The invention discloses a six-axis underwater decontamination autonomous operation mechanical arm based on acousto-optic fusion recognition and positioning, and belongs to the technical field of underwater decontamination equipment. The six-degree-of-freedom mechanical arm has the advantages that pollutants can be automatically recognized in an underwater low-light environment and a turbid environment, the structural strength of a cleaned object cannot be damaged during cleaning, and the six-degree-of-freedom mechanical arm can effectively clean the object with a relatively complex structure. One end of the six-axis mechanical arm is installed on the base, and the other end is used for installing the acousto-optic fusion recognition positioning module and the decontamination module. According to the six-axis mechanical arm, high-pressure-resistant sealing can be achieved through the spiral waterproof end cover, the sealing ring and the sealing filler, and meanwhile maintenance, overhaul and equipment upgrading are facilitated. The cleaning target and the underwater environment can be recognized through a binocular camera, a sonar and other sensor devices, the self-generated posture of the mechanical arm can be estimated, and better adaptability to the underwater low-light and turbid environment is achieved. And a good decontamination path can be planned by bypassing the obstacle.

    基于声光融合识别和定位的六轴水下清污自主作业机械臂,属于水下清污设备技术领域。在水下微光环境和浑浊环境下,能够自主的识别污染物,在清理的时候不会破坏清理对象的结构强度,且六自由度机械臂能够对结构相对复杂的对象进行有效的清理。六轴机械臂一端安装在底座上,另一端用于安装声光融合识别定位模块和清污模块。本发明的六轴机械臂可以通过螺旋防水端盖、密封圈和密封填充物实现耐高压密封的同时,便于维护检修、设备升级。可以通过双目摄像头和声呐等传感器装置以实现对清理目标和水下环境的识别,且可以对机械臂自生的姿态进行预估,并且对水下微光、浑浊的环境有着更好的适应性。可以绕开障碍物规划较好的清污路径。


    Access

    Download


    Export, share and cite



    Title :

    Six-axis underwater decontamination autonomous operation mechanical arm based on acousto-optic fusion recognition and positioning


    Additional title:

    基于声光融合识别和定位的六轴水下清污自主作业机械臂


    Contributors:
    LIU KUN (author) / PENG LEI (author)

    Publication date :

    2024-01-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B08B Reinigen allgemein , CLEANING IN GENERAL / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



    Acousto-Optic Collaborative Beacon Based Underwater Vehicle Recognition and Automatic Tracking

    Yin, Yi / Sui, Yi / Liu, Hao et al. | British Library Conference Proceedings | 2022



    Remote control type underwater fishing robot based on acousto-optic magnetic fusion

    WANG HUIGANG / YANG LONGFEI | European Patent Office | 2022

    Free access

    Acousto-optic combined underwater surveying and mapping system

    LI CHUNYU / WU SONG / ZHANG QI et al. | European Patent Office | 2023

    Free access

    Novel satellite positioning system using acousto-optic deflector

    Musha, Mitsuru / Akami, Kei / Suemasa, Aru | British Library Conference Proceedings | 2019