CN208614792U - A kind of Intelligent Underwater Robot control system - Google Patents
A kind of Intelligent Underwater Robot control system Download PDFInfo
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- CN208614792U CN208614792U CN201820981502.0U CN201820981502U CN208614792U CN 208614792 U CN208614792 U CN 208614792U CN 201820981502 U CN201820981502 U CN 201820981502U CN 208614792 U CN208614792 U CN 208614792U
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Abstract
The utility model discloses a kind of Intelligent Underwater Robot control systems, including water surface control system, attitude control system, underwater positioning system, AUV Control device, detection system and underwater work system；The water surface control system is the core of entire control system, for realizing the monitoring and control to underwater robot；The attitude control system is used to obtain the diving attitude data of underwater robot；The underwater positioning system is for carrying out Underwater Navigation and precision navigation, avoiding collision；The AUV Control device is for manipulating underwater human body posture；The detection system is for detecting underwater object and manipulator is disposed；The underwater work system carries out underwater operation for controlling underwater robot.Autonomous navigation path may be implemented in the utility model, realizes remote data transmission communication in the water surface, has switching manual remote control function；Target can also be found for underwater search, and it is accurately positioned.
Description
Technical field
The utility model belongs to control system technical field, is related to underwater robot, and in particular under a kind of intelligent water
Robot control system.
Background technique
With the continuous development of science and technology, the exploration range of people is more and more wider, and the field of especially undersea detection is constantly opened up
Exhibition.Since undersea detection has very big uncertainty, it may have comparable danger, therefore largely carried out using underwater robot
Undersea detection.
Underwater robot is widely used to reservoir dam inspection, nuclear power station inspection, the underwater portion of offshore drilling platform at present
The monitoring and reparation, shipwreck archaeology, submarine optical fiber cable detection, the harvesting of kelp, detecting for green alga and laying, hunting thunder for submarine mine divided
With clearance, underwater reconnaissance etc. be numerous civilian and military domain, but its intelligent recognition, cruising ability, dive ability and long-range
The Shortcomings such as control are difficult to meet requirement, greatly limit its application.
Utility model content
For the above-mentioned problems in the prior art, the utility model provides a kind of Intelligent Underwater Robot control system
System may be implemented autonomous navigation path, realize remote data transmission communication, tool in the water surface by designing multiple control subsystems
Standby switching manual remote control function；Target can also be found for underwater search, and it is accurately positioned.
For this purpose, the utility model uses following technical scheme:
A kind of Intelligent Underwater Robot control system, including water surface control system, attitude control system, Underwater Navigation system
System, AUV Control device, detection system and underwater work system；The water surface control system is entire control system
Core, for realizing the monitoring and control to underwater robot；The attitude control system is for obtaining underwater robot
Diving attitude data；The underwater positioning system is for carrying out Underwater Navigation and precision navigation, avoiding collision；The underwater
People's motion controller is for manipulating underwater human body posture；The detection system is for detecting underwater object and operates machine
Tool hand is disposed；The underwater work system carries out underwater operation for controlling underwater robot.
Preferably, the water surface control system includes host computer, slave computer, and the host computer uses industrial personal computer, mounted in behaviour
It controls in case, including two toy handle type control lever, the control handle control front and back, divertical motion and a left side for robot respectively
Right, up and down motion, and can control movement velocity and angular speed；The control system for manipulating case is based on single-chip microcontroller, and operation bench includes
Three displays, the picture and sonar that the short baseline positioning system positioning figure of real-time display, underwater robot video camera photographed respectively
The image detected.
Preferably, the attitude control system includes underwater robot posture information collection plate, and the collection plate is using pressure
Force sensor measuring hydraulic pressure obtains three Eulerian angles, three axis angular rates and three axis of underwater robot using Attitude Measuring Unit
Acceleration；After processor obtains information above on collection plate, it is wrapped into output and gives water surface control system.
Preferably, the underwater positioning system includes inertial navigation system and ultrasonic signal, and the inertial navigation system is
A kind of configuration combination of gyro, accelerometer and processor, for obtaining the relative position of submariner body；The ultrasonic signal is from behaviour
Control unit emits, travels to receiver on submariner body by water, for measuring distance.
