidance method of a netting cleaning robot.
The application is realized by the following technical scheme: the obstacle avoidance method of the netting cleaning robot comprises netting, an obstacle arranged on the netting and the netting cleaning robot, and specifically comprises the following steps:
step S1, controlling a netting cleaning robot to normally execute a netting cleaning task by attaching a netting in a net cage, calculating quaternion and depth data at moment by the robot, and finding that the netting cleaning robot encounters an obstacle in a video, wherein the attitude quaternion of the robot isDepth of water->；
S2, controlling the netting cleaning robot to switch from a net washing mode to a robot flight mode, and automatically reading and storing attitude quaternions during net washing by the netting cleaning robotDeep water->And (3) net pressing force>；
Step S3, the netting cleaning robot takes the posture quaternion saved in the step S2For the attitude target value, the attitude is kept by adopting an attitude-angular velocity double closed loop +.>The depth is kept by adopting a water depth closed loop>Recovering the net pressing force of the propeller>So that the net pressing force is->At the moment, the net cleaning robot no longer has net pressing force, and automatically keeps the posture +.>Depth and depth of；
S4, the net cleaning robot completely maintains pitch angle, roll angle, course angle and depth; due to the net pressing forceThe robot cannot cling to the netting and gradually floats away from the netting, and leaves a distance L in a preset cleaning route;
s5, observing video of the camera and height of the obstacleWhen L>/>When the robot is controlled to fly over the obstacle, the gesture quaternion is +.>Keep unchanged, water depth->Remain unchanged;
step S6, after the net cleaning robot passes over the obstacle, increasing net pressing forceUp to->The posture quaternion is still kept before the clothes are attached>Deep water->；
S7, after the robot is attached to the netting, the posture and the depth are not kept any more, the netting cleaning robot is controlled to switch from a flying mode to a cleaning mode, at the moment, the power of the vertical propeller of the robot is completely distributed to the netting cleaning robot with the netting pressing function to attach the netting, and the netting pressing force is applied to the netting cleaning robot；
S8, the netting cleaning robot continues to execute cleaning tasks according to a set plan;
and step S9, repeatedly executing the operations from step S2 to step S8 after encountering the obstacle again.
Preferably, the obstacle is one of a vertical column obstacle, an inclined obstacle and a net cage sequelae.
The application adopts the technical proposal, and compared with the prior art, the application has the following beneficial effects: the prior literature does not discuss in detail the operation or obstacle avoidance method which is used when the net washing robot encounters a large obstacle such as a stand column, and the like, according to engineering practice experience, supposes that two traditional modes exist when the net washing robot encounters the situation, one is the net washing robot without a swimming function, and the robot needs to be lifted manually by using a crane or the like, and is lowered again at the other end of the stand column obstacle. Yet another method is for the robot to shut off the net force and disengage from the netting, at which point the robot returns to an original position under the force of buoyancy and gravity, and the operator controls the robot to use the swimming function to clear the obstacle.
According to the application, by automatically reading the gesture and water depth data before off-grid, and adopting the angular speed, gesture double-closed-loop PID and depth closed-loop PID formed by matrix operation of quaternion, the gesture and depth of the robot before off-grid can still be maintained under the condition of off-grid clothing, and when depth adjustment is required, the robot can also ensure controllable adjustment of depth. After obstacle surmounting, operators can complete the net pasting and still can be attached to the position of the established netting, so that the operators can completely realize correct obstacle surmounting and path planning according to the planning. The robot control mode is switched to assist an operator to remotely control the underwater robot to leave the attached netting, and the current gesture, heading and water depth are automatically kept, so that the large-range crossing obstacle without deviating from the original track is realized; is an automatic auxiliary driving function for an underwater cleaning robot.
The application has the advantages that the robot does not need to be lifted again when the obstacle is surmounted, thereby reducing the workload of operators; the robot can keep the original gesture and depth when crossing the obstacle, and can keep the original travelling path to realize obstacle crossing, so that sufficient cleaning coverage rate when the robot is remotely controlled to clean the net is ensured; when the obstacle surmounting, the robot does not return to a horizontal state parallel to the sea level again due to the restoring moment (the self-stabilizing force of the robot under water caused by the different points of the floating center and the gravity center), but keeps parallel to the netting. Thereby remarkably reducing the driving difficulty of operators.
Additional aspects and advantages of the application will be set forth in part in the description which follows, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a view showing a state in which a net washing robot is normally cleaned under water.
Fig. 2 is a top view of the robot for washing a net when encountering a vertical obstacle in the operating state of fig. 1.
Fig. 3 is a top view of the robot from the netting with the robot maintaining pose and depth.
Fig. 4 is a top view of the robot cleaner when the robot cleaner maintains the posture of fig. 2 across an obstacle.
Fig. 5 is a plan view of the net washing robot when the net pressing force is increased after crossing an obstacle.
Fig. 6 is a plan view of the net washing robot when the net is attached to the net after the net pressing force is applied.
Fig. 7 is a front view of a washing robot encountering a vertical obstacle cleaning trajectory.
Fig. 8 is a flowchart of a cleaning robot obstacle crossing method.
Wherein, the correspondence between the reference numerals and the components in fig. 1 to 7 is:
1. an obstacle; 2. A netting; 3. A robot; 4. the more vertical the pre-fault cleaning track; 5. the cleaning track after crossing the vertical barrier.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
The obstacle avoidance method of the netting cleaning robot according to the embodiment of the application is specifically described below with reference to fig. 1 to 8.
