CN208681621U - A kind of open, restructural underwater robot control system - Google Patents
A kind of open, restructural underwater robot control system Download PDFInfo
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- CN208681621U CN208681621U CN201821397214.7U CN201821397214U CN208681621U CN 208681621 U CN208681621 U CN 208681621U CN 201821397214 U CN201821397214 U CN 201821397214U CN 208681621 U CN208681621 U CN 208681621U
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Abstract
The utility model relates to a kind of open, restructural underwater robot control system, control system includes: water surface system and the submarine system in setting under water robot；Water surface system includes: to receive the user's operation reception device of user's operation information；The water surface interface being connect with user's operation reception device；Submarine system includes: the navigation controller that the control instruction in control underwater robot course is generated according to user's operation information；It is connect with navigation controller, and drives the power control unit of underwater robot according to control instruction；The underwater interface being connect respectively with water surface interface, navigation controller.The utility model embodiment will be by that will carry out block division for underwater robot control system, underwater robot is allowed to carry out data processing according to user's operation information, the control instruction for generating control underwater robot course, so that underwater robot carries out navigation operation according to the operation information of user.
Description
Technical field
The utility model relates to underwater robot technical fields, more particularly to a kind of open, restructural underwater robot
Control system.
Background technique
Underwater robot is the automatic machine equipment for executing task, can replace precious deposits and Austria that the mankind seek depths
It is secret.It can not only receive mankind commander, but also can run the program of preparatory layout, can also formulate according to artificial intelligence technology
Principle program action, its task is to assist or replace the mankind carry out underwater operation.Underwater robot as the mankind explore and
The tool for developing ocean, will play an important role in this field in ocean.The research of underwater robot and be widely applied for
It makes full use of the natural resources, developing national economy is of great practical significance.Underwater robot is worldwide
Application field constantly expands, such as ocean research, scientific investigation, ocean development and Underwater Engineering.
The structure and hardware interface that current underwater robot provides are fixed, so modular assembly immobilization, support is fitted
It is single with scene and operating mode, lack flexibility.
Utility model content
Of the existing technology in order to solve the problems, such as, at least one embodiment of the utility model provides a kind of opening
Formula, restructural underwater robot control system.
In a first aspect, the utility model embodiment provides a kind of open, restructural underwater robot control system, packet
It includes: water surface system and the submarine system being arranged in robot under water；
The water surface system includes: to receive the user's operation reception device of user's operation information；
The water surface interface being connect with the user's operation reception device；
The submarine system includes: the control instruction that control underwater robot course is generated according to the user's operation information
Navigation controller；
It is connect with the navigation controller, and drives the dynamic Control of the underwater robot to fill according to the control instruction
It sets；
The underwater interface being connect respectively with the water surface interface, navigation controller.
Based on the above-mentioned technical proposal, the utility model embodiment can also make following improvement.
With reference to first aspect, in the first embodiment of first aspect, the navigation controller is specifically included: the first control
Information parser processed and the first control instruction generator；
The first control information parser, the first control instruction generator and the power control unit are sequentially connected；
The first control information parser obtains control information by parsing the user's operation information；First control
Instruction generator processed generates control instruction according to the control information and is sent to the power control unit.
With reference to first aspect, in second of embodiment of first aspect, the navigation controller is specifically included: the second control
Information parser, ship trajectory controller and the second control instruction generator processed；
The second control information parser, ship trajectory controller, the second control instruction generator and the power control
Device processed is sequentially connected；
The second control information parser obtains autonomous navigation information by parsing the user's operation information；The boat
Row tracking controller obtains ship trajectory according to the autonomous navigation information；The second control instruction generator is according to the boat
Row track generates control instruction and is sent to the power control unit.
With reference to first aspect, in the third embodiment of first aspect, the water surface system further include: underwater information is aobvious
Showing device；The underwater information display device is connect with the water surface interface；
The submarine system further include: underwater robot state information acquiring device, the underwater robot status information
Acquisition device is connect with the underwater interface.
The third embodiment with reference to first aspect, in the 4th kind of embodiment of first aspect, the underwater robot
State information acquiring device includes: GPS device, pressure gage device, Position and attitude sensor, inertial navigation sensor, sonar, underwater camera
At least one of with depth scale.