Preferably, the AUV Control device include depth controller, speed control, direction controller,
Six lateral controller, propulsion electric machine coordinator and diving mission planning device parts；The depth controller is by controlling up and down
Propulsion electric machine exports same thrust to control and keep diving depth；The speed control is for controlling and keeping speed, institute
Direction controller is stated for controlling and going as course, the two controllers act on a tail portion left side after propulsion electric machine coordinator
Right two front and backs propulsion electric machine；The lateral controller pushes away motor output equivalent thrust in the same direction by controlling side to adjust underwater machine
The lateral movement position and speed of device people；The task execution situation of the diving mission planning device real-time judge underwater robot,
Calculate course of going out on missions, the distance at a distance from task track, away from target destination and be directed toward etc., and judged according to preset criterion
Current task whether is completed, and carries out task switching.
Preferably, the detection system includes light and camera system, Sonar system；The light and camera system include
For underwater headlamp and Underwater Camera, the headlamp requires luminous efficiency high, small in size, anti-interference, described underwater
Video camera requires impact resisting vibrating, small in size, light-weight；The Sonar system is used to provide dark muddy water in certain distance
The HD image of object in body, it is desirable that small in size, light-weight.
Further, the headlamp uses the HID hernia lamp of 3000K colour temperature, and the light of radiation is golden yellow, has
Superpower penetration power；The clarity of the Underwater Camera is 5,000,000 pixels, and anti-vibration index is 10g；The Sonar system is adopted
With split type double frequency identification sonar, sweeping and surveying working frequency is 0.7MHz, and the working frequency of recognition mode is 1.2MHz, is equipped with battle array
The acoustic imaging system of column sonic transducer harmony lens composition.
Preferably, the underwater work system includes mechanical arm, liquid sampling bag, atom sampling net；The mechanical arm
Including clamping type, bolt fastening detachable and net formula；The liquid sampling bag is used to get impurity in narrow environment less
Sample, sample tap install additional a root canal body long tube be fixed in mechanical arm；The atom sampling net is used for narrow
Atom is caught in pipeline or small water and returns to the water surface.
It preferably, further include folding and unfolding and cable transmission systems, the folding and unfolding and cable transmission systems use composite photoelectric navel
Band cable structure, outer layer is that armour cottonrose hibiscus is towed dimension, for bearing larger pulling force；Internal layer is filling cellular plastic layer, for providing buoyancy
And sealing；Power line is strand copper wire, has certain flexibility, can transmit the power of 5KVA；Control and detection information are whole
It is transmitted using optical fiber.
Compared with prior art, the utility model has the beneficial effects that
(1) autonomous navigation path may be implemented, realize remote data transmission communication in the water surface, have switching manual remote control function
Energy.
(2) target can be found for underwater search, and it is accurately positioned.
(3) intelligence degree is high, and control is flexible and convenient, can satisfy diversified demand.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of Intelligent Underwater Robot control system provided by the utility model embodiment.
Fig. 2 is single chip circuit block diagram in the utility model embodiment.
Fig. 3 is attitude control system block diagram in the utility model embodiment.
Fig. 4 is the general frame figure of motion controller in the utility model embodiment.
Fig. 5 is the main view of reel in the utility model embodiment.
Fig. 6 is the left view of reel in the utility model embodiment.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in detail the utility model, specific embodiment therein and says
It is bright to be only used to explain the utility model, but be not intended to limit the scope of the present invention.
Embodiment
A kind of Intelligent Underwater Robot control system, including water surface control system, attitude control system, Underwater Navigation system
System, AUV Control device, detection system and underwater work system；The water surface control system include host computer, under
Position machine.Host computer uses industrial personal computer, in operation panel, designs two toy handle type control lever, is distinguished by control handle
It controls front and back, divertical motion and the left and right of robot, move up and down, and can control movement velocity and angular speed.Control handle
It is held in the hand by operator, the activities of underwater robot are all controlled by control handle.Short baseline positioning system positioning figure,
The image that the picture and sonar that underwater robot video camera photographed detect then is fed back in real time on three display screens, and hardware is flat
Platform is concentrated mainly on computer, to be used to show positioning, the sonar figure, vision signal, fuselage state of underwater robot.Intelligent water
The schematic diagram of lower robot control system is as shown in Figure 1.
