A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Dredging method and device of automatic cruise underwater intelligent robot and electronic equipment
The invention discloses a desilting method and device of an automatic cruise underwater intelligent robot and electronic equipment, and the method comprises the steps: controlling sonar to transmit sound waves along each set transmitting angle, receiving echoes corresponding to each sound wave, and for each echo, taking the transmitting angle of the sound wave corresponding to the current echo as a reference, determining the corresponding sound wave according to the emission angle of the sound wave corresponding to the current echo; according to a preset first angle interval, controlling the sonar to emit a second sound wave according to a second emission angle, and receiving an echo of the second sound wave to obtain a second echo, according to the distance between the current echo and the corresponding obstacle and the distance between the second echo and the corresponding obstacle and the included angle between the two echoes and the horizontal plane, whether the echoes are reflected back after encountering the wall body of the pump room or not is determined by combining a trigonometric function, and when it is determined that each echo is reflected back after encountering the wall body of the pump room, the corresponding obstacle is detected. Determining the position of the robot in the pump room according to the echoes and the positions of the walls of the pump room; and according to the position of the robot in the pump room, the robot is controlled to conduct desilting along a preset desilting path.
本发明公开了一种自动巡航水下智能机器人的清淤方法、装置及电子设备，所述方法包括：控制声呐沿各设定的发射角度发射声波，并接收各声波所对应的回波，对于每一个回波，以当前回波所对应的声波的发射角度为基准，根据预设的第一角度间隔，控制声呐按第二发射角度发射第二声波，并接收第二声波的回波得到第二回波，根据当前回波和第二回波与对应障碍物的距离以及两个回波与水平面的夹角结合三角函数确定回波是否为遇到泵房的墙体后所反射回来的回波，并在确定每一回波均为遇到泵房的墙体后所反射回来的回波时，根据各回波以及泵房各墙体位置，确定机器人在泵房内的位置；根据机器人在泵房内的位置，控制机器人沿预设的清淤路径进行清淤。
Dredging method and device of automatic cruise underwater intelligent robot and electronic equipment
The invention discloses a desilting method and device of an automatic cruise underwater intelligent robot and electronic equipment, and the method comprises the steps: controlling sonar to transmit sound waves along each set transmitting angle, receiving echoes corresponding to each sound wave, and for each echo, taking the transmitting angle of the sound wave corresponding to the current echo as a reference, determining the corresponding sound wave according to the emission angle of the sound wave corresponding to the current echo; according to a preset first angle interval, controlling the sonar to emit a second sound wave according to a second emission angle, and receiving an echo of the second sound wave to obtain a second echo, according to the distance between the current echo and the corresponding obstacle and the distance between the second echo and the corresponding obstacle and the included angle between the two echoes and the horizontal plane, whether the echoes are reflected back after encountering the wall body of the pump room or not is determined by combining a trigonometric function, and when it is determined that each echo is reflected back after encountering the wall body of the pump room, the corresponding obstacle is detected. Determining the position of the robot in the pump room according to the echoes and the positions of the walls of the pump room; and according to the position of the robot in the pump room, the robot is controlled to conduct desilting along a preset desilting path.
本发明公开了一种自动巡航水下智能机器人的清淤方法、装置及电子设备，所述方法包括：控制声呐沿各设定的发射角度发射声波，并接收各声波所对应的回波，对于每一个回波，以当前回波所对应的声波的发射角度为基准，根据预设的第一角度间隔，控制声呐按第二发射角度发射第二声波，并接收第二声波的回波得到第二回波，根据当前回波和第二回波与对应障碍物的距离以及两个回波与水平面的夹角结合三角函数确定回波是否为遇到泵房的墙体后所反射回来的回波，并在确定每一回波均为遇到泵房的墙体后所反射回来的回波时，根据各回波以及泵房各墙体位置，确定机器人在泵房内的位置；根据机器人在泵房内的位置，控制机器人沿预设的清淤路径进行清淤。
Dredging method and device of automatic cruise underwater intelligent robot and electronic equipment
一种自动巡航水下智能机器人的清淤方法、装置及电子设备
ZHOU JUN (author) / YUAN RONG (author) / RAO HONG (author) / HUANG QINGQIANG (author) / LUO WANQIONG (author) / YE QIHONG (author)
2024-04-05
Patent
Electronic Resource
Chinese
IPC:
G05D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
,
Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen
/
B63C
LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS
,
Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen
/
E03F
SEWERS
,
Abwasserkanäle
/
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
/
G06Q
Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke
,
DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES
Sludge loosening device of underwater dredging robot, and underwater dredging robot
| European Patent Office | 2020
Underwater intelligent dredging robot for underground pipe network and dredging method thereof
| European Patent Office | 2023