CN109557917A - The method of the autonomous line walking of underwater robot and monitor surface - Google Patents
The method of the autonomous line walking of underwater robot and monitor surface Download PDFInfo
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Abstract
The method that the present invention discloses the autonomous line walking of underwater robot and monitor surface, comprising the following steps: S1. presets the motion path of underwater robot and modeling；S2. the autonomous line walking control system of underwater robot is established；S3. underwater robot is navigated by water to designated position, draws the SVG format picture of underwater robot Dynamically Announce self information；S4. start sensor, the data of ambient condition information and underwater robot to underwater is acquired；S5. SOCKET network communication technology is utilized, sends host computer monitoring software for sensing data collected in step S4；S6. verified and unpacked to the data received in upper computer software processing, and will verify correct data Dynamically Announce in SVG control.The present invention can be realized the autonomous line walking of underwater robot and can Dynamically Announce monitoring data, overcome the deficiency that available data is shown, and autonomous line walking greatly improves the line walking efficiency and precision of underwater robot.
Description
Technical field
The invention belongs to the data Dynamically Announces and control field of underwater robot, and in particular to underwater robot independently patrols
The method of line and monitor surface.
Background technique
In today's society, the development and utilizations of land resources oneself reached its maturity with it is perfect, the mankind start to develop and utilize
Marine resources.Ocean possesses the area and natural resources very rich of the length and breadth of land, it includes abundant as a natural body
Living resources, Deep Sea Minerals, seawater resources, ocean energy and marine spatial resource, therefore in the exploitation of marine territory, more
Resource can obtain more permanent development in detail in early development and utilization sea.It is developed so far, there is 80% animal still to live in ocean
In environment.
Ocean development refer to the mankind for certain purpose, the section that ocean and its natural resources and enviroment condition are carried out
Learn research and development and utilization.The either development and utilization of seabed resources or ocean energy and marine spatial resource, are directed to ocean
The detection and maintenance of frastructure state.Underwater robot has become the important tool of marine facility detection, because of underwater robot
Convenient, flexible, power is sufficient and convenient for carrying different types of sensor, is suitable for a variety of underwater operation environment.Therefore, for
The development and exploitation of underwater robot have great strategic importance.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide the autonomous line walking of underwater robot and monitor surfaces
Method, can be realized the autonomous line walking of underwater robot and can Dynamically Announce monitoring data, overcome available data and show
Deficiency, and autonomous line walking greatly improves the line walking efficiency and precision of underwater robot.
To achieve the above object, the technical solution adopted by the present invention is that:
The method of the autonomous line walking of underwater robot and monitor surface, comprising the following steps:
S1. it presets the motion path of underwater robot and motion modeling is carried out to underwater robot；
S2. the autonomous line walking control system of underwater robot is established to realize autonomous line walking function under robot water；
S3. underwater robot is navigated by water to designated position, draws the SVG format of underwater robot Dynamically Announce self information
Picture；
S4. start sensor, the data of ambient condition information and underwater robot to underwater robot is adopted
Collection；
S5. SOCKET network communication technology is utilized, sends host computer prison for sensing data collected in step S4
Control software；
S6. verified and unpacked to the data received in upper computer software processing, and will verify correct data
Dynamically Announce is in SVG control.
The motion model of underwater robot, convenient motion state (such as preceding scanning frequency to underwater robot are established in step S1
Degree, preceding line direction etc.) it is controlled；In step S5, underwater robot and host computer carry out data communication, and underwater robot will be adopted
The data collected are sent to upper computer software by SOCKET network communication；In step S6, host computer receives underwater robot
After the data sent, can first verification data it is whether correct, by loss of data if error in data, if data correctly if just
Data packet is subjected to processing of unpacking, a bag data is split into individual data cell, finally by the data cell dynamic of fractionation
Be shown in SVG control software in.
Preferably, the step S1 specifically: the absolute coordinate system XOY of setting characterization underwater robot self-position, absolutely
It is that position with lash ship waterborne relative to ground is established to coordinate system XOY, wherein the O point of XOY coordinate system is lash ship waterborne
Central point；Then the motion model of underwater robot is as follows:
Vx=Vcos θ
Vy=Vsin θ
Wherein, V is the linear velocity of underwater robot, and θ is the angle of the linear velocity V and reference axis X of underwater robot, and w is
The angular speed of underwater robot, θ0For the initial value of the angle of the linear velocity V and reference axis X of underwater robot, t is underwater
The run duration of people；Vx is speed of the underwater robot relative to reference axis X-axis, and Vy is underwater robot relative to reference axis Y
The speed of axis.
