CN117875031A - Unmanned ship underwater operation and deep detection method for loading soft robot - Google Patents
Unmanned ship underwater operation and deep detection method for loading soft robot Download PDFInfo
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Abstract
The embodiment of the application provides an unmanned ship underwater operation and deep detection method for loading a soft robot. The method comprises the following steps: firstly, designing a soft robot according to an operation task of an unmanned ship and executing methods aiming at different operations; then, the connection between the loading soft robot and the unmanned ship as well as between the loading soft robot and the main platform is realized, wherein the connection comprises control, data transmission and the like; and finally, putting the loading soft robot into an unmanned ship working environment to execute operation and detection, and outputting operation information. In unmanned ships carrying soft robots, underwater operations and deep exploration, it is important to realize the connection between the loading soft robots and the unmanned ships and the total station. The realization of the connection between a loading soft robot, an unmanned ship and a main platform relates to a plurality of technical fields including communication, energy supply, control, mechanical design and the like. And the requirements and environmental conditions of different tasks are comprehensively considered, and a proper technical scheme needs to be formulated so as to ensure the cooperative operation and task completion of the whole system.
Description
Technical Field
The application relates to the technical field of unmanned boats, in particular to an unmanned boat underwater operation and deep detection method for loading soft robots.
Background
With the wide application of unmanned ship technology in various fields, unmanned ship simulation technology is also developed, and soft robots are robot design concepts with inspiration derived from organisms and are mainly characterized by softness, deformability, adaptability and toughness. Compared with the traditional hardware robots, the soft robot can be better adapted to complex environments and tasks, and has higher safety and adaptability. The soft robot is applied to the unmanned ship, and can bring a plurality of advantages to the fields of ocean exploration, monitoring, rescue and the like. The main technology comprises the following steps:
the method is suitable for complex environments: the ocean environment is complex and changeable, and is full of various barriers and uncertainties. Conventional hardware robots may have difficulty coping with these challenges, while the soft nature of soft robots enables them to better traverse narrow channels, accommodate irregular terrain, and operate in confined spaces.
Self-healing and scalability: soft robots typically have self-repairing capabilities that automatically recover function after damage. This is very valuable for long term marine tasks, as robots may be subject to seawater corrosion and other damage.
Multimodal perception: the soft robot may integrate a variety of sensors, such as cameras, sonar, and chemical sensors, to achieve multi-modal perceptibility. This enables the robot to more fully understand the surrounding environment, thereby performing tasks more efficiently.
Collaboration and formation: soft robots can more easily implement collaboration and formation operations because of their flexible nature making collisions and interactions safer. This helps to achieve collaborative work in marine tasks, improving task efficiency.
Multitasking collaboration: the unmanned boat may carry a plurality of soft robots, each of which may perform a different task, such as marine organism monitoring, marine topography surveying, marine waste collection, etc. Such multitasking collaboration can improve data collection efficiency and task execution capacity.
Modularization and customization: in combination with the modular design of the soft robot, the shape, function and sensor configuration of the soft robot can be customized according to different task requirements. Unmanned boats can carry different types of soft robots to adapt to different marine tasks.
Intelligent control and autonomy: the soft robot on the unmanned ship can realize autonomous task execution through an intelligent control algorithm. The soft robot can make decisions according to sensor data and environmental conditions, and a higher level of autonomy is achieved.
The combination of a soft robot with an unmanned boat poses challenges in terms of technology, control and coordination, such as how to efficiently maneuver the soft robot, achieving coordination between the soft robot and the unmanned boat, etc. However, as technology advances and research proceeds, this combination is expected to bring more innovation and application opportunities to the marine field.
Disclosure of Invention
The invention provides a method for assisting unmanned ship underwater detail operation and deep detection, which utilizes a soft robot to assist operation according to unmanned ship tasks and realizes deeper underwater detection.
In order to achieve the above purpose, the invention provides an unmanned ship underwater detail operation and deep layer detection method, comprising the following steps:
determining a soft robot design and an execution method aiming at different operations according to the operation tasks of the unmanned ship;
the connection between the loading soft robot and the unmanned ship and the connection between the loading soft robot and the main platform are realized, and the loading soft robot and the unmanned ship are used for control and data transmission;
and (3) putting the load soft robot into an unmanned ship working environment to execute operation and detection, and outputting operation information.
