CN111352436A - Autonomous underwater robot remote wireless control device - Google Patents
Autonomous underwater robot remote wireless control device Download PDFInfo
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- CN111352436A CN111352436A CN201811582236.5A CN201811582236A CN111352436A CN 111352436 A CN111352436 A CN 111352436A CN 201811582236 A CN201811582236 A CN 201811582236A CN 111352436 A CN111352436 A CN 111352436A
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- 238000012545 processing Methods 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
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Abstract
The invention relates to a remote wireless remote control device of an autonomous underwater robot, which comprises: a control processing circuit; the control rod is connected with the control rod decoding circuit and is used for controlling the course and the speed of the underwater robot; the knob is connected with the knob decoding circuit and is used for controlling the speed and the horizontal course in the linear motion process of the underwater robot; the key is connected with the key input circuit and is used for the display screen to display the function of selecting and switching; the wireless communication module is connected with the antenna and the second serial port input/output circuit, receives and transmits radio wave signals, receives state information of the underwater robot and transmits remote control instructions. The wireless communication module can be used for information interaction with the underwater robot, information is displayed on the display screen in real time, a user can know state information of the underwater robot in real time, and the Hall type spherical control rod is adopted, so that the underwater robot is convenient to hold and operate, has sensitive control and large middle zero range, and ensures the accuracy of remote control commands.
Description
Technical Field
The invention relates to the technical field of remote control of autonomous underwater robots, in particular to a remote wireless remote control device of an autonomous underwater robot.
Background
In recent years, Autonomous Underwater Vehicles (AUV) have gradually gained importance from all countries of the world, have been widely used in the fields of marine economic development, ecological research, geological exploration, hydrological monitoring, oil and gas pipeline detection, and have gradually become important tools for underwater operation.
In the process of docking and undocking the underwater robot, more remote navigation modes are adopted at present, the traditional remote control device only performs simple course control on the underwater robot and does not have the function of displaying state information of the underwater robot, in the actual use process, an operator cannot timely acquire navigation state information of the underwater robot, and the operator often needs other personnel to observe attitude information of the underwater robot beside the underwater robot when operating the remote control device, so that the actual experience is very poor. And the traditional remote control device is inconvenient to operate and poor in comfort.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an autonomous underwater robot remote control device, which solves the problems that an operator cannot acquire navigation state information of an underwater robot in time and needs other personnel to observe attitude information of the underwater robot beside the operator when operating the remote control device.
The technical scheme adopted by the invention for realizing the purpose is as follows:
an autonomous underwater robotic remote wireless control device, comprising:
a control processing circuit;
the control rod is connected with the control rod decoding circuit of the control processing circuit, sends a control command of the control rod to the control processing circuit and is used for controlling the course and the speed of the underwater robot;
the knob is connected with the knob decoding circuit of the control processing circuit, sends a knob control command to the control processing circuit and is used for controlling the speed and the horizontal course in the linear motion process of the underwater robot;
the key is connected with the key input circuit of the control processing circuit, sends a key control command to the control processing circuit and is used for the display screen to display function selection switching;
and the wireless communication module is connected with the antenna and used for receiving and transmitting radio wave signals, and is also connected with a second serial port input/output circuit of the control processing circuit and used for receiving state information of the underwater robot and transmitting a remote control command.
The underwater robot remote control system further comprises an indicator light output circuit, wherein the indicator light output circuit is connected with the control processing circuit and used for displaying the running state and the fault alarm of the underwater robot in the remote control process.
The underwater robot control system further comprises a first serial port input/output circuit connected with the control processing circuit through a display screen, and the display screen displays position information, posture information and equipment state information of the underwater robot.
The control rod adopts a Hall voltage signal output control rod, the course of the underwater robot is controlled according to the deflection direction of the rocker, and the speed of the underwater robot is controlled according to the deflection angle of the rocker.
The knobs comprise speed adjusting knobs and course adjusting knobs, and the speed adjusting knobs are used for uniformly adjusting and controlling the underwater robot from zero speed to the maximum speed; the course adjusting knob is used for uniformly controlling the rudder angle of the vertical steering engine of the underwater robot from the minimum value to the maximum value.