The power of underwater robot of the present invention is provided by underwater multivariant underwater propeller, it has automatic
Depthkeeping and automatically fixed high function, when the depth or certain height of robot, its movement we can regard as
Motion analysis on same plane, at this time multiple degrees of freedom can regard only front and back two-freedom as.So we only need to consider
Two thrusts that propeller generates before and after robot move forward and backward model establish robot, it is known that when former and later two propellers
When thrust is equal, robot is just moved in a straight line, and when former and later two propeller thrust sizes are unequal, robot will turn
Movement.Therefore underwater robot motion model be simplified in order to:
Vx=Vcos θ
Vy=Vsin θ
Thus motion model it is recognised that when two propeller of front and back generate thrust it is equal when, underwater
People will travel forward, at this time V > 0, w=0, and robot will move in a straight line；When the thrust that two propeller of front and back generates is unequal
When, underwater robot will do turning motion；When the thrust of the propeller in left side is greater than the thrust of right-side propellers, machine
People will do turning motion clockwise, at this time w > 0；When the thrust of the propeller in left side is less than the thrust of right-side propellers,
Robot will do turning motion counterclockwise, at this time w < 0；When former and later two freedom degree propellers stop operating, robot is in water
Stop motion in plane, at this time V=0.
It is highly preferred that the underwater relative movement information of underwater robot is converted to by establishing relative coordinate system xoy
Absolute movement information relative to the earth；Phase that characterization underwater robot self-position is set, being put centered on underwater robot
It can mutually be converted to coordinate system xoy, and between relative coordinate system xoy and absolute coordinate system XOY, specific switch process are as follows:
P is set as the predetermined movement path of underwater robot；
In the XOY coordinate system, O (Xo, Yo) indicates center point coordinate of the underwater robot in t moment, P (Xp, Yp) for setting
Indicate the coordinate of any point in path P；
It is set in xoy coordinate system, 0 (xo, yo) indicate center point coordinate of the underwater robot in t moment, p (xp, yp) table
Show that any point is mapped to the coordinate in xoy coordinate system in path P；
Formula 1: Δ X=Xp-Xo
Δ Y=Yp-Yo
Formula 2:xp=Δ Xcos θ-Δ Ysin θ
yp=Δ Xsin θ-Δ Ysin θ
Wherein, xo=0, yo=0
The conversion between the absolute coordinate system and relative coordinate system of underwater robot is realized according to formula 1 and formula 2；
Formula 3:Xp=xpcosθ+ypsinθ+Xo
Yp=-xpsinθ+ypcosθ+Yo
The conversion between the relative coordinate system and absolute coordinate system of underwater robot is realized according to formula 3.
The information that underwater robot moves under water is to be indicated with relative coordinate, but carrying out other to robot
When calculating and characterize, then needs to be converted to these information into the data relative to the earth, i.e., will characterize underwater robot
It is converted between relative coordinate and absolute coordinate.
It is highly preferred that the predetermined movement path of the underwater robot is set as straight line, curve, broken line or circle.
It is further preferred that the predetermined movement path of the underwater robot is set as broken line.Path is set as broken line, main
If considering the practical application scene of underwater robot.
Preferably, in the step S2, the autonomous line walking control system includes two variables of speed and angular speed that move ahead,
The speed that moves ahead and angular speed are respectively used to the speed and direction that control underwater robot advances.Pass through what is advanced to underwater robot
The autonomous line walking process of underwater robot is completed in the continuous adjustment of speed and direction.
It is highly preferred that continuously being adjusted by forward speed of the following formula to underwater robot:
V=(180 ° of-β)/180*Vmax
Wherein, β indicates the angle between underwater robot current direction and predetermined movement path, i.e. angular deviation；
Vmax indicates speed when underwater robot full gear, industrially usually 1m/s~2m/s.