The control system of the manipulation case is the C8051F023 chip microcontroller based on Silicon Laboratories company
's.The circuit block diagram of hardware platform is as shown in Figure 2.System is realized by the ADC inside C8051F023 to each road of underwater robot
The real-time monitoring of power supply；Control of the analogue-key level completion to video camera is generated by DAC；Show system by GPIO cause for gossip
3 core debugging interfaces simultaneously generate speed regulating control signal and headlight control signal；It is completed and each sensor and behaviour by 2 serial ports
Make the communication of case.
There are three displays for console, and master station display is shown for short baseline/GPS positioning information and posture is shown
And saved, sonar detection information and camera review information are shown and are stored with laptop respectively.In addition to robot
Motion control and gesture stability, item controlled further include: preceding headlamp switch and its brightness control, lower headlamp switch and its brightness
Control；Platform pitching and deflection control；Video camera switch and focus controlling；Sonar control；Manipulator control；Underwater liquid sampling
Device control.
Attitude control system: the diving posture, depth of submersible and away from river (sea) bed height in order to obtain devise base
In the submersible posture information collection plate of C8051F310.Hydraulic pressure is measured using NS-F pressure sensor, the output of sensor is
The magnitude of current of 4-20mA, the I/U conversion circuit built by a precision resistance and amplifier chip OPA2364 can be by electric current
Amount is converted into voltage, realization -5V output, then by A/D conversion chip, obtains 16 digital quantities, carries out corresponding reversed
Transformation, can deduce the diving depth of submersible.The real-time measurement of the depth of water can be achieved.Using the posture of Micro-Strain company
Measuring unit 3DM-GX1, the unit pass through the MEMS such as three axle magnetometer, tri-axis angular rate gyro, three axis accelerometer sensing
Device is merged by information and is resolved, three Eulerian angles, tri-axis angular rate and the 3-axis acceleration of submersible can be obtained, defeated by RS232
Information out, in order to determine height of the ROV relative to riverbed, this underwater robot devises altimeter, it is possible to prevente effectively from and water
Bottom riverbed and sundries collision, to guarantee submersible trouble free service.After processor obtains three of the above information on collection plate, by its dozen
Packet output.The output frequency of data is 50Hz.Fig. 3 is the block diagram of attitude control system.
Underwater positioning system: ROV system starts investigation and prospecting task, just it is ensured that energy precision navigation, avoids collision, and
Manipulation unit or otherwise safe retrieving should be returned safely after use.Solve the problems, such as this basic method and be for
Submariner body is provided l inertial navigation system (NIS) and is determined the position of submariner body using ultrasonic signal.Inertial navigation system
(NIS) be it is a kind of with gyro (such as optical fibre gyro), accelerometer (for persistently monitoring submariner body movement) and processor (for locating
Manage the output signal of these devices) configuration combination.By continuously measuring the time moved in the direction indicated with given speed,
The route of submariner body navigation can be calculated, to calculate submariner body relative to initial position (usually from manipulation unit
Lay the position of submariner body) position.Therefore it can directly reach designated position.When finished voyage, so that it may obtain submariner body
Relative position, processor can control propeller, can sail back submariner body without user's input and manipulate unit.Ultrasound letter
Number from manipulation unit emit, travel to the receiver on submariner body by water.Since the velocity of sound is constant, this mistake
Time required for journey indicates submariner body to the distance of manipulation unit.Although the distance of the method measurement is very accurate, it
It is not appropriate for determining the position of submariner body.Most start it is necessary to know the general position of submariner body, to ensure ultrasound correct
Side upwardly propagates, and can be improved by using ultrasonic transmitter, can carry out in the ultrasonic transmitter being located on buoy.