The wireless communication module is used for performing information interaction with the wireless communication module of the underwater robot, receiving attitude information, position information and equipment state information of the underwater robot and sending a motion control command to the underwater robot.
The battery pack is connected with the power input circuit of the control processing circuit and supplies power to the control processing circuit.
The invention has the following beneficial effects and advantages:
1. the wireless communication module can be used for information interaction with the underwater robot, and simultaneously, the information is displayed on the display screen in real time, so that a user can know the state information of the underwater robot in real time;
2. the invention adopts the design of the Hall type spherical control rod, is convenient for a user to hold and operate, has sensitive control and large middle zero range, and ensures the accuracy of remote control commands.
Drawings
FIG. 1 is a hardware block diagram of the present invention;
FIG. 2 is a schematic diagram of the keying circuit of the present invention;
FIG. 3 is a schematic diagram of the joystick decode circuit of the present invention;
fig. 4 is a schematic diagram of the indicator light output circuit of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example (b):
fig. 1 is a schematic diagram of the hardware structure of the present invention.
The remote control device mainly comprises: the device comprises a control processing circuit, a control rod, a knob, a key, a display screen, a wireless communication module, an antenna, an indicator light and a battery pack;
the control processing circuit adopts an STM32F103RBT6 series ARM chip based on a Cortex3 kernel as core microprocessing and mainly comprises a key input circuit, a knob decoding circuit, a control rod decoding circuit, a serial port 1 output circuit, a serial port 2 input/output circuit, an indicator light output circuit and a power supply input circuit;
the key is connected with a key input circuit, the specific key input circuit is shown in fig. 2, the key is connected with a capacitor C3 in parallel, then a key pin 1 is connected with a resistor R8 in series and then connected with a power supply VDD, a key pin 2 is grounded, and meanwhile, the key pin 1 is connected with a key input pin of a control processing circuit. In the key off state, the key input pin detects a high level signal; when the key is switched on, the key input pin is switched on and is pulled down to a low level signal, and the control processing circuit detects the level jump of the key input pin so as to judge that the corresponding key is pressed down;
the joystick is connected to the joystick decoding circuit, specifically as shown in fig. 3, the LM324 is an amplifier circuit chip, the resistor R25 is connected in series with the resistor R27, the resistor R25 pin 1 is grounded, the resistor R27 pin 2 is connected to the LM324 pin 6, the resistor R26 is connected in series with the resistor R28, the resistor R26 pin 1 is connected to the output X _ axis of the joystick, the resistor R28 pin 2 is connected to the LM324 pin 5, meanwhile, the capacitor C22 is connected across the R27 pin 1 and the R28 pin 1, the R29 is connected across the LM324 pin 6 and the pin 7, the resistor R30 pin 2 is connected to the LM324 pin 5, the resistor R30 pin 1 is connected to the reference voltage VREF, the resistor R31 is connected in series with the capacitor C23 and then grounded, the resistor R31 pin 1 is connected to the LM324 pin 7, and the resistor R31 pin 2 is connected to the joystick input. When the operation rod is operated in the front/back and left/right directions, the Hall output voltage signal is processed by the LM324 amplifying circuit and then is connected to the operation rod input pin of the control processing circuit, and the voltage signal is analyzed to be converted into a corresponding heading control command and a corresponding speed control command of the underwater robot.
The principle of the knob decoding circuit is the same as that of the operating rod decoding circuit, and the input voltage signal is read by the corresponding functional knob and converted into a course control command and a speed control command of the corresponding underwater robot.
The pilot lamp inserts pilot lamp output circuit, it is shown specifically to refer to fig. 4, U7 is the opto-coupler type spare, resistance R17 pin 1 inserts power VDD, resistance R17 pin 2 inserts pin 1 to U7, resistance R18 pin 1 inserts power VDD, resistance R18 pin 2 inserts pin 2 to U17, U17 pin 2 inserts pilot lamp output pin simultaneously, resistance R19 one end connects +24V, one end inserts pin 4 to U17, pilot lamp LED0 one end ground connection, one end inserts U17 pin 3. When the pin of the indicator light outputs a high level, the optocoupler U17 is turned off, the output voltage of the pin 3 of the U17 is zero, and the indicator light LED is turned off; when the pin of the indicator lamp outputs a low level, the optocoupler U17 is switched on, the output voltage of the pin 3 of the U17 is +24V, and the indicator lamp LED is lightened.
