CN104317302B - Intelligent underwater robot system - Google Patents
Intelligent underwater robot system Download PDFInfo
- Publication number
- CN104317302B CN104317302B CN201410510729.3A CN201410510729A CN104317302B CN 104317302 B CN104317302 B CN 104317302B CN 201410510729 A CN201410510729 A CN 201410510729A CN 104317302 B CN104317302 B CN 104317302B
- Authority
- CN
- China
- Prior art keywords
- image
- infrared
- vertical
- direct current
- current generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of intelligent underwater robot system, including infrared distance measuring sensor, Underwater Camera, image processor and TMS320C6000 series DSPs, the infrared distance measuring sensor is used for detecting preceding object thing to the fore-and-aft distance of the system, the Underwater Camera is used for gathering preceding object object image, described image processor is connected with the Underwater Camera, for carrying out image procossing to the preceding object object image, the TMS320C6000 series DSPs are connected respectively with the infrared distance measuring sensor and described image processor, for realizing hiding preceding object thing based on the fore-and-aft distance and described image result.By means of the invention it is possible to realize that the difference of underwater obstacle hides pattern, the intelligence degree of underwater robot system is improve.
Description
Technical field
A kind of the present invention relates to undersea detection field, more particularly to intelligent underwater robot system.
Background technology
Underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of limit operation robot for working under water.Ring under water
Border is badly dangerous, and the diving depth of people is limited, so underwater robot becomes the important tool of exploitation ocean.Underwater robot
Can mainly divide has, and has cable underwater robot and without two kinds of cable underwater robot, wherein have cable underwater robot be divided in water again from
Boat formula, towage formula and can on seafloor structure three kinds of creeping-type.
Underwater robot can replace manually under water in the waters of highly dangerous environment, contaminated environment and zero visibility
Long working, is commonly equipped with the devices such as Sonar system, video camera, illuminating lamp and mechanical arm on underwater robot, can provide real
When video, sonar image, weight can be picked up using mechanical arm, underwater robot is consulted in safety search and rescue, pipe inspection, section
It is used widely in, the under water field such as amusement, energy industry, archaeology, fishery.For example in terms of safety search and rescue, main application
Occasion includes checking whether install explosive and structure quality situation on dam, bridge pier；Remote control scouting, dangerous material are near inspection
Look into；Basic matrix assists installation and removal under water；Shipboard, the detection of hull bottom smuggled goods；Submarine target is observed, and ruins, the mine that caves in are searched
Rescue；Search evidence under water；Marine salvage salvaging, Offshore Acquisition.
Due to the particularity of underwater robot working environment, i.e., work under water and unmanned field control, to underwater
The intelligent requirements of people are higher.And the most possible accident that occurs is under water, underwater robot in running, with obstacle
The accident that thing collision causes, causes to the structure of underwater robot badly damaged.In prior art, underwater robot substantially can
Front is enough detected with the presence or absence of barrier, and the avoidance for console waterborne being received according to cordless communication network instructs to complete to hinder
Thing is hindered to avoid, it is impossible to realize avoiding automatically, different measures to keep clear can not be formulated according to the concrete condition of barrier.
Accordingly, it would be desirable to a kind of new underwater robot system, carries automatic avoiding device, and barrier can be known
Not, according to the actual conditions of the different barriers for recognizing, determine that specific difference hides measure, so as to ensure underwater robot
Underwater operation is smoothed out.
Content of the invention
In order to solve the above problems, the invention provides a kind of intelligent underwater robot system, introduces wireless communication networks
The bidirectional data communication of underwater robot and control platform waterborne realized by network, introduces Underwater Camera and image processing equipment to front
Square barrier carries out Intelligent Recognition, and according to different recognition result control underwater robot offer entrance override modes, detour mould
Formula or alarm mode, while ensureing that underwater robot is without damage, realize the automatic dodging to barrier.
