CN106826875A - A kind of Biomimetic Fish humanoid robot control system - Google Patents
A kind of Biomimetic Fish humanoid robot control system Download PDFInfo
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- CN106826875A CN106826875A CN201710053279.3A CN201710053279A CN106826875A CN 106826875 A CN106826875 A CN 106826875A CN 201710053279 A CN201710053279 A CN 201710053279A CN 106826875 A CN106826875 A CN 106826875A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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Abstract
The invention discloses a kind of Biomimetic Fish humanoid robot control system, the Biomimetic Fish humanoid robot control system is divided into upper strata, intermediate layer and bottom；The upper strata is PC host computers；The intermediate layer is embedded industrial control board, and the bottom is microcontroller plate.The present invention can reduce each level work complexity and amount of calculation using hierarchical system structure, while being easy to each level Function Extension；Kinematic system amount of articulation can be according to actual environment increase and decrease in order to improving robot fish movement performance or reducing energy consumption；The transmission of video that two independent i.e. WIFI of communication connection are set up for embedded industrial control board is connected with the 170Mhz low bandwidth of bottom control plate, the latter's communication distance reaches 8KM, and with good diffracting power, when wifi disconnectings, can guarantee that robot body can be within communication context using the band communication.
Description
Technical field
The invention belongs to underwater robot technical field, more particularly to a kind of Biomimetic Fish humanoid robot control system.
Background technology
Current underwater robot ROV wide varieties, but it is most of the characteristics of have common：Use propeller propulsion mode
As propulsion system.Or the recovery of remote control, data transfer and the robot of robot is carried out using wire cable.When the former works
With larger noise, while propulsive efficiency is more low, motor pattern is single, it is difficult to complete action flexibly complicated under water.
The latter is due to using wire cable, it will the range of movement and locomitivity of limitation underwater human body.Simultaneously as line
Cable it is aging, great threat may be shone into the reliability of the watertightness of underwater human body and communication.Existing ROV machines
Device people exclusive use microprocessor control plate carries out robot control or the embedded industrial control board of exclusive use is controlled.The former
Operational capability it is low, cannot be tackled for the information processing of the big data quantity such as image/video.But the latter's computing capability is stronger right
It is poor in the real-time of bottom sensor data acquisition and motor control；Microcontroller running frequency is relatively low, substantial amounts of calculating
The consuming time is more.The processor running frequency calculating that can in a short time complete large amount of complex higher in embedded industrial control board
Instruction.But because system internal clock is usually Millisecond after the latter's operation operating system, real-time response ability is relatively low；Existing water
Lower robot motion's mode is generally single propeller propulsion mode, is difficult to using the underwater robot of the propulsion mode
No-radius are turned and this kind of mode can produce larger electromagnetic noise in water, are unfavorable for the hidden of equipment.
In sum, there is operational capability lowly in existing ROV robots, for the big data quantity information processing such as image/video
Cannot tackle；Real-time for bottom sensor data acquisition and motor control is poor.
The content of the invention
It is an object of the invention to provide a kind of Biomimetic Fish humanoid robot control system, it is intended to solve existing ROV robots
There is operational capability low, cannot be tackled for the information processing of the big data quantity such as image/video；Adopted for bottom sensor data
The poor problem of real-time of collection and motor control.