For underwater robot during autonomous line walking, the control for the speed that moves ahead is to be based on expert's driving experience rule control,
It will be according to the case where path and having completed the quality of line walking and control forward speed during practical line walking.Wherein, line walking
The case where path and the quality for having completed line walking can be described with two control amounts, i.e. the position in predetermined movement path is inclined
Difference and angular deviation.
The direction of current time underwater robot and the angle in predetermined movement path are chosen, i.e. angular deviation is commented
Estimate, when angular deviation is small, show that underwater robot line walking is in the main true, can be advanced with larger speed, on the contrary, working as angle
When degree deviation is larger, show that robot direction is not right, robot needs to adjust its direction of motion, at this time can be with lesser speed
It moves ahead, we, which are arranged, allows the speed consecutive variations of underwater robot, is realized by formula V=(180 ° of-β)/180*Vmax underwater
The continuous adjustment of the forward speed of robot.
It is highly preferred that the angular speed using Adaptive PID Control algorithm control underwater robot during moving ahead, passes through
Following formula is adjusted the forward angular speed of underwater robot:
W (n)=k1xp+k2θp+k3w(n-1)+k4w(n-2)
Wherein, xpIndicate position deviation of the n-th moment underwater robot relative to planning path；θ p indicates the n-th moment water
Angular deviation of the lower robot relative to planning path；W (n) indicates the angular speed of the n-th moment underwater robot；W (n-1) is indicated
The angular speed of (n-1)th moment underwater robot；W (n-2) indicates the angular speed of the n-th -2 moment underwater robot；k1When indicating n-th
Carve the position deviation coefficient of underwater robot；k2Indicate the angular deviation coefficient of the n-th moment underwater robot；k3Indicate history ginseng
Data are examined, generally choose 0.33；k4It indicates history reference data, generally chooses 0.33；According to the current traveling of underwater robot
State determines k1And k2, realize the angular speed adjustment of underwater robot.
PID controller (proportional-integral derivative controller) is a common feedback loop portion in Industry Control Application
Part is made of proportional unit P, integral unit I and differentiation element D.Wherein, the mathematic(al) representation of the part ratio (P) are as follows:
U (t)=Kpe(t)
The main function of proportional controller is in order to which the deviation signal that occurs to system timely proportional can be made
Reaction, as long as system deviation signal one occurs, adjuster will generate corresponding control action with most fast speed, so that
The direction change that the output quantity of control system reduces towards error, the power of its control action mainly by Proportional coefficient K p Lai
It determines, when the value of Kp increases, the response speed of system increases, and corresponding systematic error will reduce, but unreasonable
Proportional coefficient K p may result in system and overshoot, concussion, even unstable occurs, but can make system again if Kp is too small
Response speed it is slack-off, and then cause system control overlong time, precision be deteriorated so that the dynamic characteristic of system is deteriorated.
Suitable Proportional coefficient K p is only selected, the control effect of controlled system can just be made quickly to reach best.
Integrate the mathematic(al) representation of the part (I) are as follows:
The purpose for introducing integral in the controller is static error in order to eliminate controlled system, to guarantee controlled device
It can be realized no static difference tracking when system is in stable state.As long as e (t) is not that 0 output result u (t) would not be 0,
Controlled volume is adjusted by the cumulative function of integration control, and then reduces system deviation, until deviation reduces to 0.Product
Divide coefficient T i excessive, then storage effect will be weaker, and controlled system is longer the time required to eliminating static error, but will not generate
Concussion reaction；Integral coefficient Ti is too small, and controlled system is shorter the time required to eliminating static error, is also easy to produce concussion.
The mathematic(al) representation of the part differential (D) are as follows:
The purpose for introducing differential in the controller when system deviation occurs, is controlled to accelerate control process
System will quickly be adjusted in advance by the direction of change of error, and system deviation is destroyed in advance.The power of the differential action
It is to be determined by differential coefficient Td, when Td is bigger, differential control effect will be more obvious, when Td is smaller, differential control effect
Fruit will be weaker；The effect of differential is can to reduce controlled system over control occur, enables a system to the shape that tends towards stability quickly
State.