According to an aspect of the present invention, there is provided a kind of intelligent underwater robot system, the system include infrared ray
Distance measuring sensor, Underwater Camera, image processor and TMS320C6000 series DSPs, the infrared distance measuring sensor are used for
Fore-and-aft distance of the detection preceding object thing to the system, the Underwater Camera is used for gathering preceding object object image, described
Image processor is connected with the Underwater Camera, for carrying out image procossing to the preceding object object image, described
TMS320C6000 series DSPs are connected respectively with the infrared distance measuring sensor and described image processor, for based on described
Fore-and-aft distance and described image result are realized hiding preceding object thing.
More specifically, in the intelligent underwater robot system, the system also includes memory, according to user's
Input, prestores target upper limit gray threshold, target lower limit gray threshold, fore-and-aft distance threshold value, vertical dimension threshold value and horizontal stroke
To dimension threshold；Laterally direct current generator, for driving transverse propeller, for the power that the system provides horizontal direction, controls
The system horizontal direction is moved left and right；Longitudinal direct current generator, for driving longitudinal screw, provides longitudinal direction side for the system
To power, control the system longitudinal direction and move forward and backward；Vertical direct current generator, for driving vertical screw, is described
System provides the power of vertical direction, controls the system vertical direction and moves up and down；The infrared distance measuring sensor is located at
The front of the system, also includes infrared light emitting diode, infrared receiver diode and arithmetic facility, the infrared ray
Emitting diode launch infrared signal, when preceding object thing is run in longitudinal direction, by infrared signal reflect by
The infrared receiver diode reception, the arithmetic facility and the infrared light emitting diode and infrared receiver diode
Connect respectively, based on the spread speed that infrared signal launches the time difference and infrared signal for receiving, calculate and hinder apart from front
Hinder the fore-and-aft distance of thing；The Underwater Camera is located at the front of the system, also includes sealing pressure-proof outer cover, for for institute
State Underwater Camera and underwater protection is provided；Described image processor also includes image filtering unit, object-recognition unit and size
Computing unit, described image filter unit are connected with the Underwater Camera to receive the preceding object object image, based on little
Ripple filtering algorithm executes filtering process to export filtering image to the preceding object object image, the object-recognition unit and institute
State image filtering unit and the memory connects respectively, by gray value in the filtering image in the target upper limit gray scale threshold
Pixel between value and the target lower limit gray threshold recognizes and constitutes target image, the dimension calculating unit and the mesh
Mark recognition unit connection, with the lateral dimension based on preceding object thing in the target image calculating target image and vertically
Size, described image processor realize that using on-site programmable gate array FPGA chip the fpga chip is ALTERA companies
EP2C5Q208C8N；The TMS320C6000 series DSPs and the wireless data transmission interface, the memory, the horizontal stroke
To direct current generator, longitudinal direct current generator, the vertical direct current generator, the infrared distance measuring sensor, described take the photograph under water
Camera and described image processor connect respectively, when receive fore-and-aft distance that the infrared distance measuring sensor sends less than etc.
When the fore-and-aft distance threshold value, start the Underwater Camera and described image processor, and in the vertical dimension for receiving
During less than or equal to the vertical dimension threshold value, machine override mode is entered, be more than the vertical chi in the vertical dimension for receiving
During very little threshold value and when the lateral dimension that receives is less than or equal to the lateral dimension threshold value, enter machine and bypass pattern, receiving
To vertical dimension be more than the vertical dimension threshold value when and the lateral dimension that receives be more than the lateral dimension threshold value when, send out
Send barrier alarm signal；Wireless data transmission interface, is connected with control platform waterborne by cordless communication network, by the mesh
In logo image and the target image, the lateral dimension of preceding object thing and vertical dimension are sent to the control platform waterborne,
The barrier alarm signal is transmitted to the control platform waterborne when receiving the barrier alarm signal, and receives institute
State control instruction that control platform waterborne sends the control instruction is transmitted to the TMS320C6000 series DSPs；Its
In, in the machine override mode, the TMS320C6000 series DSPs first control the vertical direct current generator for the system
System provides the power of vertical direction, subsequently controls the power that longitudinal direct current generator provides longitudinal direction for the system；?
