CN201732262U - Semi-physical simulation system of multiple underwater robots - Google Patents
Semi-physical simulation system of multiple underwater robots Download PDFInfo
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- CN201732262U CN201732262U CN2009203517226U CN200920351722U CN201732262U CN 201732262 U CN201732262 U CN 201732262U CN 2009203517226 U CN2009203517226 U CN 2009203517226U CN 200920351722 U CN200920351722 U CN 200920351722U CN 201732262 U CN201732262 U CN 201732262U
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Abstract
The utility model relates to semi-physical simulation system of multiple underwater robots, comprising a scene display computer, a virtual environmental computer, an electrical switching device, and an onboard automatic pilot, wherein the scene display computer is in network communication connection with the virtual environmental computer, the virtual environmental computer stores a kinematic and dynamic model of all underwater robots and is used for generating various virtual sensor equipment information; the electrical switching device is used for switching a standard cable interface of the virtual environmental computer into an interface convenient to connected with the onboard automatic pilots of multiple underwater robots, and the onboard automatic pilot is a true underwater robot software/hardware control system, and is used for generating actuator controlled variable according to self motion planning and a closed-loop control system, transmitting the actuator controlled variable to the virtual environmental computer, and transmitting cooperation information to other robot systems through the virtual environmental computer according to mission requirements. The utility model can be used for conveniently expanding sensors and equipment nodes, has the advantages of good system expansibility and high transportability, and is beneficial to configuring various types of underwater robots.
Description
Technical field
The utility model relates to underwater multi-robot control and simulation technical field, a kind of specifically underwater multi-robot semi-physical system based on hybrid hardware architecture.
Background technology
In order to satisfy the demand that underwater robot is verified in earlier stage in control system design of hardware and software and gordian technique, Chinese scholars has made up the various emulation platforms that are applied to underwater robot, mainly comprises Digital Simulation platform and semi-physical simulation platform.
Semi-physical simulation also claims half in kind, hardware (HIL, hardware in loop) emulation in the loop, and water inlet formerly is extremely important in the robot system design and development down.Especially for multi-robot system, have system complex, have the characteristics of various Unpredictabilities, therefore study corresponding emulation technology and set up its simulated environment, be the design complex control system, study its gordian technique and the indispensable means of access control system robustness.
Different with Digital Simulation is, semi-physical simulation places simulated environment with real robot controller software and hardware system, overall process, total state are carried out emulation, in time find the software and hardware leak that robot controller may exist in true marine environment, improve system reliability.And this semi-physical simulation can only be simulated control to single robot, for multirobot, then can't realize simulation control.At present, in relevant report, do not find underwater multi-robot semi-physical simulation device as yet.
The utility model content
For this blank of multirobot simulation control, the technical problems to be solved in the utility model provides a kind of underwater multi-robot semi-physical system that can verify complex processes such as the software and hardware internal relations of each robot system, coupled outside at can't realizing of existing in the prior art.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
The utility model underwater multi-robot semi-physical system comprises: what comes into a driver's shows computing machine, the virtual environment computing machine, and electrical interconnecting device and airborne robot pilot, wherein:
What comes into a driver's shows and to carry out computing machine network service with the virtual environment computing machine and to be connected, realizes submarine topography, barrier, shoves and the simulation of sonar sensing data, and the demonstration of the 3 D stereo of each underwater robot pose;
The virtual environment computing machine, the kinematics, the kinetic model that have each underwater robot, resolve by model, generate various virtual-sensor facility informations, to realize the autonomous closed-loop control of underwater robot, finish the various fault state of simulation simultaneously, and the simulation underwater acoustic channel is realized the forwarding of multirobot cooperative information;
The electrical interconnecting device is with the interface of standard cable interface switching for being connected with the airborne robot pilot convenience of underwater multi-robot of virtual environment computing machine expansion card;
Airborne robot pilot is many covers, be real underwater robot software and hardware control system, obtain the sensing data of virtual environment computing machine by the electrical interconnecting device, motion planning and closed-loop control system generation actuator controlled quentity controlled variable according to self send to the virtual environment computing machine via the electrical interconnecting device, send cooperative information by the virtual environment computing machine to other robot system according to the mission demand simultaneously.