There are two types of the parametric techniques of our more commonly used acquisition PID: one is pre-established accurately according to controlled device
Mathematical model, and then we can very easily calculate the control parameter of controlled device.Another method test
Method is tested, and by the analysis to test data, we obtain the parameter of controlled device.In traditional classical PID control system
In, the parameter of PID has just been set before control process, and controlled process midway cannot be changed, if plant model is being controlled
Process processed changes, then this parameter is invalid, and then cannot control controlled device well, actually this control object by
It is to change in locating underwater environment, so controlled device needs different control parameters in different phase, in order to make to be controlled
Object has better control effect, we propose adaptive pid control algorithm on classical pid control algorithm, can
Different control parameters is selected for us according to different external environment.
Classical PID controls expression formula and indicates are as follows:
U (n)=Kp { e (n)+T/Ti [e (n)-e (n-1)] }+u0=up(n)+ui(n)+ud(n)+u0
In above-mentioned formula, we claim up(n)=KpE (n) is proportional,For differential term, ud
(n)=KpTd/T [e (n)-e (n-1)] is integral term.
After the analysis of step S1 underwater robot motion model, it is known that the direction controlling of robot is by controlling
Its angular speed w is come what is controlled, and in actual operation, the movement environment of robot changes always, its direction of motion is
Continually changing, therefore angular speed w is by position deviation xpIt codetermines with deviation of directivity θ p, is calculated in above-mentioned classical PID
The Adaptive PID Control algorithm of suitable underwater robot angular speed control of the present invention is designed on the basis of method:
W (n)=k1xp+k2θp+k3w(n-1)+k4w(n-2)。
In addition, we are easily obtained the variable quantity of Schemes of Angular Velocity Estimation for Robots according to formula d θ=wdt → Δ θ=∫ wdt,
And then the direction of motion variation of underwater robot is obtained, and the continually changing direction of motion of robot determines to a certain extent
The motion profile of underwater robot allows its motion profile to be overlapped as far as possible with planning path, requires so as to reach control.
Preferably, the step S3 specifically includes the following steps:
S301. SVG format picture is drawn according to the graphical representation form of proposed adoption in mapping software；
S302. the coordinate and attribute of each control of SVG graphics calculations drawn are utilized；
S303. the SVG photo-document generated using DOM interface access, creates picture according to picture size in SVG document
Cloth；
S304. the change of SVG painting canvas is applied to SVG document, refreshes interface display, to realize underwater robot itself
The Dynamically Announce of information.
The mapping software includes Adobe illustrator (referred to as " AI "), Method Draw, Graphviz；SVG
Figure is made of a series of control, these controls include: circle, triangle, square, arc etc.；Pass through what is drawn
SVG figure, the coordinate by each control relative to origin calculate, and wherein origin is defined as most upper left in whole SVG figure
Point；The attribute for calculating each control is then to judge the type of control by judging the ID of each control, as control be it is round, still
Square or triangle etc..
It is highly preferred that the graphical representation form includes text, indicator light, progress bar, number, curve graph.
Preferably, the step S3 specifically includes the following steps:
S301. SVG format picture is drawn according to the graphical representation form of proposed adoption in mapping software；
S302. the coordinate and attribute of each control of SVG graphics calculations drawn are utilized；
S303. the SVG photo-document generated using DOM interface access, creates picture according to picture size in SVG document
Cloth；
S304. the change of SVG painting canvas is applied to SVG document, refreshes interface display, to realize underwater robot itself
The Dynamically Announce of information.
It is highly preferred that the graphical representation form includes text, indicator light, progress bar, number, curve graph.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention uses autonomous line walking technology, is transported using improved self-adaptive PID algorithm applied to underwater robot
In dynamic control, realize robot move ahead speed continuously adjust and the self-adaptive PID of angular speed is adjusted, so that machine
The operating time of people can shorten, and operating efficiency improves；At the same time, using self-adaptive PID algorithm, the three of online change PID
A parameter can make controlled system more stable, and good control can be reached in the application scenarios of this time-varying in seabed
Effect processed；
2, the present invention uses Dynamically Announce, compared to it is traditional it is direct data are shown in static control, the present invention adopts
With the method for customized figure Dynamically Announce data in SVG, the programmable feature of SVG format picture is taken full advantage of, is developed
It can with the dynamic interface of Dynamically Announce data.