In some embodiments, the method for determining a soft robot design and executing different tasks according to the task of the unmanned ship comprises the following steps:
the unmanned ship comprises a submarine topography survey task;
correspondingly, the soft robot comprises: a soft and deformable submarine robot provided with a geological sensor and a camera;
the execution method comprises the following steps: the unmanned ship carries the soft robot to reach a target area, and the soft robot is thrown into water; the soft robot moves on the seabed surface or seabed through deformation and movement, and geological data and images are recorded in real time; the collected data is transmitted back to the unmanned ship through the communication system and then transmitted to the main station for analysis and processing.
In some embodiments, the method for determining a soft robot design and executing different tasks according to the task of the unmanned ship comprises the following steps:
the unmanned ship operation tasks comprise marine organism monitoring tasks;
correspondingly, the soft robot comprises: the soft robot provided with the camera and the water quality sensor can move and shoot in water;
the execution method comprises the following steps: the unmanned ship reaches a designated sea area, and the soft robot is thrown into water; the soft robot makes tour in water through buoyancy and freedom degree, and records images of marine organisms and water quality information; the data are transmitted back to the unmanned ship through communication and then transmitted to the total station for analysis.
In some embodiments, the method for determining a soft robot design and executing different tasks according to the task of the unmanned ship comprises the following steps:
the unmanned ship operation tasks comprise marine pollution monitoring tasks;
correspondingly, the soft robot comprises: the soft robot provided with the chemical sensor and the camera can detect water quality and collect water samples;
the execution method comprises the following steps: the software robot utilizes chemical sensor to measure the concentration of pollutant in the water, collects the sample from water for further analysis, and the software robot passes back unmanned ship with pollutant concentration data and water sample information through communication system, and unmanned ship transmits data to the total station and carries out analysis and processing.
In some embodiments, the method for determining a soft robot design and executing different tasks according to the task of the unmanned ship comprises the following steps:
the unmanned ship operation tasks comprise four-seafloor facility maintenance tasks;
correspondingly, the soft robot comprises: the soft robot capable of accurately operating and carrying the maintenance tool is provided with a camera and various sensors;
the execution method comprises the following steps: carrying the soft robot to a facility position by the unmanned ship, and throwing the soft robot into water; the soft robot overhauls and maintains through deformation and operation tools according to task requirements, and simultaneously uses cameras to shoot facility conditions; the data is transmitted back to the unmanned ship and then transmitted to the main platform for analysis.
The combination of soft robots and unmanned boats brings many beneficial effects in the marine field, can enhance task execution capacity, improve data collection efficiency, and deal with complex environmental challenges. The beneficial effects of the above embodiment include:
(1) Adaptability and flexibility: the soft nature of the soft robot enables it to adapt to different marine environments and complex terrains. Unmanned boats provide shipping and support that enables soft robots to reach difficult to reach places, performing various tasks.
(2) Efficient data collection: the soft robot is provided with a sensor, so that data can be collected in a shorter distance when approaching to marine organisms or monitoring areas. This may provide more accurate and detailed data than conventional remote sensing methods.
(3) Multitasking collaboration: the unmanned boat may carry multiple soft robots, each performing a different task. Such a multitasking capability may increase the efficiency of the overall system while saving time and resources.
(4) The ecological interference is reduced: the soft structure and the operation mode of the soft robot are relatively mild, and the interference to the marine ecosystem is reduced. This is important for preserving ecological balance and biodiversity.
(5) Deep sea mission: the combination of soft robots and unmanned boats may be used for deep sea tasks such as seafloor terrain surveying, resource exploration, etc. The soft robot can adapt to a deep sea high-pressure environment and execute complex tasks.
(6) Emergency response: under emergency conditions, the unmanned ship carrying soft robot can be quickly put in a dangerous area to execute search and rescue, monitoring and rescue tasks. This increases the speed of emergency response in case of emergency.