Described airborne robot pilot comprises: CPU element, serial ports expansion unit, peripheral expansion unit, switch control unit, power supply control/monitoring means and propulsion system control module, wherein CPU element connects serial ports expansion unit, the connection of peripheral expansion unit by the PC104 bus, connects switch control unit, power supply control/monitoring means and propulsion system control module by the RS485 bus.Voltage, electric current and the malfunction of power supply control/monitoring means monitoring energy resource system receive the instruction of CPU element, and energy resource system is implemented control; The running status of propulsion system control module monitoring driving device is implemented to enable, rotating speed, is turned to control drive unit; Entry, the situation of leaking of switch control unit monitoring underwater robot are implemented control to each airborne sensor, ballasting device switch.
Described virtual environment computing machine comprises industrial computer, Digital I unit, analog input unit, analog quantity output unit and serial ports unit, and wherein, industrial computer connects above-mentioned each unit; To the simulate signal of the step switch of the power switch of industrial computer input underwater multi-robot and robot ballasting device, the digital quantity output terminal detects and leaks and oil leakage alarm and other fault-signal to airborne robot pilot output entry the digital quantity input end of Digital I unit under the control of airborne robot pilot; Analog input unit is imported the simulate signal of the analog quantity output device of underwater multi-robot propulsion system to industrial computer under the control of industrial computer; The analog quantity output unit is exported the simulate signal of various virtual-sensors to airborne robot pilot by the serial ports unit under the control of industrial computer.
Described electrical interconnecting device one end links to each other with the standard cable interface of virtual environment computing machine expansion card, and the other end is provided with the convenient cable interface that is connected with the airborne robot pilot of each underwater robot.
Described airborne robot pilot is many isomorphism underwater robot control device, perhaps is many isomery underwater robot control device.
The utlity model has following beneficial effect and advantage:
1. the utility model adopts idea of modular, under the configuration of minimum underwater robot control system, can make things convenient for extension sensor and device node, and system extension is good, portability is high.
2. the utlity model has various dummy models, realized the virtual-sensor interface that gordian techniquies such as underwater multi-robot motion control, cooperation navigation, underwater sound networking, formation control relate to, be convenient to dispose various types of underwater robots.
3. the utlity model has various fault simulation interfaces, can simulate the malfunction of various underwater robots, the completeness of access control device.
Description of drawings
Fig. 1 is the utility model electrical structure block diagram;
Fig. 2 is the electrical structure block diagram of airborne robot pilot in the utility model;
Fig. 2 A is the power supply control/monitoring means block diagram of airborne robot pilot in the utility model;
Fig. 2 B is the propulsion system control module block diagram of airborne robot pilot in the utility model;
Fig. 2 C is the switch control unit electrical structure block diagram of airborne robot pilot in the utility model;
Fig. 3 is the electrical structure block diagram of virtual environment computing machine in the utility model;
Fig. 4 is an electrical interconnecting device electrical structure block diagram in the utility model;
The method flow diagram that Fig. 5 adopts for the utility model.
Embodiment
As shown in Figure 1, the utility model underwater multi-robot semi-physical system comprises: what comes into a driver's shows computing machine 1, virtual environment computing machine 2, electrical interconnecting device 3 and airborne robot pilot 4, wherein: what comes into a driver's shows computing machine 1, carry out network service with virtual environment computing machine 2 and be connected, realize submarine topography, barrier, shove and the simulation of sonar sensing data, and the 3 D stereo of each underwater robot pose shows; Virtual environment computing machine 2, the kinematics, the kinetic model that have each underwater robot, resolve by model, generate various virtual-sensor facility informations, to realize the autonomous closed-loop control of underwater robot, finish the various fault state of simulation simultaneously, and the simulation underwater acoustic channel is realized the forwarding of multirobot cooperative information; Electrical interconnecting device 3 is with the interfaces of standard cable interface switching for being connected with many airborne robot pilots 4 convenience of underwater robot of virtual environment computing machine 2 expansion cards; Airborne robot pilot 4, be many covers, be real underwater robot software and hardware control system, by obtaining the sensing data of virtual environment computing machine 2, motion planning and closed-loop control system generation actuator controlled quentity controlled variable according to self send to virtual environment computing machine 2, thereby realize the independent behaviour of underwater multi-robot, send cooperative information by virtual environment computing machine 2 to other robot system according to the mission demand simultaneously.