AUV Control device: there are two types of control models, i.e. remote control mode and automatic control for underwater robot tool
Mode.In remote control mode, underwater robot respectively controls motor and is controlled completely by operator；In automatic control mode, operator
Motion controller by design of electrical motor underwater robot is key point.The general frame of motion controller is as shown in Figure 4.This
In structure, motion controller by depth controller, speed control, direction controller, lateral controller, propulsion electric machine coordinator and
Six part of diving mission planning device composition.Depth controller exports same thrust by controlling propulsion electric machine up and down to control and protect
Hold diving depth.Speed control is for controlling and keeping speed, and direction controller is for controlling and going as course, the two controls
Device processed acts on the front and back propulsion electric machine of tail portion or so two after propulsion electric machine coordinator.Lateral controller passes through control side
Motor output equivalent thrust in the same direction is pushed away to adjust the lateral movement position and speed of submersible.Diving mission planning device real-time judge
The task execution situation of submersible calculates go out on missions course, distance and direction at a distance from task track, away from target destination
Deng, and judged whether to complete current task according to preset criterion, and carry out task switching.Depthkeeping movement and directed movement control
Algorithm software can make full use of the operation and storage capacity of host computer in host computer.
Detection system: being directed to more muddy water quality, increases very big difficulty to the detection of target, and 0.5 meter of the depth of water or less
It is not generally visible, in order to which in muddy dark underwater discovery target, simultaneously manipulator is disposed, it is necessary to using special
Illumination and detection equipment.In order to guarantee that target being observed has enough illumination, luminous efficiency should be selected high, small in size, anti-interference
Headlamp.There are halogen lamp, LED light, HID high intensity lamps currently used for underwater headlamp.HID, that is, high-voltage gas discharging light be by
12V voltage boost swashs to the extra-high voltage of 23000V and wears the xenon for being filled in quartz ampoule, it is made to shine.Then voltage is turned again
At 85V or so, stablizes persistently supply Xe lamp bulb and shine, luminous efficiency and lamp brightness all improve nearly 3 times compared with halogen lamp.But
It is to need to configure special ballast.The HID xenon lamp of 3000K colour temperature is selected, the light of radiation is golden yellow, a large amount of to use
Prove that the light of this color is not easy to be reflected by hydrone, penetration power with super strength, in greasy weather, rainy day, water medium severe
Illuminating effect under situation is very prominent, is relatively suitble to underwater use.It is equipped with two headlights of a ballast while control and embraces
Hold the lower lamp (not using simultaneously) of manipulator equipment.To obtain optimal photographic effect, adjust two luminous flux angles of emergence with
Video camera is simultaneously fixed in the optimum position at camera field of view angle.Underwater Camera mainly examine its clarity, low-light (level), certainly
There are impact resisting vibrating, small in size, light-weight characteristic, the video camera of selection can reach 500W pixel, and anti-vibration index is reachable
To 10g.
High-resolution sonar uses the split type double frequency identification sonar of DIDSON-SB, sweeps and surveys working frequency as 0.7MHz, identification mould
The working frequency of formula is 1.2MHz, and the ultrasonic wave of transmitting is handled by acoustic imaging system after being reflected by the object back, shown
It is shown on device.The sonar is equipped with the acoustic imaging system of array sonic transducer harmony lens composition, and acoustic lens is meeting
Poly- or diverging sound wave acoustic element, is similar to optical lens.But it is recessed that the acoustic lens of sound wave is assembled unlike optical lens
Mirror rather than convex lens, this is because the reason that the velocity of sound in acoustic lens is bigger than the velocity of sound in water.Sound inside DIDSON is saturating
Mirror refractive index is big, it is short to focus, and has maximally reduced aberration and propagation loss.Array sonic transducer has spatial discrimination energy
Power can carry out image reorganization according to the intensity and time delay of echo-signal.It is dark muddy so as to be provided in certain distance
The HD image of object in water body, the image for the quality of image that can match in excellence or beauty, small in volume are suitable for ROV and carry.Its is split type
Electronic component portions can be placed in ROV control cabinet by structure, only left camera lens part and be placed on ROV.The data lattice of DIDSON
Formula is all open, and sonar data processing software is handled and worked out convenient for user's later data.