The present invention is achieved in that a kind of Biomimetic Fish humanoid robot control system, the Biomimetic Fish humanoid robot control
System is divided into upper strata, intermediate layer and bottom；
The upper strata is PC host computers；The intermediate layer is embedded industrial control board, and the bottom is microcontroller plate；
PC host computers, for receiving the resolving of the motion planning parameter of passback image and machine fish body and hair in real time
Send, read, and the water quality information display of water quality sensor collection is recorded；
Embedded industrial control board, is installed in machine fish body, the video information that complete the Real-time Collection of video and will gather
Earth station PC is back to by WIFI, while the image processing algorithm run in embedded industrial control board (exists for correcting camera
The image of the distortion got in water, the then specific objective object in the image after extraction process, target object can artificially set
It is fixed) offline Feature point recognition can be completed and for finding and spotting things；By iic bus and bottom control plate and
Inertial navigation unit is communicated, and the real-time motion data of recorder human body simultaneously completes automatic cruising, the automatic function of making a return voyage；Will
Control parameter from earth station PC is changed by computing and (the suitable mankind is read into kinematic parameter such as direction, speed etc. for understanding
It is converted into waveform duty cycle of parameter such as control voltage for direct controlled motor and other executing agencies etc.) it is bottom control
Required parameter and packing is sent to microcontroller plate；
Bottom control plate, is communicated by iic bus with embedded industrial control board, the range information for gathering IR sensors,
The depth information of pressure sensor, the water quality information of water quality sensor；And it is pre-processed (obtain sensor it is directly electric
Pressure data, and the voltage data of acquisition is converted to the index of range data, the size of pressure and water quality, while by above-mentioned biography
Sensor information is used for the calculating of the probe algorithm, the depth of water of barrier and the prediction of current environment water quality etc.), available parameter is returned
It is back to embedded industrial control board；Bottom control plate receives the motion control parameter from embedded industrial control board simultaneously, by micro-control
(major function is to be by the attitude numeral that nature Mesichthyes trunk moves about in water to the bionic coatings algorithm of operation in device plate processed
Discrete curve waveform, while fitting is except its operational equation group, only need to control 12 parameters just can simulate and come from this algorithm
The travelling attitude of most of fish trunks in right boundary) resolve controlled motor needed for controlled quentity controlled variable to complete the real-time control of motor.
Further, the bottom control plate is connected by way of serial communication with 170Mhz wireless communication units, communication
Rate-limit 40kpbs, for the real-time exchange of kinematic parameter.
Further, the embedded industrial control board, microcontroller plate is communicated using iic bus, and carry 128 is with inner sensor
Or control unit.
Further, the embedded industrial control board is communicated with earth station PC by WIFI, and microcontroller is used with earth station
170Mhz communicates.
Further, the Biomimetic Fish humanoid robot control system includes：Monocular camera, inertial navigation module, pressure sensor, north
Bucket alignment sensor, IR sensors, servomotor, earth station PC, motor driving, embedded industrial control board, ARM microcontroller；
Monocular camera and embedded industrial control board wired connection, inertial navigation module, pressure sensor, Big Dipper alignment sensor with it is embedding
Enter the connection of formula industrial control board, embedded industrial control board and earth station's PC7 radio communications, ARM microcontroller is driven with IR sensors and motor
Dynamic connection, motor drives and is connected with servomotor.
Another object of the present invention is to provide a kind of underwater using the Biomimetic Fish humanoid robot control system
People.
The Biomimetic Fish humanoid robot control system that the present invention is provided, energy control biomimetics underwater robot is transported with many attitude
It is dynamic：Straight trip, retroversion, left and right turn, original place rotation etc..Simultaneously adapt to increasingly complex natural water environment, if into according to
By the inaccessiable work in narrow space of robot that propeller drives.
Bio-robot system of the invention uses hierarchical system structure, is included with embedded industrial control board in robot body
Intermediate layer for main body, the bottom based on bottom control plate, compensate for above-mentioned robot and are caused using single control model
Micro controller data disposal ability is low and the poor problem of operating system real-time.Carried by the solution to above mentioned problem
High reliability and functions expanding of the robot system in actual application environment.Carry the machine under water of robot system
Device people can realize the driving of robot bionic propulsion plant, and environmental sensor data is gathered, the real-time upload of video data, together
When can be by earth station's PC remote tele-operations.The bionic coatings system that this bio-robot control system is used has more clever
Living, efficient locomitivity.
The present invention can reduce each level work complexity and amount of calculation using hierarchical system structure, while being easy to each level
Function Extension；Kinematic system amount of articulation can be according to actual environment increase and decrease in order to improving robot fish movement performance or reducing energy
Consumption；Two independent i.e. WIFI of communication connection are set up for the transmission of video of embedded industrial control board and the 170Mhz of bottom control plate
Low bandwidth is connected, and the latter's communication distance reaches 8KM, and with good diffracting power, when wifi disconnectings, uses
The band communication can guarantee that robot body can be within communication context.
Brief description of the drawings
Fig. 1 is Biomimetic Fish humanoid robot control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 2 is Biomimetic Fish humanoid robot control system object construction figure provided in an embodiment of the present invention；
Fig. 3 is the embedded industrial control board fundamental diagram in intermediate layer provided in an embodiment of the present invention；
Fig. 4 is bottom control plate fundamental diagram provided in an embodiment of the present invention.