In a comprehensive view, the combination of the soft robot and the unmanned ship brings greater flexibility, high efficiency and sustainability to various tasks in the ocean field, and promotes the development of ocean science and technology.
Drawings
The drawings illustrate generally, by way of example and not by way of limitation, various embodiments discussed herein.
FIG. 1 is a schematic diagram of a task execution flow of a loading soft robot.
Detailed Description
For a more complete understanding of the features and technical content of the embodiments of the present application, reference should be made to the following detailed description of the embodiments of the present application, taken in conjunction with the accompanying drawings, which are for purposes of illustration only and not intended to limit the embodiments of the present application.
In the description of the embodiments of the present application, unless otherwise indicated and defined, the term "connected" should be construed broadly, and for example, may be an electrical connection, may be a communication between two elements, may be a direct connection, or may be an indirect connection via an intermediary, and it will be understood by those skilled in the art that the specific meaning of the term may be understood according to the specific circumstances.
It should be noted that, the term "first\second\third" in the embodiments of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second\third" may interchange a specific order or sequence where allowed. It is to be understood that the "first\second\third" distinguishing objects may be interchanged where appropriate such that the embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.
The invention provides a method for assisting unmanned ship underwater detail operation and deep detection, which utilizes a soft robot to assist operation according to unmanned ship tasks and realizes deeper underwater detection.
In order to achieve the above object, the present invention proposes the following technical method: an unmanned ship underwater detail operation and deep layer detection method comprises the following steps:
firstly, determining a soft robot design and an execution method aiming at different operations according to an operation task of an unmanned ship;
then, the connection between the loading soft robot and the unmanned ship as well as between the loading soft robot and the main platform is realized, wherein the connection comprises control, data transmission and the like;
and finally, putting the loading soft robot into an unmanned ship working environment to execute operation and detection, and outputting operation information.
Further, the unmanned ship underwater operation and deep layer detection method of the loading soft robot comprises the following steps:
in unmanned ship underwater operation and deep detection loaded with a soft robot, determining the soft robot design and the execution method aiming at different operations according to the operation task of the unmanned ship is one of key steps. Each task has its unique requirements and challenges, so the design and implementation of the soft robot needs to be adjusted and optimized for the specific situation. Meanwhile, the cooperative operation between the unmanned ship and the soft robot also needs careful design and control to ensure efficient completion of tasks.
In unmanned ships carrying soft robots, underwater operations and deep exploration, it is important to realize the connection between the loading soft robots and the unmanned ships and the total station. The realization of the connection between a loading soft robot, an unmanned ship and a main platform relates to a plurality of technical fields including communication, energy supply, control, mechanical design and the like. And the requirements and environmental conditions of different tasks are comprehensively considered, and a proper technical scheme needs to be formulated so as to ensure the cooperative operation and task completion of the whole system.
In unmanned ship underwater operation and deep detection of a load soft robot, it is important to put the load soft robot into an unmanned ship working environment to perform operation and detection and output operation information, so that the unmanned ship and the soft robot are ready. The unmanned boat navigates to the target area as planned and releases the soft robot into the water. The soft robot starts to detect marine organisms and obtains data by using the camera and the sensor. The data are transmitted back to the unmanned boat through the communication system and then transmitted to the master station for analysis and processing. Finally, job information is generated and presented, including the content of the biological category, quantity, distribution, and the like. After the task is finished, the soft robot can be recovered, and the unmanned ship can continue other tasks. This cooperative work provides powerful support for marine research and environmental monitoring.
The invention provides a method for assisting unmanned ship underwater detail operation and deep detection, which comprises the following specific implementation steps:
according to different unmanned ship operation tasks, a soft robot with strong adaptability can be designed, and a corresponding execution method is formulated for the soft robot. The following are some common unmanned boat work tasks and corresponding soft robot design and execution method examples:
1. submarine topography survey mission:
1) Unmanned ship operation task: the submarine topography survey task aims to acquire submarine topography information for geological research, resource exploration and the like.
2) Designing a soft robot: the design of the soft and deformable submarine robot is provided with a geological sensor and a camera, and the submarine robot can freely move and record data in the submarine complex terrain.