With reference to first aspect, in the 5th kind of embodiment of first aspect, the submarine system further include: underwater information is adopted
Acquisition means, underwater behavior controller and data recording equipment；
The underwater information acquisition device is connect with the underwater behavior controller, the data recording equipment respectively；
The underwater behavior controller is connect with the underwater interface；The underwater behavior controller is used for according to the use
Family operation information generation control instruction is sent to the underwater information acquisition device and works.
Any one reality with reference to first aspect or in first, second, third, fourth or the 5th kind of embodiment of first aspect
Example is applied, in the 6th kind of embodiment of first aspect, the water surface interface is communicated by cable with the underwater interface, or
Water surface interface described in person is communicated by underwater sound communication with the underwater interface.
Second aspect, the utility model embodiment provide a kind of open, restructural underwater robot control method, institute
Stating control method includes:
Obtain user's operation information；
The control instruction of control underwater robot navigation is generated according to the user's operation information, and by the control instruction
It is sent to the power control unit of underwater robot；
The power control unit drives the underwater robot according to the control instruction.
In conjunction with second aspect, in the first embodiment of second aspect, the control method is specifically included:
It parses the user's operation information and obtains control information；
Control instruction, which is generated, according to the control information is sent to the power control unit.
In conjunction with second aspect, in second of embodiment of second aspect, the control method is specifically included:
It parses the user's operation information and obtains autonomous navigation information；
Ship trajectory is obtained according to the autonomous navigation information；
Control instruction, which is generated, according to the ship trajectory is sent to the power control unit.
The above-mentioned technical proposal of the utility model has the advantages that the utility model embodiment is logical compared with prior art
Block division will be carried out for underwater robot control system by crossing, and underwater robot is counted according to user's operation information
According to processing, the control instruction in control underwater robot course is generated, so that underwater robot is carried out according to the operation information of user
Navigate by water operation.
Detailed description of the invention
Fig. 1 is that one kind provided by the embodiment of the utility model is open, restructural underwater robot control system structure is shown
It is intended to；
Fig. 2 is open, the restructural underwater robot control system knot of one kind that another embodiment of the utility model provides
Structure schematic diagram；
Fig. 3 is open, the restructural underwater robot control system knot of one kind that another embodiment of the utility model provides
Structure schematic diagram one；
Fig. 4 is open, the restructural underwater robot control system knot of one kind that another embodiment of the utility model provides
Structure schematic diagram；
Fig. 5 is open, the restructural underwater robot control method stream of one kind that another embodiment of the utility model provides
Journey schematic diagram；
Fig. 6 is open, the restructural underwater robot control method stream of one kind that another embodiment of the utility model provides
Journey schematic diagram one；
Fig. 7 is open, the restructural underwater robot control method stream of one kind that another embodiment of the utility model provides
Journey schematic diagram secondly.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is a part of the embodiment of the utility model, instead of all the embodiments.Based on the reality in the utility model
Apply example, those of ordinary skill in the art's every other embodiment obtained without making creative work, all
Belong to the range of the utility model protection.
As shown in Figure 1, one kind provided by the embodiment of the utility model is open, restructural underwater robot control system,
The submarine system for including: water surface system and being arranged in robot under water.
In the present embodiment, water surface system includes: to receive the user's operation reception device of user's operation information；User's operation
Information can be all kinds of operation informations of user's control underwater robot movement, such as move course line, the acquisition of each acquisition device
Operation informations, the above-mentioned user's operation informations such as control can be inputted by devices such as virtual push button, entity button, rocking bars, be used
Family operation information can also be the various information for setting underwater robot autonomous navigation, such as navigate by water destination, keel depth
Etc. information, facilitate underwater robot combination seabed three-dimensional model diagram plan navigation path, realize self-service navigation.
Water surface system includes: the water surface interface connecting with user's operation reception device, and it is logical which can be the underwater sound
Believe that node can pass through underwater sound communication node alternatively, the data port of wired connection, is also possible to the port of other connection types
It is attached with the underwater sound communication node of submarine system with underwater sound communication, or by wire communication connection water surface system and under water
System realizes the water surface and underwater data interaction with this.