In figure：1st, monocular camera；2nd, inertial navigation module；3rd, pressure sensor；4th, Big Dipper alignment sensor；5th, IR sensors；
6th, servomotor；7th, earth station PC；8th, motor drives；9th, embedded industrial control board；10th, ARM microcontroller；11st, PC host computers；
12nd, embedded industrial control board；13rd, microcontroller plate.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail below in conjunction with the accompanying drawings.
It is shown as shown in Figure 1, Figure 3 and Figure 4, Biomimetic Fish humanoid robot control system provided in an embodiment of the present invention be divided into upper strata,
Intermediate layer and bottom；Upper strata is PC host computers 11；Intermediate layer is embedded industrial control board 12, and bottom is microcontroller plate 13.
PC host computers 11, are mainly used in receiving the resolving of the motion planning parameter of passback image and machine fish body in real time
Water quality information display with transmission, reading, and water quality sensor collection is recorded.
Embedded industrial control board 12, is installed in machine fish body, its complete video Real-time Collection and will gather video
Information is back to earth station PC by WIFI, while the image processing algorithm run in embedded industrial control board can complete offline spy
Levy and recognize and for finding and spotting things；Can be entered with bottom control plate and inertial navigation unit by iic bus simultaneously
Row communication, the real-time motion data of recorder human body simultaneously completes automatic cruising, the automatic function of making a return voyage.Can will come from ground
Stand PC control parameter bottom control is converted to by computing needed for parameter and packing be sent to microcontroller plate 13.
Bottom control plate 13, is communicated by iic bus with embedded industrial control board 12, for gathering each sensor original number
Carried out according to (range information of IR sensors, the depth information of pressure sensor, the water quality information of water quality sensor) and to it pre-
Treatment, embedded industrial control board is back to by available parameter.Bottom control plate 13 receives the fortune from embedded industrial control board 12 simultaneously
Dynamic control parameter, the controlled quentity controlled variable needed for resolving controlled motor by the bionic coatings algorithm run in microcontroller plate 13 is with complete
Into the real-time control of motor.Meanwhile, bottom control plate 13 is connected by way of serial communication with 170Mhz wireless communication units,
Traffic rate upper limit 40kpbs, is mainly used in the real-time exchange of kinematic parameter, and its effective communication distance is 8km, and can diffraction
General islands and reefs and water meter barrier etc..
Embedded industrial control board 12, microcontroller plate 13 is communicated using iic bus, can with carry 128 with inner sensor or
Control unit.
Biomimetic Fish humanoid robot system propulsion plant amount of articulation is variable.
Embedded industrial control board 12, microcontroller plate 13 is independent to set up communication connection with earth station PC.The former uses WIFI
Communication, the latter is communicated using 170Mhz.
As shown in Fig. 2 the Biomimetic Fish humanoid robot system body frame structure that the present invention is provided includes：It is monocular camera 1, used
Guide module 2, pressure sensor 3, Big Dipper alignment sensor 4, IR sensors 5, servomotor 6, earth station PC7, motor drive 8,
Embedded industrial control board 9, ARM microcontroller 10.
Monocular camera 1 and the wired connection of embedded industrial control board 9, inertial navigation module 2, pressure sensor 3, Big Dipper alignment sensor
4 are connected with embedded industrial control board 9, embedded industrial control board 9 and earth station's PC7 radio communications, ARM microcontroller 10 and IR sensors
5 and motor drive 8 to connect, motor drives and 8 is connected with servomotor 6.
The Biomimetic Fish humanoid robot system applied environment that the present invention is provided is freshwater lake, the Natural Water such as river and ocean
Body environment, while being equally applicable for artificial lake, dam, water body environment is made in aquarium, swimming pool and artificial fish pond et al..Load
The Biomimetic Fish humanoid robot of robot system can operationally imitate the motion of true fish trunk and automatic in above-mentioned water body
In move about, float, dive.Led to earth station PC by wifi wireless signals and 170Mhz radio bands signal during motion
News.In the course of work, robot body can communicate " shaking hands " with fixed frequency with earth station, during " shaking hands " in default
Between float up to water surface and earth station PC data interaction of completion to terminate " shaking hands " in difference.Operating personnel can be used ground
The PC that stands carries out the control of athletic posture to body robot.Robot can also be controlled to pass through system integration water quality sensor simultaneously
Earth station PC is returned when a water quality detection is carried out to place water body and detection information " being shaken hands " next time.