Underwater work system: the key operation system of underwater robot includes 3 mechanical arms, 1 water pump type liquid sampling
Bag, 1 water pump type atom sampling net.Since robot is mainly used in more narrow pipeline or small water, so abandoning
More complicated claw-like mechanical arm carries out basic clamping, installs tightening cable additional using reticular structure and on reticular structure top,
To guarantee to return to loss on the way after obtaining task object, what tightening was reinforced can also be played for the task object slightly larger than net
Effect.Liquid sampling bag also will get the least sample of impurity by a multivariant mechanical arm in narrow environment
Product.Because in pipeline or in shallow waters sundries it is more some need in the lesser environment in and gap flexible with some comparisons come
Sample is extracted, sampling bag, which is fixed in hull, is fixed in mechanical arm in a sample tap piece software long tube of installation.
Folding and unfolding and cable transmission systems: ROV transmits power and control, detection information by photoelectricity umbilical cables, in order to as far as possible
Reduction has an impact the movement of ROV, and optical cable is set as neutral buoyancy on Theoretical Design, and console carries out respectively in ROV and on the bank
Electro-optic conversion and photoelectric conversion.Outer layer is that armour cottonrose hibiscus is towed dimension, can bear larger pulling force, and internal layer is to fill cellular plastic layer, is provided
Buoyancy and sealing, power line are strand copper wire, have certain flexibility, can transmit the power of 5KVA, control and detection information
All transmitted using optical fiber.The micro- buoyancy of composite photoelectric umbilical cord cable structure, high-intensitive composite material form the compound umbilical cord of photoelectricity
Cable, optical cable diameter 20mm, the armour cottonrose hibiscus that tensile layer uses draw fibre tensile strength for 200 kilograms.Optical fiber uses single mode optical fiber, type
Number GTFJY-1B1-2/3-2X49X0.25, wherein cable is copper core+105 DEG C+polyvinyl chloride of perfluoroethylene-propylene flame-resistant insulation shield
Power cable is covered, ROV realizes folding and unfolding by photoelectricity umbilical cables, and reel is as shown in Figure 5 and Figure 6.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modification, equivalent replacement and improvement etc., should be included in this reality within the spirit and spirit of utility model
Within novel protection scope.
Claims (3)
1. a kind of Intelligent Underwater Robot control system, including water surface control system, attitude control system, underwater positioning system,
AUV Control device, detection system and underwater work system, it is characterised in that: the water surface control system is entire
The core of control system, for realizing the monitoring and control to underwater robot；The attitude control system is underwater for obtaining
The diving attitude data of robot；The underwater positioning system is for carrying out Underwater Navigation and precision navigation, avoiding collision；It is described
AUV Control device is for manipulating underwater human body posture；The detection system is used for detecting underwater object
And manipulator is disposed；The underwater work system carries out underwater operation for controlling underwater robot；Control and spy
Measurement information all uses optical fiber to transmit；
The water surface control system includes host computer, slave computer, and the host computer uses industrial personal computer, in manipulation case, including
Two toy handle type control lever, the handle type control lever control the front and back of robot, divertical motion and left and right, up and down respectively
Movement, and can control movement velocity and angular speed；The control system for manipulating case is based on single-chip microcontroller, and operation bench includes three displays
Device, what the picture and sonar that the short baseline positioning system positioning figure of real-time display, underwater robot video camera photographed respectively detected
Image；
The attitude control system includes underwater robot posture information collection plate, and the collection plate is measured using pressure sensor
Hydraulic pressure obtains three Eulerian angles, three axis angular rates and the 3-axis acceleration of underwater robot using Attitude Measuring Unit；Collection plate
After upper processor obtains information above, it is wrapped into output and gives water surface control system；
The underwater positioning system includes inertial navigation system and ultrasonic signal, the inertial navigation system be a kind of gyro plus
The configuration of speedometer and processor is combined, for obtaining the relative position of submariner body；The ultrasonic signal emits from manipulation unit