In the present embodiment, submarine system includes: the control that control underwater robot course is generated according to user's operation information
Make the navigation controller of instruction；The navigation controller may include: operation information reception device and control instruction generator, operation
Information receiver generates control according to obtained operation information and refers to for receiving user's operation information, control instruction generator
It enables, for example when submarine system and water surface system are communicated by underwater sound communication network, various information can be packaged by water surface system
Carry out data transmission afterwards to reduce the data loss in data transmission procedure, so needing resolver in system under water to dock
The data received the operations such as are parsed, are merged, being filtered to obtain raw information, alternatively, navigation controller may include: operation
Information receiver, navigation path planner and control instruction generator, operation information reception device is for parsing user's operation
Information obtains autonomous navigation information, such as navigation destination, keel depth information, and navigation path planner is according to navigation destination
The seabed threedimensional model of itself storage is combined to plan navigation path with keel depth, control instruction generator is raw according to navigation path
At control instruction, if water surface system and submarine system are not needed the parsing of operation information reception device and are received by wire communication
The data packet arrived, submarine system can directly receive the parameters of water surface default.
In the present embodiment, submarine system further include: connect with navigation controller, and underwater machine is driven according to control instruction
The power control unit of device people；Power control unit includes: propeller control device and multiple propellers in the present embodiment, each
Propeller is connected respectively to propeller control device, and propeller control device controls each drive-in according to control instruction respectively
System, so that underwater robot is travelled by user's operation information or navigation path, specific control algolithm can be continued to use existing
Relevant control algorithm, this embodiment is not repeated.
In the present embodiment, submarine system further include: the underwater interface being connect respectively with water surface interface, navigation controller,
Underwater interface and water surface interface are in mating connection, and the data forwarding that water surface system is sent navigates by water controller to navigation controller
Navigation control processing is carried out according to the data of water surface system.
As shown in Fig. 2, specifically, water surface interface can be communicated by cable with underwater interface, and/or, the water surface connects
Mouth can also be communicated by underwater sound communication with underwater interface.
In the present embodiment, water surface system further include: underwater information display device；Underwater information display device connects with the water surface
Mouth connection.
In the present embodiment, submarine system further include: underwater robot state information acquiring device, underwater robot state
Information collecting device is connect with underwater interface, wherein underwater robot state information acquiring device includes but is not limited to: GPS dress
It sets, pressure gage device, Position and attitude sensor, inertial navigation sensor, sonar, underwater camera and depth scale.
In the present embodiment, submarine system further include: underwater information acquisition device, underwater behavior controller and data record
Device；
Underwater information acquisition device is connect with underwater behavior controller, data recording equipment respectively.
In the present embodiment, underwater behavior controller is connect with underwater interface；Underwater behavior controller is used for according to user
Operation information generation control instruction is sent to underwater information acquisition device and works.
As shown in figure 3, the utility model embodiment gives a kind of open, restructural underwater robot control system,
Compared with the control system shown in Fig. 1, difference is:
Navigating by water controller includes: the first control information parser and the first control instruction generator；
First control information parser, the first control instruction generator and power control unit are sequentially connected.
The first control information parser is used to be obtained controlling information accordingly according to user's operation information in the present embodiment,
For example a certain navigational parameter is arranged in user in water surface system, the user's operation information that submarine system can receive is this parameter
Setting numerical value, by control information parser the user's operation information is handled, obtain specifically navigate by water control information,
And control instruction corresponding with navigation control information is generated by the first control instruction generator and is sent to power control unit；
Power control unit is specifically navigated by water, and realizes that user remotely controls.
As shown in figure 4, the utility model embodiment gives a kind of open, restructural underwater robot control system,
Compared with the control system shown in Fig. 1, difference is:
Navigation controller specifically includes: the second control information parser, ship trajectory controller and the second control instruction are raw
It grows up to be a useful person；
Second control information parser, ship trajectory controller, the second control instruction generator and power control unit according to
Secondary connection.
In the present embodiment, the second control information parser obtains the autonomous of user's input by parsing user's operation information
Sail information, such as navigation destination, keel depth, route speed course angle setting value, hours underway sail information, navigate by water rail
Mark controller carries out path planning according to autonomous navigation information, and path, by each navigation destination, the second control instruction is raw
It grows up to be a useful person and power control unit is sent to according to navigation path generation control instruction, so that underwater robot carries out autonomous navigation.
As shown in figure 5, the utility model embodiment provides a kind of open, restructural underwater robot control method,
Control method includes:
S11, user's operation information is obtained.
In the present embodiment, user's operation information can be all kinds of operation informations of user's control underwater robot movement,
Course line, the operation informations such as acquisition control of each acquisition device are such as moved, above-mentioned user's operation information can pass through virtual push button, reality
The devices such as body button, rocking bar are inputted, and user's operation information can also be for setting each of underwater robot autonomous navigation
Category information, such as navigation destination, keel depth information facilitate underwater robot combination seabed three-dimensional model diagram planning navigation road
Diameter realizes self-service navigation.