3) The execution method comprises the following steps: the unmanned ship carries the soft robot to the target area, and the soft robot is thrown into the water. The soft robot moves on the seabed surface or seabed through deformation and movement, and geological data and images are recorded in real time. The collected data is transmitted back to the unmanned ship through the communication system and then transmitted to the main station for analysis and processing.
Autonomous probing path: the soft robot uses an autonomous control system to start probing along the seafloor according to a preset path plan.
Geological data acquisition: the soft robot is provided with a geological sensor and records information such as submarine topography, geological features, water depth and the like. At the same time, the camera captures a geologic image.
And (3) data transmission: the software robot transmits the acquired geological data and images back to the unmanned aerial vehicle through the communication system, and the unmanned aerial vehicle transmits the data to the main platform for processing.
2. Marine organism monitoring tasks:
1) Unmanned ship operation task: is used for monitoring and researching the marine ecosystem and knowing the distribution, quantity and behavior of marine organisms.
2) Designing a soft robot: a soft robot equipped with a camera and a water quality sensor is developed, and can freely move and shoot in water.
3) The execution method comprises the following steps: the unmanned ship reaches the appointed sea area, and the soft robot is thrown into the water. The soft robot can make tour in water through buoyancy and freedom degree, and record marine organism image and water quality information. The data are transmitted back to the unmanned ship through communication and then transmitted to the total station for analysis.
Autonomous tour: the soft robot makes use of its buoyancy and soft characteristics to make autonomous tours in water. The autonomous control system helps it avoid obstacles.
Biological image acquisition: the carried camera shoots images of marine organisms and records the appearance of the marine ecosystem. The water quality sensor collects data concerning the quality of the water body.
And (3) data transmission: the soft robot transmits the collected biological image and water quality data back to the unmanned ship through the communication system. The unmanned boat transmits the data to the total station for analysis and processing.
3. Marine pollution monitoring tasks:
1) Unmanned ship operation task: contaminants in the marine environment are monitored and data is collected to understand the level of contamination.
2) Designing a soft robot: the soft robot is provided with a chemical sensor and a camera, and can detect water quality and collect water samples.
3) The execution method comprises the following steps: the sensor data needs to be encoded during transmission to ensure data reliability and bandwidth savings. The computer needs a corresponding decoding algorithm to restore the encoded data to the original data.
And (3) detecting the concentration of pollutants: the soft robot uses chemical sensors to measure the concentration of contaminants in the water. It may take measurements near the source of contamination or on a predetermined path.
And (3) water sample collection: the soft robot is equipped with a sampling device that is capable of collecting samples from the water for further analysis. This helps to identify the source and type of contamination.
And (3) data transmission: the soft robot transmits the pollutant concentration data and the water sample information back to the unmanned aerial vehicle through the communication system, and the unmanned aerial vehicle transmits the data to the main platform for analysis and processing.
4. Submarine facility maintenance tasks:
1) Unmanned ship operation task: for inspection and maintenance of subsea installations, such as subsea pipelines, cables, etc.
2) Designing a soft robot: a soft robot capable of accurately operating and carrying a maintenance tool is designed, and is provided with a camera and various sensors.
3) The execution method comprises the following steps: the unmanned ship carries the soft robot to the facility position and puts the soft robot into water. The soft robot overhauls and maintains through deformation and operation tools according to task requirements, and meanwhile, cameras are used for shooting facility conditions. The data is transmitted back to the unmanned ship and then transmitted to the main platform for analysis.
Accurate positioning: the soft robot uses an autonomous control system to accurately position to a position to be overhauled according to the position and the characteristics of the facility.
An operation tool: the soft robot controls the maintenance tool to the part to be overhauled through soft deformation, and repair and maintenance work is carried out.
Video recording: the carried cameras record the condition of the facility and the maintenance process, which facilitates subsequent analysis and evaluation.
And (3) data transmission: the soft robot transmits the data and the image of the maintenance process back to the unmanned aerial vehicle through the communication system, and the unmanned aerial vehicle transmits the data to the main platform for analysis and processing.