The obstacle surmounting method of the net cleaning robot 3 is described in detail by taking a large-sized steel structure upright post as an obstacle, and specifically comprises the following steps as shown in fig. 1-6:
step S1, as shown in FIG. 1, the operator controls the netting cleaning robot (3)The net washing task is normally executed by attaching the net (2) in the net cage, the robot (3) still calculates quaternion and depth data at any time, and an operator finds that the net washing robot (3) encounters an obstacle (1) in a video, as shown in fig. 2, at the moment, the attitude quaternion of the robot (3) is as followsDepth of water->；
S2, an operator controls the netting cleaning robot (3) to switch from a net washing mode to a robot flight mode, and the netting cleaning robot (3) automatically reads and stores attitude quaternions during net washingDeep water->Net pressing force；
S3, the netting cleaning robot (3) takes the attitude quaternion saved in S2For the attitude target value, the attitude is kept by adopting an attitude-angular velocity double closed loop +.>The depth is kept by adopting a water depth closed loop>Recovering the net pressing force of the propellerSo that the net pressing force is->At this time, the net cleaning robot (3) no longer has net pressing force, but automatically keeps the posture +.>And depth->；
Step S4, as shown in FIG. 3, the net cleaning robot (3) completely maintains pitch angle, roll angle, course angle and depth; due to the net pressing forceThe robot cannot cling to the netting and gradually floats away from the netting, and leaves a certain distance L in a preset cleaning route;
step S5, as shown in FIG. 4, the operator observes the video of the camera, the height of the obstacle (1)When L>During the operation, the netting cleaning robot (3) flies over the obstacle (1), and the posture quaternion is +.>Deep water->Remain unchanged;
step S6, as shown in FIG. 5, after the net cleaning robot (3) passes over the obstacle (1), the net pressing force is increasedUp toBefore the net (2) is attached, the posture quaternion is still kept>Deep water->；
Step S7, as shown in FIG. 6, the posture and depth are not kept after the robot is attached to the netting (2), an operator controls the netting cleaning robot (3) to switch from a flight mode to a cleaning mode, and at the moment, the power of the vertical propeller of the robot is completely distributed to the netting cleaning robot (3) with the net pressing function to attach to the netting (2), and the net pressing force is applied to the netting cleaning robot；
S8, the netting cleaning robot (3) continues to execute cleaning tasks according to a set plan;
and step S9, repeatedly executing the operations from step S2 to step S8 after encountering the obstacle (1) again.
The cleaning paths before and after obstacle crossing of the netting cleaning robot are shown in fig. 7.
In the description of the present application, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present application; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (2)
1. The obstacle avoidance method of the netting cleaning robot comprises a netting (2), an obstacle (1) arranged on the netting (2) and the netting cleaning robot (3), and is characterized by comprising the following steps of:
step S1, controlling a netting cleaning robot (3) to cling to a netting (2) in a net cage to normally execute a netting cleaning task, calculating quaternion and depth data at moment of the robot (3), and finding that the netting cleaning robot (3) encounters an obstacle (1) in a video, wherein the attitude quaternion of the robot (3) is Q object Depth of water H object ；
S2, controlling the netting cleaning robot (3) to switch from a net washing mode to a robot flight mode, and automatically reading and storing an attitude quaternion Q when the netting cleaning robot (3) washes the net object Depth of water H object And net pressing force F object ；
S3, the netting cleaning robot (3) takes the posture quaternion Q saved in S2 object For the attitude target value, adopting an attitude-angular speed double closed loop to maintain an attitude quaternion Q object Maintaining water depth H by adopting water depth closed loop object Recovering the net pressing force F of the propeller press So that the net pressing force F press =0, at this time, the net cleaning robot (3) no longer has net pressing force, and automatically maintains the posture quaternion Q object And depth of water H object ；
S4, the net cleaning robot (3) completely maintains pitch angle, roll angle, course angle and depth; due to the net pressing force F press =0, the robot cannot cling to the netting and gradually floats away from the netting, and leaves a distance L in a predetermined cleaning route;
step S5, observing the cameraVideo, height H of obstacle (1) obstacle When L > H obstacle During the operation, the netting cleaning robot (3) flies over the obstacle (1), and the posture quaternion Q object Keep unchanged, the water depth H object Remain unchanged;
s6, after the net cleaning robot (3) passes over the obstacle (1), increasing the net pressing force F press Up to F press ＝F object The attitude quaternion Q is still maintained before the clothes (2) are attached object Depth of water H object ；
S7, after the net (2) is attached, the posture and the depth are not kept any more, the net cleaning robot (3) is controlled to be switched from a flight mode to a cleaning mode, at the moment, the power of the vertical propeller of the robot is completely distributed to the net cleaning robot (3) with the net pressing function to attach the net (2), and the net pressing force F is applied to the net cleaning robot press ＝F object ；
S8, the netting cleaning robot (3) continues to execute cleaning tasks according to a set plan;
and step S9, repeatedly executing the operations from step S2 to step S8 after encountering the obstacle (1) again.
2. The obstacle avoidance method of a netting washing robot of claim 1 wherein the obstacle (1) is one of a vertical column obstacle, an inclined obstacle, and a net cage sequela.
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| CN202310462492.5A CN116360462B (en) | 2023-04-26 | 2023-04-26 | Obstacle avoidance method of netting cleaning robot |
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| CN202310462492.5A CN116360462B (en) | 2023-04-26 | 2023-04-26 | Obstacle avoidance method of netting cleaning robot |
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| CN116360462B true CN116360462B (en) | 2023-09-26 |
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