S12, the control instruction that control underwater robot navigation is generated according to user's operation information, and control instruction is sent
To the power control unit of underwater robot.
In the present embodiment, in conjunction with the scheme provided in above-described embodiment, the motion control of underwater robot is divided into two kinds
Mode, one kind are remote control mode, and underwater robot can be manipulated on underwater carrier by control computer and remote-control handle at this time
Propeller and other equipment.Another kind is autonomous operating mode, the achievable constant-bearing navigation of underwater robot and depth-keeping navigation.Independently
Navigational parameter includes course angle setting value, keel depth setting value, hours underway etc..It can be combined underwater sound communication and receive water
The instruction of face operator, feedback image, real-time Transmission acquire data, based on people in circuit, carry out real-time operation and monitoring, according to
The user's operation information of user's input generates the corresponding control instruction of different control models, and sends it to dynamic Control dress
It sets.
S13, power control unit drive underwater robot according to control instruction.
In the present embodiment, power control unit includes: propeller control device and multiple propellers, each propeller difference
It is connected to propeller control device, propeller control device is respectively controlled each drive-in according to control instruction, so that under water
Robot is travelled by user's operation information or navigation path, for example, control different propellers opens or closes realization water
The steering of lower robot can also realize the adjustment in course and the speed of a ship or plane, specifically by controlling the operating power of different propellers
Control algolithm can continue to use existing relevant control algorithm, and this embodiment is not repeated.
As shown in fig. 6, the utility model embodiment provides, a kind of open, restructural underwater robot control method,
Control method includes:
S21, user's operation information is obtained.
In the present embodiment, user's operation information can be all kinds of operation informations of user's control underwater robot movement,
Course line, the operation informations such as acquisition control of each acquisition device are such as moved, above-mentioned user's operation information can pass through virtual push button, reality
The devices such as body button, rocking bar are inputted, and user's operation information can also be for setting each of underwater robot autonomous navigation
Category information, such as navigation destination, keel depth information facilitate underwater robot combination seabed three-dimensional model diagram planning navigation road
Diameter realizes self-service navigation.
S22, parsing user's operation information obtain control information.
In the present embodiment, parsing obtains control information directly from user's operation information, for example user is in water surface system
The upper a certain navigational parameter of setting, the user's operation information that submarine system can receive is the setting numerical value of this parameter, passes through control
Information parser processed handles the user's operation information, obtains specifically navigating by water control information.
S23, generation control instruction is sent to power control unit according to the control information.
In the present embodiment, through the foregoing embodiment in the first control instruction generator generate with the navigation control information
Corresponding control instruction is sent to power control unit；Power control unit is specifically navigated by water, and realizes that user remotely controls.
S24, power control unit drive underwater robot according to control instruction.
In the present embodiment, power control unit includes: propeller control device and multiple propellers, each propeller difference
It is connected to propeller control device, propeller control device is respectively controlled each drive-in according to control instruction, so that under water
Robot is travelled by user's operation information or navigation path, for example, control different propellers opens or closes realization water
The steering of lower robot can also realize the adjustment in course and the speed of a ship or plane, specifically by controlling the operating power of different propellers
Control algolithm can continue to use existing relevant control algorithm, and this embodiment is not repeated.
As shown in fig. 7, the utility model embodiment provides, a kind of open, restructural underwater robot control method,
Control method includes:
S31, user's operation information is obtained.
In the present embodiment, user's operation information can be all kinds of operation informations of user's control underwater robot movement,
Course line, the operation informations such as acquisition control of each acquisition device are such as moved, above-mentioned user's operation information can pass through virtual push button, reality
The devices such as body button, rocking bar are inputted, and user's operation information can also be for setting each of underwater robot autonomous navigation
Category information, such as navigation destination, keel depth information facilitate underwater robot combination seabed three-dimensional model diagram planning navigation road
Diameter realizes self-service navigation.
S32, parsing user's operation information obtain autonomous navigation information.
In the present embodiment, the autonomous navigation information of user's input is obtained by parsing user's operation information, such as navigates by water mesh
The sail informations such as ground, keel depth, route speed course angle setting value, hours underway.
S33, ship trajectory is obtained according to autonomous navigation information.