Different with monomer underwater robot analogue simulation system is, underwater multi-robot emulation both can have been simulated many, and (the present embodiment simulator adopts the airborne robot pilot of quadruplet, promptly the isomorphism underwater robot control system of the 1st～4 airborne robot pilot I～IV) also can be simulated many isomery underwater robot control system.Finish in the process of mission in that underwater multi-robot is collaborative, can verify complex processes such as the software and hardware internal relations of each robot system, coupled outside.
As Fig. 2, shown in 2A～C, airborne robot pilot 4 comprises: CPU element, the serial ports expansion unit, the peripheral expansion unit, switch control unit, power supply control/monitoring means and propulsion system control module, wherein CPU element connects the serial ports expansion unit respectively by the PC104 bus, the peripheral expansion unit connects, connect switch control unit by 485 buses, power supply control/monitoring means and propulsion system control module, the voltage of power supply control/monitoring means monitoring energy resource system, electric current and malfunction, receive the instruction of CPU element, the energy of underwater robot is implemented control; The propulsion system control module detects the running status of underwater robot drive unit, and drive unit is implemented to enable, rotating speed, turned to control; Entry, the situation of leaking of switch control unit monitoring underwater robot are controlled the various device of underwater robot.
As shown in Figure 3, virtual environment computing machine 2 comprises industrial computer, Digital I unit, analog input unit, analog quantity output unit and serial ports unit, and wherein, industrial computer connects above-mentioned each unit; The digital quantity input end of Digital I unit under the control of airborne robot pilot 4 on industrial computer input underwater multi-robot the simulate signal of the power switch of some drive units, sensor and airborne equipment, the digital quantity output terminal detects and leaks and the oil leakage alarm simulate signal to airborne robot pilot 4 output entry; Analog input unit is imported the simulate signal of the analog quantity output device of underwater multi-robot propulsion system to industrial computer under the control of airborne robot pilot 4; The analog quantity output unit under the control of industrial computer to the simulate signal of sensors such as the degree of depth of airborne robot pilot 4 output multirobots, angular velocity gyro; The simulate signal of various virtual-sensors is exported in the serial ports unit to airborne motor-driven pilot 4 under the control of industrial computer.
As shown in Figure 4, an end of electrical interconnecting device 3 comprises that with virtual environment computing machine expansion card the standard cable interface of serial port board, DA card, AD card, IO card links to each other, and the other end is provided with the convenient interface that is connected with the airborne automatic driving 4 of each underwater robot.
Virtual environment computing machine 2 links to each other by electrical interconnecting device 3 exactly with airborne robot pilot 4, the autonomous closed-loop control and the navigation of underwater robot have been realized, simultaneously, virtual environment computing machine 2 realizes that by 3 pairs of airborne robot pilots 4 of electrical interconnecting device mission is loaded and control, and real-time underwater robot posture information is sent to what comes into a driver's by Ethernet show that computing machine 1 carries out two dimension, 3-D display, and what comes into a driver's demonstration computing machine 1 is simulated acoustics and optical sensor by the collision checking function of three-dimensional software, and the result is sent to virtual environment computing machine 2.
What comes into a driver's of the present utility model shows that computing machine 1 adopts the high performance graphics workstation Precision 690 of Dell.What comes into a driver's shows that computing machine carries out the mutual of environmental data and UUV carrier state information by ICP/IP protocol and virtual environment computing machine, realizes that the 3 D stereo of submarine topography, barrier, current, each underwater robot pose shows.