The method for realizing the connection between the load soft robot and the unmanned ship and the main platform mainly comprises the following steps:
1. the design of the load soft robot, the unmanned ship and the main platform, which needs to consider the aspects of communication, energy supply and the like, needs to be considered:
1) Communication connection: the realization of communication between the loading soft robot, the unmanned ship and the total station is the key for ensuring data transmission and control. The following communication means may be used:
wireless communication: wireless communication technologies such as radio communication, bluetooth, wi-Fi, wireless data links, etc. are employed. This approach may provide flexibility and distance adaptability.
Wire communication: the physical cable is used to connect the various parts to ensure stable data transmission. This may be more appropriate for close range, high stability requirements.
Communication protocol: communication between the unmanned ship and the soft robot requires establishment of an appropriate communication protocol, ensuring reliable transmission of data and transmission of control instructions. Common communication protocols include TCP/IP, UDP, ROS (robot operating system) and the like, which enable efficient data exchange and control instruction transmission.
2) And (3) energy supply: the energy supply of each part is the key for ensuring the normal operation of the system. The following are some ways of energy supply:
solar charging: the unmanned ship can be carried with a solar panel to provide power for the whole system. Both the soft robot and the unmanned boat can be kept running through solar charging.
And (3) battery power supply: both the loading soft robot and the unmanned ship can be provided with batteries to provide independent energy supply.
A fuel cell: for long-term tasks, the use of fuel cells as energy supply can be considered. The fuel cell can provide sustained and stable electric power.
2. The design of the loading soft robot, the unmanned ship and the main platform needs to be considered in control, and the following is detailed:
1) Presetting a task path: the unmanned aerial vehicle can control the actions of the soft robot according to a preset task path and instructions. This means that before the task starts, the operator will set up a task path on the unmanned boat along which the soft robot will perform the task.
2) Instruction transmission: the unmanned ship transmits control instructions to the soft robot through the communication system. These instructions may include motion instructions, stop instructions, task start instructions, etc.
3) Control algorithm: the design of a proper control algorithm is a basis for realizing the control of the unmanned ship on the soft robot. This includes path planning, motion control, action sequences, etc. Suitable algorithms, such as genetic algorithms, PID control, state machines, etc., can be selected to achieve precise control of the soft robot for different task requirements.
4) Autonomous decision: the soft robot may be equipped with an autonomous decision making system that makes autonomous decisions via internal sensor data. The complex algorithm needs to be realized in the software level, so that the robot can make corresponding decisions according to environmental changes and task requirements, and the unmanned ship only needs to send high-level instructions.
5) Remote control and monitoring interface: an operator can remotely control and monitor the entire system through a computer interface. This interface may be required to perform functions such as image transmission, control buttons, data display, etc., so that the operator can learn about the progress of the task in real time and make the necessary adjustments.
In practical application, the design of the computer level is the core of the cooperation of the unmanned ship and the soft robot. Proper algorithm and software implementation can improve the efficiency, accuracy and security of tasks.
3. The data transmission between the soft robot and the unmanned ship is an important link for realizing task coordination and control. The data transmission mode needs to be selected according to task requirements, communication distance, data volume and environmental conditions. The following are the data transmission modes that may be used between the soft robot and the unmanned boat:
1) Sound signal: in some cases, soft robots and unmanned boats may use acoustic signals for short-range communications. For example, the unmanned boat may emit an acoustic signal and the soft robot receives and responds via an acoustic sensor.
2) Data link and satellite communications: for large-scale and long-range marine tasks, data may be transferred from the unmanned craft to the land-based station for transfer to the total station using dedicated data links or satellite communications. This approach is suitable for operations requiring coverage of large areas of the sea.
3) Data storage and transfer: a storage medium may also be used to transfer data between the soft robot and the unmanned boat. The unmanned ship can be carried with a storage device, stores the acquired data, and then is retrieved by the soft robot and transmitted to the main platform.
4) Real-time image transmission: under the condition that the task progress needs to be monitored in real time, the unmanned ship can be provided with a camera, and the images are shot and transmitted to the main platform in real time through the communication system. This way the operator can monitor the task remotely.