The machine is bypassed in pattern, and the TMS320C6000 series DSPs first control the horizontal direct current generator and provide for the system
The power of horizontal direction, subsequently controls the power that longitudinal direct current generator provides longitudinal direction for the system；Wherein, described
Transverse propeller, the longitudinal screw and the vertical screw are all located at the afterbody of the system.
More specifically, in the intelligent underwater robot system, also including power supply unit, confession is provided for the system
Power supply, and be connected to be the system under TMS320C6000 series DSPs control with the TMS320C6000 series DSPs
System provides power saving management.
More specifically, in the intelligent underwater robot system, the power supply unit is chargeable lithium cell.
More specifically, in the intelligent underwater robot system, the memory is SDRAM (Synchronous
Dynamic Random Access Memory), i.e. synchronous DRAM.
More specifically, in the intelligent underwater robot system, the TMS320C6000 series DSPs are sending
After stating barrier alarm signal, control the horizontal direct current generator, longitudinal direct current generator and the vertical direct current generator and stop
Only power is provided for the system, and wait the control instruction to be received.
Description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, wherein：
Fig. 1 is the block diagram of the intelligent underwater robot system according to embodiment of the present invention.
Fig. 2 is the infrared distance measuring sensor of the intelligent underwater robot system according to embodiment of the present invention
Block diagram.
Specific embodiment
Below with reference to accompanying drawings the embodiment of the intelligent underwater robot system of the present invention is described in detail.
Underwater robot is unmanned remotely controlled submersible vehicle, and its evolution can be divided into three phases.
It is the first stage from nineteen fifty-three to 1974, is substantially carried out the development and the development of early stage of submersible.Successively
Develop more than 20 submersible.The CURV systems in the wherein U.S. successfully reclaim one piece of hydrogen bomb in Spain sea, cause the world each
The attention of state.Nineteen fifty-three, first unmanned remotely controlled submersible vehicle came out, and in 20 years in 1974, the whole world have developed 20 nothings altogether
People's remote-controlled vehicle.After particularly 1974, due to developing rapidly for marine oil and gas industry, unmanned remotely controlled submersible vehicle is also flown
Speed development.
In second stage, the development of unmanned tethered submersible enters developing period faster eighties.1975 to 1985
Year is remote-controlled vehicle great development period.By 1981, unmanned remotely controlled submersible vehicle developed into more than 400, and wherein more than 90%
It is directly or indirectly to service for marine petroleum exploitation industry.Offshore oil and the needs of the construction of natural gas fields, have promoted submersible reason
By and application research, the value volume and range of product of submersible has and significantly increases.Unmanned remotely controlled submersible vehicle (includes cable remote control to dive
Hydrophone, the bottom are creeped submersible, passive submersible, untethered submersible) at aspects such as oceanographic survey, marine petroleum development, salvages
Larger effect is played.
Since phase III, i.e., 1985 year, the submersible that this period increases is most for there is cable remote-controlled vehicle, about
For about 800, wherein more than 420 is directly to use for the gas exploitation of marine pond.The development relatively slow one of unmanned remotely controlled submersible vehicle
A bit, 26 are only developed, and wherein industrial 8, others are used to military affairs and scientific research.In addition, manned mix with nobody
Rationally submersible was also developed in this period, had now been developed 32, and wherein 28 are used for industrial service.
Under water during the underwater operation of robot, modal problem is, due to the complexity of environment under sea, often
Barrier of different shapes can be run into, needs effectively to hide these barriers, to ensure the just normally opened of underwater operation
Exhibition.Current underwater robot can recognize barrier, but need just be completed according to the control instruction of control platform waterborne
Hide action, and hide that pattern is excessively single, even need sometimes to bypass very wide but in fact very low barrier and get to
Destination.
The intelligent underwater robot system of the present invention, can pass through cordless communication network and realize letter with control platform waterborne
Breath interaction, and can recognize that the different shape of barrier, based on the shape of barrier determine multiple hide pattern, improve under water
Machine task efficiency.