In the present embodiment utility model, the working machine of virtual environment computing machine 2 adopts and grinds magnificent industrial computer IPC610, the Digital I unit adopts 48 tunnel isolation digital quantity IO card PCI-1751 that grind magnificent company, analog input unit adopts and grinds 12 32 road A/D data collecting card PCL-813B of magnificent company, the analog quantity output unit adopts 12 the tunnel to isolate analog output unit PCL-727, and the serial ports unit adopts and grinds the PCL-858 of magnificent company.The digital quantity input of Digital I unit is used to simulate the power switch of some equipment on the underwater multi-robot, as radiobeacon, acoustic positioning system, wireless aerial, anticollision sonar, thermohaline instrument etc., and the step switch of underwater vehicle ballasting device, carry foundary weight as throwing; The digital quantity output of Digital I unit is used to simulate the entry detection and leaks and the Oil Leakage Detecting signal; Analog input unit is mainly used in other analog quantity output device of simulation propulsion system to receive the controlled quentity controlled variable input; The analog quantity output unit is used to export sensors such as the degree of depth, angular velocity gyro and gets simulate signal; The serial ports unit is used to produce the simulate signal of various virtual-sensor equipment under the control of industrial computer, as radio, digital compass, Inertial Measurement Unit, Doppler range rate measurement, underwater sound communication machine etc.
Airborne robot pilot adopts the hybrid architecture based on PC104 and RS485 network, the stack access node structure, the abundant characteristics of peripheral module that had both had PC014 embedded industrial computer compactness, have RS485 bus structure characteristics simple, that easily expand again, exploitation is convenient.The CPU element of airborne robot pilot adopts the 6235-133-32M of Sheng Bo company, the MSP-8 of serial ports expansion unit Sheng Bo company, and the peripheral expansion unit adopts the ADT-650 of Sheng Bo company.
Switch control unit is a core with single chip computer AT mega8, by the instruction of RS-485 interface reception CPU element, according to ordering the power supply to each airborne sensor, equipment to carry out switch control, detects each facility switching state simultaneously.
Power supply control/monitoring means is a core with single chip computer AT mega8, state such as be responsible for to detect voltage, electric current, temperature, the pressure of battery and leak, and data are turned back to CPU element by the RS-485 interface.
The propulsion system control module is a core with single chip computer AT mega8, receive the order of CPU element by the RS-485 interface, according to the enabling of each motor of order control, direction, control D/A drives each motor drive module, detect the malfunction of each motor simultaneously, gather each motor working current, temperature by A/D, and send to CPU element by the RS-485 interface.
As shown in Figure 5, the utility model is realized its control procedure by the following method:
1) initial mission is loaded and path planning:
The virtual environment computing machine shows that to each airborne robot pilot and what comes into a driver's computing machine loads initial mission parameter, and receives the mission confirmation of returning;
After each airborne robot pilot is correctly finished the path planning program, to virtual environment computing machine return path program results;
The virtual environment computing machine sends to what comes into a driver's with route programming result and shows that computing machine carries out two dimension and shows;
2) carry out Simulation Control according to the path of above-mentioned planning:
The virtual environment computing machine sends the emulation sign on to each airborne robot pilot;
Each airborne robot pilot is after receiving above-mentioned emulation sign on, result according to planning brings into operation, closed-loop control system by inside is calculated the controlled quentity controlled variable of propulsion system, changes the analog input card that is sent to the virtual environment computing machine by the electrical interconnecting device by the simulation output interface;
The virtual environment computing machine with the controlled quentity controlled variable of above-mentioned propulsion system as input, kinematics, kinetic model by each airborne robot pilot resolve acquisition each virtual-sensor information and posture information, and sensor information is sent to each airborne robot pilot by corresponding serial port board, analog output card commentaries on classics by the electrical interconnecting device; Simultaneously the virtual environment computing machine posture information that will resolve each underwater robot of acquisition sends to what comes into a driver's by network interface and shows that computing machine carries out 3-D display;
Judge whether each airborne robot pilot needs to send cooperative information;
Each airborne robot pilot such as need send cooperative information, and then the RS232 interface by correspondence sends to the virtual environment computing machine via the electrical interconnecting device;
Be transmitted to other airborne robot pilots of appointment by the virtual environment computing machine.