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the art
Member is it should be appreciated that involved invention scope in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where the inventive concept is not departed from, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (6)
1. a kind of Biomimetic Fish humanoid robot control system, it is characterised in that the Biomimetic Fish humanoid robot control system is divided into
Layer, intermediate layer and bottom；
The upper strata is PC host computers；The intermediate layer is embedded industrial control board, and the bottom is microcontroller plate；
PC host computers, resolving and transmission, reading for receiving the motion planning parameter of passback image and machine fish body in real time
Take, and the water quality information display of water quality sensor collection is recorded；
Embedded industrial control board, is installed in machine fish body, completes the Real-time Collection of video and passes through the video information of collection
WIFI is back to earth station PC, while the image processing algorithm run in embedded industrial control board can complete offline Feature point recognition
And for finding and spotting things；Communicated with bottom control plate and inertial navigation unit by iic bus, recorder
The real-time motion data of human body simultaneously completes automatic cruising, the automatic function of making a return voyage；By from the control parameter of earth station PC warp
The parameter crossed needed for computing is converted to bottom control and packing is sent to microcontroller plate；
Bottom control plate, is communicated by iic bus with embedded industrial control board, the range information for gathering IR sensors, pressure
The depth information of sensor, the water quality information of water quality sensor；And it is pre-processed, available parameter is back to embedded
Industrial control board；Bottom control plate receives the motion control parameter from embedded industrial control board simultaneously, is transported by microcontroller plate
Capable bionic coatings algorithm resolve controlled motor needed for controlled quentity controlled variable to complete the real-time control of motor.
2. Biomimetic Fish humanoid robot control system as claimed in claim 1, it is characterised in that the bottom control plate is by string
The mode of row communication is connected with 170Mhz wireless communication units, traffic rate upper limit 40kpbs, for the real-time friendship of kinematic parameter
Change.
3. Biomimetic Fish humanoid robot control system as claimed in claim 1, it is characterised in that the embedded industrial control board, it is micro-
Controller board is communicated using iic bus, and carry 128 is with inner sensor or control unit.
4. Biomimetic Fish humanoid robot control system as claimed in claim 1, it is characterised in that the embedded industrial control board and ground
Face station PC is communicated by WIFI, and microcontroller is communicated with earth station using 170Mhz.
5. Biomimetic Fish humanoid robot control system as claimed in claim 1, it is characterised in that the Biomimetic Fish humanoid robot control
System processed includes：Monocular camera, inertial navigation module, pressure sensor, Big Dipper alignment sensor, IR sensors, servomotor, ground
Stand PC, motor driving, embedded industrial control board, ARM microcontroller；
Monocular camera and embedded industrial control board wired connection, inertial navigation module, pressure sensor, Big Dipper alignment sensor with it is embedded
Industrial control board connection, embedded industrial control board and earth station's PC7 radio communications, ARM microcontroller drive with IR sensors and motor and connect
Connect, motor drives and is connected with servomotor.
6. the underwater robot of Biomimetic Fish humanoid robot control system described in a kind of utilization claim 1~5 any one.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710053279.3A CN106826875B (en) | 2017-01-22 | 2017-01-22 | Bionic fish type robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710053279.3A CN106826875B (en) | 2017-01-22 | 2017-01-22 | Bionic fish type robot control system |
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| CN106826875A true CN106826875A (en) | 2017-06-13 |
| CN106826875B CN106826875B (en) | 2023-10-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291060A (en) * | 2018-09-28 | 2019-02-01 | 北京信息科技大学 | Machine fish heading control method based on region division and interim point auxiliary |
| CN112986514A (en) * | 2021-02-08 | 2021-06-18 | 中国海洋大学 | Remote aquaculture water quality monitoring method, system, device and application |
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| CN112986514A (en) * | 2021-02-08 | 2021-06-18 | 中国海洋大学 | Remote aquaculture water quality monitoring method, system, device and application |
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| CN106826875B (en) | 2023-10-20 |
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