To ensure reliability and security of data transmission, data compression, encryption, error detection, and the like may be required. Meanwhile, depending on interference and attenuation conditions in the marine environment, it may be necessary to optimize communication protocols and techniques to ensure stability of data transmission. In summary, the selection of the data transmission mode is to make reasonable trade-offs and decisions according to the task characteristics and environmental conditions.
The loading soft robot is put into the unmanned ship working environment to execute the work and detect the task, and a series of steps are needed to be carried out, including task planning, data transmission, task execution and work information output. As shown in fig. 1, the following are possible implementation steps:
1) Task planning and specification: at the head office or operator end, a mission plan is formulated. This includes specifying task goals, regions, job types, and schedules. The operator may select an appropriate area for the task based on map or marine environment requirements.
2) Unmanned boat preparation: before the start of the mission, it is ensured that the unmanned boat is equipped with the required equipment and load interfaces. Unmanned boats need to carry communication equipment, energy supplies, sensors, etc. and connect to the mechanical interface of the soft robot.
3) Load soft robot connection: the loading soft robot is connected to the loading interface of the unmanned boat. This may require a specific mechanical design to ensure that the soft robot is able to connect firmly with the unmanned boat in the water.
And (3) designing a mechanical interface:
the adaptability: the mechanical interface of the loading soft robot should be adapted to the loading interface of the unmanned ship. This may require some mechanical structure, such as pins, slots or detents, to be designed into the hull or bottom of the soft robotic vehicle to interface with the unmanned boat load.
Stability: ensuring a stable and reliable mechanical connection to prevent loosening due to waves or movements in the marine environment. Bolts, locking devices, or other securing mechanisms may be required to keep the connection stable.
Waterproof design: considering the underwater operating environment, the mechanical interface may need to be provided with a certain waterproof design to avoid moisture penetration and to influence the connection quality.
Communication interface design:
a wireless communication module: if wireless communication is used between the soft robot and the unmanned ship, the soft robot and the unmanned ship are required to be provided with corresponding wireless communication modules. Ensuring that the communication frequencies, protocols and data formats match.
Antenna design: if long-range communication is required, the use of an appropriate type of antenna is considered to optimize the signal transmission effect. The antenna may need to be on both the unmanned boat and the soft robot.
And the data transmission is safe: securing the communication connection may require encrypting the communication to prevent unauthorized access and data leakage.
4) Path planning and control instructions: and setting a task path and a control instruction of the unmanned ship at an operator side. This includes setting moving target coordinates, obstacle avoidance path planning, starting a soft robot, etc.
Path planning:
map data: unmanned boats and soft robots may carry map data or acquire terrain and obstacle information in real time through sensors of the unmanned boats. These data are used in a computer to generate a viable path.
Algorithm selection: suitable path planning algorithms are selected, such as Dijkstra, RRT, etc. The algorithms calculate the optimal path to be followed by the unmanned aerial vehicle according to the map data, the targets and the constraint conditions.
Path optimization: in the computer, the path planning may also need to take into account different optimization objectives, such as shortest path, lowest energy consumption, avoidance of obstacles, etc. This requires path trade-offs and adjustments.
Dynamic path update: during the task execution, the computer may dynamically update the path according to the real-time position and sensor data of the unmanned ship and the soft robot to adapt to the environmental change and task requirements.
Control instructions:
motion control: according to the path planning result, the computer generates motion control instructions including speed, course angle, turning radius and the like. These instructions are used to control the movement of the unmanned aerial vehicle along the planned path.
And (3) controlling a soft robot: the computer generates control instructions for the soft robot to control its movements and deformations. This involves controlling the articulation or morphology of the soft robot to adapt to the task requirements.
And (3) real-time adjustment: the computer adjusts the control instructions in real time based on the sensor data and environmental changes. For example, if an obstacle is found, the computer may generate new instructions to avoid the collision.
Autonomous decision: the computer can realize the autonomous decision of the soft robot. The soft robot can automatically adjust the motion strategy according to the situation through a preset algorithm and sensor data.
And (3) data feedback: the computer receives data feedback, such as sensor readings, positional information, etc., from the unmanned boat and the soft robot via the communication link. These feedback information are used to adjust control commands and path planning.