Claims (4)
1. underwater multi-robot semi-physical system is characterized in that comprising: what comes into a driver's shows computing machine (1), virtual environment computing machine (2), and electrical interconnecting device (3) and airborne robot pilot (4), wherein:
What comes into a driver's shows computing machine (1), carries out network service with virtual environment computing machine (2) and is connected;
Electrical interconnecting device (3), an end links to each other with the standard cable interface of virtual environment computing machine expansion card, and the other end is provided with the convenient cable interface that is connected with the airborne robot pilot of each underwater robot (4);
Airborne robot pilot (4), be many covers, be real underwater robot software and hardware control system, obtain the sensing data of virtual environment computing machine (2) by electrical interconnecting device (3), motion planning and closed-loop control system generation actuator controlled quentity controlled variable according to self send to virtual environment computing machine (2) via electrical interconnecting device (3), send cooperative information by virtual environment computing machine (2) to other robot system according to the mission demand simultaneously.
2. by the described underwater multi-robot semi-physical system of claim 1, it is characterized in that described airborne robot pilot (4) comprising: CPU element, serial ports expansion unit, peripheral expansion unit, switch control unit, power supply control/monitoring means and propulsion system control module, wherein CPU element connects serial ports expansion unit, peripheral expansion unit by the PC104 bus, connects switch control unit, power supply control/monitoring means and propulsion system control module by the RS485 bus.
3. by the described underwater multi-robot semi-physical system of claim 1, it is characterized in that described virtual environment computing machine (2) comprises industrial computer, Digital I unit, analog input unit, analog quantity output unit and serial ports unit, wherein, industrial computer connects above-mentioned each unit; To the simulate signal of the step switch of the power switch of industrial computer input underwater multi-robot and robot ballasting device, the digital quantity output terminal detects and leaks and oil leakage alarm and other fault-signal to airborne robot pilot (4) output entry the digital quantity input end of Digital I unit under the control of airborne robot pilot (4); Analog input unit is imported the simulate signal of the analog quantity output device of underwater multi-robot propulsion system to industrial computer under the control of industrial computer; The analog quantity output unit is exported the simulate signal of various virtual-sensors to airborne robot pilot (4) by the serial ports unit under the control of industrial computer.
4. by the described underwater multi-robot semi-physical system of claim 1, it is characterized in that: described airborne robot pilot (4) is many isomorphism underwater robot control device, perhaps is many isomery underwater robot control device.
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| CN2009203517226U CN201732262U (en) | 2009-12-30 | 2009-12-30 | Semi-physical simulation system of multiple underwater robots |
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| CN102354464A (en) * | 2011-06-15 | 2012-02-15 | 中国科学院沈阳自动化研究所 | Remotely operated vehicle-simulating trainer |
| CN102117071B (en) * | 2009-12-30 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Multi-underwater robot semi-physical simulation system and control method thereof |
| CN103064296A (en) * | 2011-10-21 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Underwater robot auxiliary control system |
| CN103471807A (en) * | 2013-09-09 | 2013-12-25 | 上海大学 | Inrush current simulation test system |
| CN103592854A (en) * | 2013-11-14 | 2014-02-19 | 哈尔滨工程大学 | Synchronous virtual inference device for underwater unmanned vehicle observation tasks |
| CN104252138B (en) * | 2014-09-17 | 2016-08-03 | 华中科技大学 | The semi-hardware type simulation test system that a kind of underwater platform controls |
| WO2017045622A1 (en) * | 2015-09-18 | 2017-03-23 | 深圳前海达闼科技有限公司 | Method of requesting help by device and responding to device help request, and device |
