波浪补偿打捞机器人控制系统及方法
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摘要
针对波浪引起船舶摇摆运动使打捞复杂度增加的问题,提出了一种具有外载摄像机的主动式波浪补偿自动打捞机器人系统。该系统实现了船舶在海浪摇摆作用下可使机械臂保持相对静止的状态,摄像机完成自动拍摄目标的功能,经图像处理、模板比对后计算机确定目标体的具体形状和位置,以便高效地完成打捞任务。此外,利用MATLAB软件建立了机械臂的三维仿真模型,通过对机械臂运动学和动力学模型进行仿真研究,验证了设计方案的可行性。
According to the problem of increasing the salvage complexity of ship swaying motion caused by wave, the active wave compensation automatic salvage robot system with external camera is proposed. The system can realize the condition that the mechanical arm remains relatively stationary under the sway of the wave. The camera can automatically shoot the target. After image processing and template matching, the specific shape and position of the target body can be determined to perform the salvage task efficiently. What's more, the three dimensional simulation model of mechanical arm is established by using MATLAB software. The feasibility of the design scheme is validated by simulating the kinematics and dynamics model of mechanical arm.
According to the problem of increasing the salvage complexity of ship swaying motion caused by wave, the active wave compensation automatic salvage robot system with external camera is proposed. The system can realize the condition that the mechanical arm remains relatively stationary under the sway of the wave. The camera can automatically shoot the target. After image processing and template matching, the specific shape and position of the target body can be determined to perform the salvage task efficiently. What's more, the three dimensional simulation model of mechanical arm is established by using MATLAB software. The feasibility of the design scheme is validated by simulating the kinematics and dynamics model of mechanical arm.
引文
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[2]廖谟圣.海洋石油钻采工程技术与装备[M].北京:中国石化出版社,2010.
[3]NEUPERT J,MAHL T,HAESSIG B,et al.A Heave Compensation Approach for Offshore Cranes[C]//2008American Control Conference,2008.
[4]陆卫杰.船艇并靠导弹补给及波浪补偿系统研究[D].南京:南京理工大学,2006.
[5]胡永攀.六自由度并联波浪补偿系统设计与控制关键技术研究[D].长沙:国防科学技术大学,2015.
[6]王哲骏,谢金辉,高剑,等.波浪补偿技术现状和发展趋势[J].船舰,2014,36(11):2-3.
[7]FOSSEN TI,JOHANSEN TA.Modeling and Identification of Offshore Crane-Rig System[R].NTNU,2001:1-28.
[8]杨文林,张竺英,张艾群.水下机器人主动升沉补偿系统研究[J].海洋工程,2007,25(3):69-72.
[9]吴开塔.ROV被动式升沉补偿系统理论及试验研究[D].上海:上海交通大学,2011.