The specific working principle of the invention is as follows:
the wireless remote control device is connected with the battery pack, the control processing circuit lights a green LED of the operation indicator lamp, reads corresponding key information, the display screen displays and switches corresponding function options, the up/down and left/right function selection switching is carried out through the control rod, and after corresponding control parameters are set, the confirmation key is confirmed; then the control processing circuit reads the action information of the control rod or the rotation angle value of the knob, generates a corresponding control instruction after decoding, transmits the control instruction to a receiving end of a wireless communication module of the underwater robot through the wireless communication module connected with the serial port 2, receives the course information, the position information, the posture information, the state information and the like returned by the underwater robot at the same time, analyzes and processes the control instruction through the control processing circuit, and transmits the control instruction to a display screen for display through the serial port 1; and when fault alarm information of the underwater robot is received, the control processing circuit switches on or off the red LED of the fault indicator lamp at the frequency of 1 Hz.
Claims (7)
1. An autonomous underwater robot remote wireless control device, comprising:
a control processing circuit;
the control rod is connected with the control rod decoding circuit of the control processing circuit, sends a control command of the control rod to the control processing circuit and is used for controlling the course and the speed of the underwater robot;
the knob is connected with the knob decoding circuit of the control processing circuit, sends a knob control command to the control processing circuit and is used for controlling the speed and the horizontal course in the linear motion process of the underwater robot;
the key is connected with the key input circuit of the control processing circuit, sends a key control command to the control processing circuit and is used for the display screen to display function selection switching;
and the wireless communication module is connected with the antenna and used for receiving and transmitting radio wave signals, and is also connected with a second serial port input/output circuit of the control processing circuit and used for receiving state information of the underwater robot and transmitting a remote control command.
2. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the underwater robot remote control system further comprises an indicator light output circuit, wherein the indicator light output circuit is connected with the control processing circuit and used for displaying the running state and the fault alarm of the underwater robot in the remote control process.
3. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the underwater robot control system further comprises a first serial port input/output circuit connected with the control processing circuit through a display screen, and the display screen displays position information, posture information and equipment state information of the underwater robot.
4. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the control rod adopts a Hall voltage signal output control rod, the course of the underwater robot is controlled according to the deflection direction of the rocker, and the speed of the underwater robot is controlled according to the deflection angle of the rocker.
5. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the knobs comprise speed adjusting knobs and course adjusting knobs, and the speed adjusting knobs are used for uniformly adjusting and controlling the underwater robot from zero speed to the maximum speed; the course adjusting knob is used for uniformly controlling the rudder angle of the vertical steering engine of the underwater robot from the minimum value to the maximum value.
6. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the wireless communication module is used for performing information interaction with the wireless communication module of the underwater robot, receiving attitude information, position information and equipment state information of the underwater robot and sending a motion control command to the underwater robot.
7. The autonomous underwater robot remote wireless control device of claim 1, characterized in that: the battery pack is connected with the power input circuit of the control processing circuit and supplies power to the control processing circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811582236.5A CN111352436A (en) | 2018-12-24 | 2018-12-24 | Autonomous underwater robot remote wireless control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811582236.5A CN111352436A (en) | 2018-12-24 | 2018-12-24 | Autonomous underwater robot remote wireless control device |
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| CN111352436A true CN111352436A (en) | 2020-06-30 |
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| CN201811582236.5A Pending CN111352436A (en) | 2018-12-24 | 2018-12-24 | Autonomous underwater robot remote wireless control device |
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2018
- 2018-12-24 CN CN201811582236.5A patent/CN111352436A/en active Pending
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| CN105752308A (en) * | 2016-04-01 | 2016-07-13 | 武汉理工大学 | Pod propelled ship maneuvering vector control device |
| CN108121247A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of ocean robot remote control based on microwave communication techniques |
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Non-Patent Citations (1)
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