Fig. 1 is the block diagram of the intelligent underwater robot system according to embodiment of the present invention, the system
System includes that infrared distance measuring sensor 3, Underwater Camera 2, image processor 1 and digital signal processor DSP 4, DSP 4 are
TMS320C6000 is serial, and the infrared distance measuring sensor 3 is used for detecting preceding object thing to the fore-and-aft distance of the system,
The Underwater Camera 2 is used for gathering preceding object object image, and described image processor 1 is connected with the Underwater Camera 2, uses
In image procossing is carried out to the preceding object object image, the TMS320C6000 series DSPs 4 are passed with the infrared distance measuring
Sensor 3 and described image processor 1 connect respectively, for being realized to front based on the fore-and-aft distance and described image result
Square barrier is hidden.
Then, continue to be further detailed the concrete outcome of the intelligent underwater robot system of the present invention.
The intelligent underwater robot system also includes memory, according to the input of user, prestores target upper limit
Gray threshold, target lower limit gray threshold, fore-and-aft distance threshold value, vertical dimension threshold value and lateral dimension threshold value；Horizontal direct current
Machine, for driving transverse propeller, for the power that the system provides horizontal direction, controls described system horizontal direction or so and moves
Dynamic；Longitudinal direct current generator, for driving longitudinal screw, for the power that the system provides longitudinal direction, controls the system
Longitudinal direction is moved forward and backward；Vertical direct current generator, for driving vertical screw, provides the dynamic of vertical direction for the system
Power, controls the system vertical direction and moves up and down.
With reference to shown in Fig. 2, the infrared distance measuring sensor 3 is located at the front of the system, also includes that infrared ray is sent out
Penetrate diode 31, infrared receiver diode 32 and arithmetic facility 33, the transmitting infrared ray letter of the infrared light emitting diode 31
Number, when preceding object thing being run in longitudinal direction, infrared signal is reflected and is connect by the infrared receiver diode
32 are received, the arithmetic facility 33 is connected respectively with the infrared light emitting diode 31 and infrared receiver diode 32, is based on
Infrared signal transmitting receive time difference and infrared signal spread speed, calculate apart from preceding object thing longitudinal direction away from
From.
The Underwater Camera 2 be located at the system front, also include sealing pressure-proof outer cover, for for described under water
Video camera 2 provides underwater protection.
Described image processor 1 also includes image filtering unit, object-recognition unit and dimension calculating unit, described image
Filter unit is connected with the Underwater Camera 2 to receive the preceding object object image, based on Wavelets Filtering Algorithm to described
Preceding object object image executes filtering process to export filtering image, the object-recognition unit and described image filter unit and
The memory connects respectively, by gray value in the filtering image in the target upper limit gray threshold and the target lower limit
Pixel between gray threshold is recognized and constitutes target image, and the dimension calculating unit is connected with the object-recognition unit,
To calculate the lateral dimension of preceding object thing and vertical dimension in the target image based on the target image, at described image
Reason device realizes that using on-site programmable gate array FPGA chip the fpga chip is the EP2C5Q208C8N of ALTERA companies.
The TMS320C6000 series DSPs 4 and the wireless data transmission interface, the memory, described laterally straight
Stream motor, longitudinal direct current generator, the vertical direct current generator, the infrared distance measuring sensor 3, the Underwater Camera
2 and described image processor 1 connect respectively, when receive the infrared distance measuring sensor 3 transmission fore-and-aft distance less than etc.
When the fore-and-aft distance threshold value, start the Underwater Camera 2 and described image processor 1, and in the vertical chi for receiving
Very little less than or equal to the vertical dimension threshold value when, enter machine override mode, vertical more than described in the vertical dimension for receiving
During dimension threshold and when the lateral dimension that receives is less than or equal to the lateral dimension threshold value, enter machine and bypass pattern, connecing
When the vertical dimension for receiving is more than the vertical dimension threshold value and when the lateral dimension that receives is more than the lateral dimension threshold value,
Send barrier alarm signal.
The intelligent underwater robot system also includes wireless data transmission interface, by cordless communication network with waterborne
Control platform connects, and the lateral dimension of preceding object thing in the target image and the target image and vertical dimension are sent
The control platform waterborne is given, the barrier alarm signal is transmitted to when the barrier alarm signal is received described
Control platform waterborne, and it is described so that the control instruction to be transmitted to receive the control instruction of the control platform transmission waterborne
TMS320C6000 series DSPs 4.