5) Communication establishment: the unmanned ship establishes a connection with the soft robot through wireless communication. This may involve setting up the communication frequency, protocol, and data exchange format.
6) Data transmission and control: the unmanned ship starts to execute the task and sends a control instruction to the soft robot through the communication connection. This may include direction of movement, speed, manner of deformation, etc.
7) The soft robot performs autonomously: and according to a control instruction sent by the unmanned ship, the soft robot starts to autonomously execute the task. For example, in a seafloor topography survey task, a soft robot may move along the seafloor according to a path plan and record data.
Sensor data acquisition: soft robots are typically equipped with various sensors, such as cameras, pressure sensors, accelerometers, etc., for acquiring data of the surrounding environment. These sensors provide information about the marine environment, obstructions, target locations, etc.
Data processing and perception: the control system of the soft robot senses and understands the environment by processing the sensor data. It can identify obstacles, measure water depth, detect targets, etc.
Decision algorithm: autonomous decision making by soft robots relies on built-in decision algorithms. These algorithms may be based on rules, neural networks, machine learning, etc. for analyzing the sensor data and generating appropriate action strategies.
Environmental modeling: a soft robot may build an environmental model inside it to better understand the surrounding environment and obstacle distribution. This facilitates more accurate path planning and obstacle avoidance.
Task target analysis: the soft robot needs to understand the goals and requirements of the task in order to make appropriate decisions based on task type and priority. For example, during a survey task, it may focus on data collection for a particular region.
Action generation and execution: based on the perception and decision, the soft robot generates a sequence of actions, such as bending, stretching, peristaltic movements, etc., to fulfill the task requirements. These actions may involve deformation and movement of the soft robot.
Obstacle avoidance and path planning: autonomous execution of the soft robot requires the ability to identify obstacles and avoid them according to a path planning algorithm. The obstacle avoidance device can realize obstacle avoidance by means of adjusting the form, changing the movement direction and the like.
Data transmission and feedback: in the autonomous execution process, the soft robot may transmit data feedback, such as execution status, encountered obstacles, collected data, etc., to the unmanned aerial vehicle through the communication connection.
8) Data acquisition and transmission: during the execution of the task, sensors carried by the soft robot begin to collect data, such as geologic information, water quality parameters, biological images, etc. These data are transmitted to the unmanned boat via the communication link.
And (3) sensor data acquisition:
a variety of sensors: soft robots and unmanned boats may be equipped with a variety of sensors such as cameras, sonar, pressure sensors, water quality sensors, etc. Each sensor may collect different types of information such as images, sounds, depth, water quality parameters, etc.
Real-time data: the sensors typically collect data in real time to reflect environmental changes in a timely manner. For example, a camera may capture real-time images and a water quality sensor may measure real-time water quality parameters.
Data processing and integration:
sensor fusion: unmanned boats and soft robots may fuse the data of multiple sensors to obtain more comprehensive and accurate environmental information. This may be achieved by a sensor fusion algorithm.
Data calibration: sensor data may need to be calibrated to ensure its accuracy and consistency. For example, the image of the camera may need to be distortion corrected.
Data transmission and communication:
and a communication module: soft robots and drones need to be equipped with communication modules, such as radio frequency, bluetooth, wi-Fi, etc., for data transmission.
Data format: the appropriate data format is designed to encode and decode the sensor data and to ensure stability and efficiency of data transmission.
Transmission protocol: an appropriate transmission protocol is selected to ensure reliable transfer of data in wireless communications. This may involve packetization of data, error detection and error correction mechanisms.
Communication security: if sensitive data is transmitted, encrypted communications may be required to secure the data against unauthorized access.
Real-time and latency:
real-time data: for certain tasks, real-time data is important, such as obstacle avoidance in emergency situations. Therefore, the data transmission should meet the real-time requirement as much as possible.
Communication delay: in wireless communications, delay is a challenge. Communication delays are taken into account to ensure that data transfer does not affect the efficiency and security of the task.