Out, the receiver on submariner body is traveled to by water, for measuring distance；
The AUV Control device include depth controller, speed control, direction controller, lateral controller,
Six parts of propulsion electric machine coordinator and diving mission planning device；The depth controller is by controlling propulsion electric machine output up and down
Same thrust is to control and keep diving depth；The speed control is for controlling and keeping speed, the direction controller
For controlling and going as course, the two controllers act on the front and back of tail portion or so two and push away after propulsion electric machine coordinator
Into motor；The lateral controller pushes away motor output equivalent thrust in the same direction by controlling side to adjust the lateral fortune of underwater robot
Dynamic position and speed；The task execution situation of the diving mission planning device real-time judge underwater robot calculates boat of going out on missions
To, distance and direction at a distance from task track, away from target destination, and according to preset criterion judge whether complete when predecessor
Business, and carry out task switching；
The detection system includes light and camera system, Sonar system；The light and camera system include for underwater
Headlamp and Underwater Camera, the headlamp require luminous efficiency high, small in size, anti-interference, the Underwater Camera requirement
It is impact resisting vibrating, small in size, light-weight；The Sonar system in certain distance for providing object in dark turbid water body
HD image, it is desirable that small in size, light-weight；
The underwater work system includes mechanical arm, liquid sampling bag, atom sampling net；The mechanical arm include clamping type,
Bolt fastening detachable and net formula；The liquid sampling bag is taking for getting the less sample of impurity in narrow environment
Sample mouth installs a root canal body long tube additional and is fixed in mechanical arm；The atom sampling net is used in narrow pipeline or small water
In catch atom and return to the water surface.
2. a kind of Intelligent Underwater Robot control system according to claim 1, it is characterised in that: the headlamp uses
The HID hernia lamp of 3000K colour temperature, the light of radiation are golden yellow, penetration power with super strength；The Underwater Camera it is clear
Clear degree is 5,000,000 pixels, and anti-vibration index is 10g；The Sonar system uses split type double frequency identification sonar, sweeps and surveys work frequency
Rate is 0.7MHz, and the working frequency of recognition mode is 1.2MHz, is equipped with the acoustics of array sonic transducer harmony lens composition
Imaging system.
3. a kind of Intelligent Underwater Robot control system according to any one of claim 1 to 2, it is characterised in that: also
Including folding and unfolding and cable transmission systems, the folding and unfolding and cable transmission systems use composite photoelectric umbilical cord cable structure, and outer layer is armour
Cottonrose hibiscus is towed dimension, for bearing larger pulling force；Internal layer is filling cellular plastic layer, for providing buoyancy and sealing；Power line is more
Stock copper wire, has certain flexibility, can transmit the power of 5KVA.
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| CN110455442B (en) * | 2019-08-23 | 2020-03-31 | 中国海洋大学 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
| CN110455442A (en) * | 2019-08-23 | 2019-11-15 | 中国海洋大学 | A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method |
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| CN111711673A (en) * | 2020-06-05 | 2020-09-25 | 唐友慧 | Cloud control emergency rescue underwater working system |
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| CN112572738A (en) * | 2020-12-21 | 2021-03-30 | 中国船舶重工集团有限公司第七一0研究所 | Small underwater unmanned optical fiber spool remote control unexplosive dangerous object processing system and method |
| CN112879061A (en) * | 2021-01-20 | 2021-06-01 | 河南理工大学 | Intelligent type top control device for gob-side entry retaining with self-adjusting posture angle |
| CN113177986A (en) * | 2021-03-16 | 2021-07-27 | 上海大学 | Underwater large-visual-field camera system |
| CN113050665A (en) * | 2021-03-24 | 2021-06-29 | 河海大学 | Energy-saving underwater robot detection method and system based on SLAM framework |
| CN113050665B (en) * | 2021-03-24 | 2022-04-19 | 河海大学 | Energy-saving underwater robot detection method and system based on SLAM framework |
| RU2781926C1 (en) * | 2022-03-23 | 2022-10-21 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Method for controlling a multi-link manipulator of an uninhabited underwater vehicle for performing manipulation operations with underwater objects |
| CN116300660A (en) * | 2023-05-15 | 2023-06-23 | 海南坤联科技有限公司 | Submarine control method and system |
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