Detailed description of the invention
Fig. 1 is underwater robot work flow diagram described in 1~embodiment of the embodiment of the present invention 5；
Fig. 2 is classical PID control system schematic diagram described in 1~embodiment of the embodiment of the present invention 5；
Fig. 3 is the procedure chart of the autonomous line walking control system of underwater robot described in 1~embodiment of the embodiment of the present invention 5；
Fig. 4 is the angle change schematic diagram of underwater robot at a time trim and heel described in the embodiment of the present invention 1；
Fig. 5 is the at a time first schematic diagram to display of underwater robot described in the embodiment of the present invention 1；
Fig. 6 is at a time vertical depth or the schematic diagram of height display of underwater robot described in the embodiment of the present invention 1；
Fig. 7 is the underwater robot schematic diagram that at a time horizontal thrust is shown described in the embodiment of the present invention 1；
Fig. 8 is the underwater robot schematic diagram that at a time vertical thrust is shown described in the embodiment of the present invention 1；
Fig. 9 is the underwater robot schematic diagram that at a time vertical manipulation thrust is shown described in the embodiment of the present invention 1；
Figure 10 is the schematic diagram that underwater robot at a time energy management described in the embodiment of the present invention 1 is shown；
Figure 11 is the effect picture of the autonomous line walking of 1 underwater robot of the embodiment of the present invention；
Figure 12 is the effect picture of the autonomous line walking of 2 underwater robot of the embodiment of the present invention；
Figure 13 is the effect picture of the autonomous line walking of 3 underwater robot of the embodiment of the present invention；
Figure 14 is the effect picture of the autonomous line walking of 4 underwater robot of the embodiment of the present invention；
Figure 15 is the effect picture of the autonomous line walking of 5 underwater robot of the embodiment of the present invention；
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Embodiment 1
The method of the autonomous line walking of underwater robot and monitor surface, is illustrated in conjunction with Fig. 1, comprising the following steps:
S1. preset the motion path of underwater robot and carry out motion modeling to underwater robot: setting characterizes underwater machine
The absolute coordinate system XOY of device people's self-position, absolute coordinate system XOY are that the position with lash ship waterborne relative to ground is established,
Wherein the O point of XOY coordinate system is the central point of lash ship waterborne；Then the motion model of underwater robot is as follows:
Vx=Vcos θ
Vy=Vsin θ
Wherein, V is the linear velocity of underwater robot, and θ is the angle of the linear velocity V and reference axis X of underwater robot, and w is
The angular speed of underwater robot, θ0For the initial value of the angle of the linear velocity V and reference axis X of underwater robot, t is underwater
The run duration of people；Vx is speed of the underwater robot relative to reference axis X-axis, and Vy is underwater robot relative to reference axis Y
The speed of axis.
The underwater relative movement information of underwater robot is converted to relative to the earth by establishing relative coordinate system xoy
Absolute movement information；Relative coordinate system that characterization underwater robot self-position is set, being put centered on underwater robot
Xoy, and can mutually be converted between relative coordinate system xoy and absolute coordinate system XOY, specific switch process are as follows:
P is set as the predetermined movement path of underwater robot, is set as broken line；
In the XOY coordinate system, O (Xo, Yo) indicates center point coordinate of the underwater robot in t moment, P (Xp, Yp) for setting
Indicate the coordinate of any point in path P；
It is set in xoy coordinate system, 0 (xo, yo) indicate center point coordinate of the underwater robot in t moment, p (xp, yp) table
Show that any point is mapped to the coordinate in xoy coordinate system in path P
Formula 1: Δ X=Xp-Xo
Δ Y=Yp-Yo
Formula 2:xp=Δ Xcos θ-Δ Ysin θ
yp=Δ Xsin θ-Δ Ysin θ
Wherein, xo=0, yo=0
The conversion between the absolute coordinate system and relative coordinate system of underwater robot is realized according to formula 1 and formula 2；
Formula 3:Xp=xpcosθ+ypsinθ+Xo
Yp=-xpsinθ+ypcosθ+Yo
The conversion between the relative coordinate system and absolute coordinate system of underwater robot is realized according to formula 3.
S2. establish the autonomous line walking control system of underwater robot to realize autonomous line walking function under robot water: it is described from
Main line walking control system includes two variables of speed and angular speed that move ahead, and the speed that moves ahead and angular speed are respectively used to control underwater machine
The speed and direction that device people advances.Autonomous line walking control process is as shown in Figure 3.