Data storage and backup:
and (3) local storage: if the data cannot be immediately transmitted, the soft robot or unmanned boat may need to have local storage capability, temporarily store the data, and then transmit at the appropriate time.
Backing up data: to avoid data loss, the transmitted data may need to be backed up at multiple locations, such as at unmanned boats, soft robots, and bases, etc.
9) Data processing and primary analysis: after the unmanned ship receives the data transmitted by the soft robot, preliminary processing and analysis can be performed. For example, the image is processed, sensor data is corrected, key information is extracted, and the like.
10 Job information output: after the task is completed, the unmanned boat may output job information to the staging platform. This includes task performance, collected data, problems found, etc.
11 Data transfer and summary: and after the unmanned ship returns to the base or establishes connection with the main platform, the collected data is transmitted. The operator or analyst performs in-depth analysis on the data, evaluates the task effect, and makes the next ambulatory plan.
The technical solutions described in the embodiments of the present application may be arbitrarily combined without any conflict.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. An unmanned ship underwater operation and deep detection method loaded with a soft robot, which is characterized by comprising the following steps:
determining a soft robot design and an execution method aiming at different operations according to the operation tasks of the unmanned ship;
the connection between the loading soft robot and the unmanned ship and the connection between the loading soft robot and the main platform are realized, and the loading soft robot and the unmanned ship are used for control and data transmission;
and (3) putting the load soft robot into an unmanned ship working environment to execute operation and detection, and outputting operation information.
2. The unmanned ship underwater operation and deep exploration method of loading soft robots according to claim 1, wherein said method for determining soft robot design and execution for different operations according to the operation tasks of unmanned ship comprises:
the unmanned ship comprises a submarine topography survey task;
correspondingly, the soft robot comprises: a soft and deformable submarine robot provided with a geological sensor and a camera;
the execution method comprises the following steps: the unmanned ship carries the soft robot to reach a target area, and the soft robot is thrown into water; the soft robot moves on the seabed surface or seabed through deformation and movement, and geological data and images are recorded in real time; the collected data is transmitted back to the unmanned ship through the communication system and then transmitted to the main station for analysis and processing.
3. The unmanned ship underwater operation and deep exploration method of loading soft robots according to claim 1, wherein said method for determining soft robot design and execution for different operations according to the operation tasks of unmanned ship comprises:
the unmanned ship operation tasks comprise marine organism monitoring tasks;
correspondingly, the soft robot comprises: the soft robot provided with the camera and the water quality sensor can move and shoot in water;
the execution method comprises the following steps: the unmanned ship reaches a designated sea area, and the soft robot is thrown into water; the soft robot makes tour in water through buoyancy and freedom degree, and records images of marine organisms and water quality information; the data are transmitted back to the unmanned ship through communication and then transmitted to the total station for analysis.
4. The unmanned ship underwater operation and deep exploration method of loading soft robots according to claim 1, wherein said method for determining soft robot design and execution for different operations according to the operation tasks of unmanned ship comprises:
the unmanned ship operation tasks comprise marine pollution monitoring tasks;
correspondingly, the soft robot comprises: the soft robot provided with the chemical sensor and the camera can detect water quality and collect water samples;
the execution method comprises the following steps: the software robot utilizes chemical sensor to measure the concentration of pollutant in the water, collects the sample from water for further analysis, and the software robot passes back unmanned ship with pollutant concentration data and water sample information through communication system, and unmanned ship transmits data to the total station and carries out analysis and processing.
5. The unmanned ship underwater operation and deep exploration method of loading soft robots according to claim 1, wherein said method for determining soft robot design and execution for different operations according to the operation tasks of unmanned ship comprises:
the unmanned ship operation tasks comprise four-seafloor facility maintenance tasks;
correspondingly, the soft robot comprises: the soft robot capable of accurately operating and carrying the maintenance tool is provided with a camera and various sensors;
the execution method comprises the following steps: carrying the soft robot to a facility position by the unmanned ship, and throwing the soft robot into water; the soft robot overhauls and maintains through deformation and operation tools according to task requirements, and simultaneously uses cameras to shoot facility conditions; the data is transmitted back to the unmanned ship and then transmitted to the main platform for analysis.
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