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。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Dredging method and device of automatic cruise underwater intelligent robot and electronic equipment


    Weitere Titelangaben:

    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


    Beteiligte:
    ZHOU JUN (Autor:in) / YUAN RONG (Autor:in) / RAO HONG (Autor:in) / HUANG QINGQIANG (Autor:in) / LUO WANQIONG (Autor:in) / YE QIHONG (Autor:in)

    Erscheinungsdatum :

    2024-04-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



    Dredging adsorption module, underwater robot and control method of underwater robot

    LI JIALONG / CHEN YONGCAN / LI YONGLONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Posture self-adaptive underwater dredging robot

    CHANG YING / CAI YUN / KUANG KE et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Underwater dredging operation robot for urban pipelines

    LIU WENLI / LI HANLIN / SHAO YIXIAO et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Underwater dredging robot for a box culvert

    Hagiwara,T. / Kuboi,Y. / Dengyosha Machine Works,JP | Kraftfahrwesen | 1995


    AUTONOMUS DREDGING UNDERWATER DEVICE

    NOVAS ROSALES JUAN JOSE / DOPICO MARTINEZ ALBERTO / DURAN NEIRA CARLOS et al. | Europäisches Patentamt | 2018

    Freier Zugriff