It is continuously adjusted by forward speed of the following formula to underwater robot:
V=(180 ° of-β)/180*Vmax
Wherein, β indicates the angle between underwater robot current direction and predetermined movement path, i.e. angular deviation；
Vmax indicates speed when underwater robot full gear.
After the analysis of underwater robot motion model, it is known that the direction controlling of robot is the angle by controlling it
Speed w is come what is controlled, and in actual operation, the movement environment of robot changes always, its direction of motion is continuous
Variation, therefore angular speed w is by position deviation xpIt is codetermined with deviation of directivity θ p, therefore in classical PID algorithm (as schemed
Shown in 2) on the basis of propose using Adaptive PID Control algorithm control underwater robot move ahead during angular speed, lead to
Following formula is crossed to be adjusted the forward angular speed of underwater robot:
W (n)=k1xp+k2θp+k3w(n-1)+k4w(n-2)
Wherein, xpIndicate position deviation of the n-th moment underwater robot relative to planning path；θ p indicates the n-th moment water
Angular deviation of the lower robot relative to planning path；W (n) indicates the angular speed of the n-th moment underwater robot；W (n-1) is indicated
The angular speed of (n-1)th moment underwater robot；W (n-2) indicates the angular speed of the n-th -2 moment underwater robot；k1When indicating n-th
Carve the position deviation coefficient of underwater robot；k2Indicate the angular deviation coefficient of the n-th moment underwater robot；k3Indicate history ginseng
Data are examined, generally choose 0.33；k4It indicates history reference data, generally chooses 0.33；According to the current traveling of underwater robot
State determines k1And k2, realize the angular speed adjustment of underwater robot.
S3. underwater robot is navigated by water to designated position, draws the SVG format of underwater robot Dynamically Announce self information
Picture；
S301. SVG format picture is drawn according to the display form of curve graph in Adobe illustrator；
S302. the coordinate and attribute of each control of SVG graphics calculations drawn are utilized；
S303. the SVG photo-document generated using DOM interface access, creates picture according to picture size in SVG document
Cloth；
S304. the change of SVG painting canvas is applied to SVG document, refreshes interface display, to realize underwater robot itself
The Dynamically Announce of information.
S4. start sensor, the data of ambient condition information and underwater robot to underwater is acquired；
S5. SOCKET network communication technology is utilized, sends host computer prison for sensing data collected in step S6
Control software；
S6. verified and unpacked to the data received in upper computer software processing, and will verify correct data
Dynamically Announce is in SVG control.
Fig. 4 is the angle change schematic diagram of underwater robot of the present invention at a time trim and heel, with first
People claims the graphics mode at visual angle to show the angle change of trim and heel and the validity of data.Two kinds of colors are had a common boundary in Fig. 4
Line rotation expression heel variation, boundary line move up and down expression Trim change.
Fig. 5 is the underwater robot of the present invention at a time first schematic diagram to display, with the figure of disk pointer
Mode shows the first validity to angle and data with target heading.In Fig. 5, arrow broad in the middle and intermediate number
Indicate first digital representation target heading to, small arrow and above；When data invalid, numerical portion show "??? ", figure
Part does not show arrow.
Fig. 6 is underwater robot of the present invention at a time vertical depth or the schematic diagram of height display, with vertical
Graphics mode display depth or height and target value deviation and data validity.In Fig. 6, the digital representation of top
Underwater robot current depth or height, digital displaying target value in the middle, the arrow and number display sensor values on the left side；
When data invalid, it is cleared to background colour.
Fig. 7 is the underwater robot of the present invention schematic diagram that at a time horizontal thrust is shown, is shown to graphically
Show the validity of horizontal plane synthesis thrust command and propeller thrust instruction and data.Outer ring four is propeller thrust, is shown
Show that percentage, arrow direction indicate positive and negative, positive value direction is intermediate, and negative value is directed toward outside up and down.Intermediate three refer to for synthesis thrust
It enables, around the mobile expression of the index line on thrust command, rotates instruction.When data invalid, numerical portion is shown
"??? ", visuals is cleared to background colour.