| CN106600666A (en) * | 2016-12-19 | 2017-04-26 | 河海大学常州校区 | Underwater robot simulation demonstration system and simulation method |
| CN106814824A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of emulation/figure shows cabinet for underwater unmanned vehicle |
| CN107870588A (en) * | 2016-09-23 | 2018-04-03 | 卡西欧计算机株式会社 | Robot, fault diagnosis system, method for diagnosing faults and recording medium |
| CN109062079A (en) * | 2018-08-31 | 2018-12-21 | 南京邮电大学 | The emulation mode of underwater robot multifreedom motion control based on ROS |
| CN110764533A (en) * | 2019-10-15 | 2020-02-07 | 哈尔滨工程大学 | Multi-underwater robot cooperative target searching method |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
| CN112596412A (en) * | 2020-12-11 | 2021-04-02 | 中国科学院沈阳自动化研究所 | Multi-AUV simulation platform |
| CN114025003A (en) * | 2021-10-28 | 2022-02-08 | 青岛海洋科学与技术国家实验室发展中心 | Intermediate device of underwater detection sensor |
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| CN114488845A (en) * | 2021-12-27 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Full-sea deep manned submersible control system simulation platform |
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- 2009-12-30 CN CN2009203517226U patent/CN201732262U/en not_active Expired - Fee Related
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| CN102117071B (en) * | 2009-12-30 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Multi-underwater robot semi-physical simulation system and control method thereof |
| CN102354464A (en) * | 2011-06-15 | 2012-02-15 | 中国科学院沈阳自动化研究所 | Remotely operated vehicle-simulating trainer |
| CN103064296A (en) * | 2011-10-21 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Underwater robot auxiliary control system |
| CN103064296B (en) * | 2011-10-21 | 2016-03-02 | 中国科学院沈阳自动化研究所 | A kind of underwater robot sub-control system |
| CN103471807A (en) * | 2013-09-09 | 2013-12-25 | 上海大学 | Inrush current simulation test system |
| CN103471807B (en) * | 2013-09-09 | 2016-08-10 | 上海大学 | A kind of inrush current simulation test system |
| CN103592854A (en) * | 2013-11-14 | 2014-02-19 | 哈尔滨工程大学 | Synchronous virtual inference device for underwater unmanned vehicle observation tasks |
| CN103592854B (en) * | 2013-11-14 | 2017-01-04 | 哈尔滨工程大学 | A kind of synchronization virtual deduction device of underwater unmanned vehicle observation mission |
| CN104252138B (en) * | 2014-09-17 | 2016-08-03 | 华中科技大学 | The semi-hardware type simulation test system that a kind of underwater platform controls |
| WO2017045622A1 (en) * | 2015-09-18 | 2017-03-23 | 深圳前海达闼科技有限公司 | Method of requesting help by device and responding to device help request, and device |
| CN106814824A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of emulation/figure shows cabinet for underwater unmanned vehicle |
| CN107870588B (en) * | 2016-09-23 | 2020-08-14 | 卡西欧计算机株式会社 | Robot, fault diagnosis system, fault diagnosis method, and recording medium |
| CN107870588A (en) * | 2016-09-23 | 2018-04-03 | 卡西欧计算机株式会社 | Robot, fault diagnosis system, method for diagnosing faults and recording medium |
| CN106600666A (en) * | 2016-12-19 | 2017-04-26 | 河海大学常州校区 | Underwater robot simulation demonstration system and simulation method |
| CN109062079A (en) * | 2018-08-31 | 2018-12-21 | 南京邮电大学 | The emulation mode of underwater robot multifreedom motion control based on ROS |
| CN110764533A (en) * | 2019-10-15 | 2020-02-07 | 哈尔滨工程大学 | Multi-underwater robot cooperative target searching method |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
| CN112596412A (en) * | 2020-12-11 | 2021-04-02 | 中国科学院沈阳自动化研究所 | Multi-AUV simulation platform |
| CN114101242A (en) * | 2021-09-30 | 2022-03-01 | 南方科技大学 | Expanded purse seine cleaning mechanism and underwater purse seine cleaning robot |
| CN114025003A (en) * | 2021-10-28 | 2022-02-08 | 青岛海洋科学与技术国家实验室发展中心 | Intermediate device of underwater detection sensor |
| CN114442506A (en) * | 2021-12-06 | 2022-05-06 | 埃夫特智能装备股份有限公司 | Simulation debugging platform based on virtual robot controller and debugging method thereof |
| CN114488845A (en) * | 2021-12-27 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Full-sea deep manned submersible control system simulation platform |
| CN114488845B (en) * | 2021-12-27 | 2024-06-04 | 中国科学院沈阳自动化研究所 | Full sea deep manned submersible control system simulation platform |
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