In the present embodiment, ship trajectory controller carries out path planning according to autonomous navigation information, and path passes through respectively
A navigation destination.
S34, power control unit is sent to according to ship trajectory generation control instruction.
In the present embodiment, through the foregoing embodiment in the second control instruction generator according to navigation road carry out generation control
System instruction is sent to power control unit, so that underwater robot carries out autonomous navigation.
S35, power control unit drive underwater robot according to control instruction.
In the present embodiment, power control unit includes: propeller control device and multiple propellers, each propeller difference
It is connected to propeller control device, propeller control device is respectively controlled each drive-in according to control instruction, so that under water
Robot is travelled by user's operation information or navigation path, for example, control different propellers opens or closes realization water
The steering of lower robot can also realize the adjustment in course and the speed of a ship or plane, specifically by controlling the operating power of different propellers
Control algolithm can continue to use existing relevant control algorithm, and this embodiment is not repeated.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (7)
1. a kind of open, restructural underwater robot control system characterized by comprising water surface system and setting are in water
Submarine system in lower robot；
The water surface system includes: to receive the user's operation reception device of user's operation information；
The water surface interface being connect with the user's operation reception device；
The submarine system includes: the boat that the control instruction in control underwater robot course is generated according to the user's operation information
Line control unit；
It is connect with the navigation controller, and drives the power control unit of the underwater robot according to the control instruction；
The underwater interface being connect respectively with the water surface interface, navigation controller.
2. underwater robot control system according to claim 1, which is characterized in that the navigation controls implement body packet
It includes: the first control information parser and the first control instruction generator；
The first control information parser, the first control instruction generator and the power control unit are sequentially connected.
3. underwater robot control system according to claim 1, which is characterized in that the navigation controls implement body packet
It includes: the second control information parser, ship trajectory controller and the second control instruction generator；
The second control information parser, ship trajectory controller, the second control instruction generator and dynamic Control dress
It sets and is sequentially connected.
4. underwater robot control system according to claim 1, which is characterized in that the water surface system further include: water
Lower information display device；The underwater information display device is connect with the water surface interface；
The submarine system further include: underwater robot state information acquiring device, the underwater robot status information capture
Device is connect with the underwater interface.
5. underwater robot control system according to claim 4, which is characterized in that the underwater robot status information
Acquisition device includes: GPS device, pressure gage device, Position and attitude sensor, inertial navigation sensor, sonar, underwater camera and depth scale
At least one of.
6. underwater robot control system according to claim 1, which is characterized in that the submarine system further include: water
Lower information collecting device, underwater behavior controller and data recording equipment；
The underwater information acquisition device is connect with the underwater behavior controller, the data recording equipment respectively；
The underwater behavior controller is connect with the underwater interface.
7. any underwater robot control system in -6 according to claim 1, which is characterized in that the water surface interface is logical
Cross that cable is communicated with the underwater interface or the water surface interface is led to by underwater sound communication and the underwater interface
Letter.
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| CN201821397214.7U CN208681621U (en) | 2018-08-28 | 2018-08-28 | A kind of open, restructural underwater robot control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818574A (en) * | 2018-08-28 | 2018-11-16 | 深圳市智慧海洋科技有限公司 | Open, the restructural underwater robot control system of one kind and method |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN115092359A (en) * | 2022-08-26 | 2022-09-23 | 浙江九段智能科技有限公司 | Buoy type autonomous underwater vehicle |
-
2018
- 2018-08-28 CN CN201821397214.7U patent/CN208681621U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818574A (en) * | 2018-08-28 | 2018-11-16 | 深圳市智慧海洋科技有限公司 | Open, the restructural underwater robot control system of one kind and method |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN110434876B (en) * | 2019-08-09 | 2024-03-22 | 南京工程学院 | Six-degree-of-freedom ROV simulation driving system and simulation method thereof |
| CN115092359A (en) * | 2022-08-26 | 2022-09-23 | 浙江九段智能科技有限公司 | Buoy type autonomous underwater vehicle |
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Address after: B1203-1204, Shenzhen national engineering laboratory building, 20 Gaoxin South 7th Road, Gaoxin community, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: SMART OCEAN TECHNOLOGY Co.,Ltd. Address before: Room 01, 11th floor, Sanhang science and technology building, Northwest University of technology, Gaoxin South 9th Road, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SMART OCEAN TECHNOLOGY Co.,Ltd. |
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