Fig. 8 is the underwater robot of the present invention schematic diagram that at a time vertical thrust is shown, is shown to graphically
Show the validity of vertical synthesis thrust command and propeller thrust instruction and data.Outer ring three is propeller thrust, is indicated
The index line moving direction of propeller thrust indicates positive and negative, and upwards, negative value is downward for positive value.Intermediate three are synthesis thrust command,
Synthesize the mobile expression heave of index line, trim, the heel instruction on thrust command.When data invalid, numerical portion is shown
"??? ", visuals is cleared to background colour.
Fig. 9 is the underwater robot of the present invention schematic diagram that at a time vertical manipulation thrust is shown, with figure side
Formula shows vertical manipulation thrust command, and the index line on vertical manipulation thrust command is mobile to indicate heave, trim, heel instruction.
Data area: -100 to+100.
Figure 10 is the schematic diagram that underwater robot of the present invention at a time energy management is shown, is shown to graphically
Show energy management restriction proportion, respectively horizontal plane, vertical, tool energy limit ratio.Data area: 0 to 100.
Before robot autonomous line walking starts, the starting path of robot and preset path are set as there are certain deviation,
After autonomous line walking function to be opened, the deviation between the motion path and preset path of robot can be smaller and smaller, last underwater
The actual motion path of robot can tend to be almost the same with preset path.Effect picture such as Figure 11 institute of the autonomous line walking of the present embodiment
Show, it can be seen from figure 11 that using autonomous patrolling method of the present invention, the actual motion path of underwater robot and default
Path is almost the same.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, the difference is that, the predetermined movement path of underwater robot is set as
Straight line.
The effect picture of the autonomous line walking of the present embodiment is as shown in figure 12, it can be recognized from fig. 12 that using it is of the present invention from
Main patrolling method, the actual motion path and preset path of underwater robot are almost the same.
Embodiment 3
The present embodiment is substantially the same manner as Example 1, the difference is that, the predetermined movement path of underwater robot is set as
Circle.
The effect picture of the autonomous line walking of the present embodiment is as shown in figure 13, as can be seen from Figure 13, using it is of the present invention from
Main patrolling method, the actual motion path and preset path of underwater robot are almost the same.
Embodiment 4
The present embodiment is substantially the same manner as Example 1, the difference is that, the predetermined movement path of underwater robot is set as
It is oval.
The effect picture of the autonomous line walking of the present embodiment is as shown in figure 14, from Figure 14 to find out, using of the present invention autonomous
Patrolling method, the actual motion path and preset path of underwater robot are almost the same.
Embodiment 5
The present embodiment is substantially the same manner as Example 1, the difference is that, the predetermined movement path of underwater robot is set as
Free routing.
The effect picture of the autonomous line walking of the present embodiment is as shown in figure 15, from Figure 15 to find out, using of the present invention autonomous
Patrolling method, the actual motion path and preset path of underwater robot are almost the same.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the method for the autonomous line walking of underwater robot and monitor surface, which comprises the following steps:
S1. it presets the motion path of underwater robot and motion modeling is carried out to underwater robot；
S2. the autonomous line walking control system of underwater robot is established to realize autonomous line walking function under robot water；
S3. underwater robot is navigated by water to designated position, draws the SVG format chart of underwater robot Dynamically Announce self information
Piece；
S4. start sensor, the data of ambient condition information and underwater robot to underwater robot is acquired；
S5. SOCKET network communication technology is utilized, it is soft to send ipc monitor for sensing data collected in step S4
Part；
S6. verified and unpacked to the data received in upper computer software processing, and will verify correct data dynamic
It is shown in SVG control.
2. the method for the autonomous line walking of underwater robot according to claim 1 and monitor surface, which is characterized in that the step
Rapid S1 specifically: the absolute coordinate system XOY of setting characterization underwater robot self-position, absolute coordinate system XOY is with mother waterborne
Ship is established relative to the position on ground, and wherein the O point of XOY coordinate system is the central point of lash ship waterborne；Then underwater robot
Motion model is as follows:
Vx=Vcos θ
Vy=Vsin θ
Wherein, V is the linear velocity of underwater robot, and θ is the angle of the linear velocity V and reference axis X of underwater robot, and w is underwater
The angular speed of robot, θ0For the initial value of the angle of the linear velocity V and reference axis X of underwater robot, t is underwater robot
Run duration；Vx is speed of the underwater robot relative to reference axis X-axis, and Vy is underwater robot relative to reference axis Y-axis
Speed.
3. the method for the autonomous line walking of underwater robot according to claim 2 and monitor surface, which is characterized in that by building
The underwater relative movement information of underwater robot is converted to absolute movement information relative to the earth by vertical relative coordinate system xoy；
Relative coordinate system xoy that characterization underwater robot self-position is set, being put centered on underwater robot, and relative coordinate system
It can mutually be converted between xoy and absolute coordinate system XOY, specific switch process are as follows:
P is set as the predetermined movement path of underwater robot；
In the XOY coordinate system, O (Xo, Yo) indicates underwater robot in the center point coordinate of t moment, and P (Xp, Yp) is indicated for setting
The coordinate of any point in path P；
It is set in xoy coordinate system, 0 (xo, yo) indicate center point coordinate of the underwater robot in t moment, p (xp, yp) indicate road
Any point is mapped to the coordinate in xoy coordinate system on diameter P；
Formula 1: Δ X=Xp-Xo
Δ Y=Yp-Yo
Formula 2:xp=Δ Xcos θ-Δ Ysin θ
yp=Δ Xsin θ-Δ Ysin θ
Wherein, xo=0, yo=0
The conversion between the absolute coordinate system and relative coordinate system of underwater robot is realized according to formula 1 and formula 2；
Formula 3:Xp=xpcosθ+ypsinθ+Xo
Yp=-xpsinθ+ypcosθ+Yo
The conversion between the relative coordinate system and absolute coordinate system of underwater robot is realized according to formula 3.
4. the method for the autonomous line walking of underwater robot according to claim 3 and monitor surface, which is characterized in that the water
The predetermined movement path of lower robot is set as straight line, curve, broken line or circle.
5. the method for the autonomous line walking of underwater robot according to claim 4 and monitor surface, which is characterized in that the water
The predetermined movement path of lower robot is set as broken line.
6. the method for the autonomous line walking of underwater robot according to claim 1 and monitor surface, which is characterized in that the step
In rapid S2, the autonomous line walking control system includes two variables of speed and angular speed that move ahead, the speed that moves ahead and angular speed difference
For controlling speed and the direction of underwater robot advance.
7. the method for the autonomous line walking of underwater robot according to claim 6 and monitor surface, which is characterized in that by such as
Lower formula continuously adjusts the forward speed of underwater robot:
V=(180 ° of-β)/180*Vmax
Wherein, β indicates the angle between underwater robot current direction and predetermined movement path, i.e. angular deviation；Vmax table
Show speed when underwater robot full gear.
8. the method for the autonomous line walking of underwater robot according to claim 6 and monitor surface, which is characterized in that using from
Angular speed of pid control algorithm control underwater robot during moving ahead is adapted to, by following formula to underwater robot
Forward angular speed is adjusted:
W (n)=k1xp+k2θp+k3w(n-1)+k4w(n-2)
Wherein, xpIndicate position deviation of the n-th moment underwater robot relative to planning path；θ p indicates the n-th moment underwater
Angular deviation of the people relative to planning path；W (n) indicates the angular speed of the n-th moment underwater robot；W (n-1) indicates (n-1)th
The angular speed of moment underwater robot；W (n-2) indicates the angular speed of the n-th -2 moment underwater robot；k1Indicate the n-th moment water
The position deviation coefficient of lower robot；k2Indicate the angular deviation coefficient of the n-th moment underwater robot；k3Indicate history reference number
According to generally selection 0.33；k4It indicates history reference data, generally chooses 0.33；According to the current driving status of underwater robot
Determine k1And k2, realize the angular speed adjustment of underwater robot.
9. the method for the autonomous line walking of underwater robot according to claim 1 and monitor surface, which is characterized in that the step
Rapid S3 specifically includes the following steps:
S301. SVG format picture is drawn according to the graphical representation form of proposed adoption in mapping software；
S302. the coordinate and attribute of each control of SVG graphics calculations drawn are utilized；
S303. the SVG photo-document generated using DOM interface access, creates painting canvas according to picture size in SVG document；
S304. the change of SVG painting canvas is applied to SVG document, refreshes interface display, to realize underwater robot self information
Dynamically Announce.
10. the method for the autonomous line walking of underwater robot according to claim 9 and monitor surface, which is characterized in that described
Graphical representation form includes text, indicator light, progress bar, number, curve graph.
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