Wherein, in the machine override mode, the TMS320C6000 series DSPs 4 first control the vertical direct current
Motor provides the power of vertical direction for the system, subsequently controls longitudinal direct current generator and provides longitudinal direction side for the system
To power；Bypass in pattern in the machine, the TMS320C6000 series DSPs 4 first control the horizontal direct current generator
For the power that the system provides horizontal direction, subsequently control longitudinal direct current generator and longitudinal direction is provided for the system
Power；The transverse propeller, the longitudinal screw and the vertical screw are all located at the afterbody of the system.
Wherein, in the intelligent underwater robot system, power supply unit can also be included, confession be provided for the system
Power supply, and be connected with the TMS320C6000 series DSPs 4 under controlling in the TMS320C6000 series DSPs 4 as institute
State system and power saving management is provided, the power supply unit may be selected to be chargeable lithium cell, and the memory may be selected to be SDRAM
(Synchronous Dynamic Random Access Memory), i.e. synchronous DRAM, described
TMS320C6000 series DSPs 4 can control the horizontal direct current generator, described after the barrier alarm signal is sent
Longitudinal direct current generator and the vertical direct current generator stop providing power for the system, and wait the control instruction to be received.
In addition, digital signal processor (DSP, i.e. Digital Signal Processor) is to carry out Digital Signal Processing
Special chip, be accompanied by microelectronics, Digital Signal Processing, the development of computer technology and the new device that produces.
Digital signal processor is not confined to audio frequency and video aspect, and he is widely used in Communication and Information Systems, signal and information
Process, automatically control, radar, military affairs, Aero-Space, medical treatment, many fields such as household electrical appliance.It was using general micro- place in the past
Manage device to complete a large amount of Digital Signal Processing computings, speed is slower, it is difficult to meet and be actually needed；And simultaneously declined place using bit slice
Reason device and quick paral-lel multiplier, were once the effective ways for realizing Digital Signal Processing, but the method device were more, logic sets
Meter and programming are complicated, and power consumption is larger, expensive.The appearance of digital signal processor DSP, solves above-mentioned asking well
Topic.DSP can quickly realize that the collection to signal, conversion, filtering, valuation, enhancing, compression, identification etc. are processed, to be accorded with
Close the signal form that people need.
In addition, FPGA (Field Programmable Gate Array), i.e. field programmable gate array, be PAL,
The product further developed on the basis of the programming devices such as GAL, CPLD.He be as special IC (ASIC) field in
A kind of semi-custom circuit and occur, both solved the deficiency of custom circuit, overcome original programming device gate circuit again
The limited shortcoming of number.
FPGA employs logical cell array LCA (Logic Cell Array) such a concept, internal including matching somebody with somebody
Put logic module CLB (Configurable Logic Block), input/output module IOB (Input Output Block) and
Three parts of interconnector (Interconnect).Field programmable gate array (FPGA) is programming device, with traditional logic
Circuit and gate array (such as PAL, GAL and CPLD devices) are compared, and FPGA has different structures.FPGA utilizes small-sized look-up table
(16 × 1RAM) realizing combinational logic, each look-up table is connected to the input of a d type flip flop, and trigger is again driving which
His logic circuit drives I/O, thus constitutes and not only can achieve the basic of combination logic function achievable sequential logic function again
Logic unit module, these intermodules are interconnected using metal connecting line or are connected to I/O modules.The logic of FPGA be by
Internal stationary memory cell loads programming data to realize, the value for storing in a memory cell determines patrolling for logical block
The connecting mode between function and each module or between module and I/O is collected, and finally determines the function achieved by FPGA,
FPGA allows unlimited number of programming.
Using the intelligent underwater robot system of the present invention, for the cognitive disorders thing of existing underwater robot system
Information is less, technical problem that is cannot completing effective automatic dodging, is reached and control platform waterborne using cordless communication network
Two-way communication, it is critical that, the identification that the size to preceding object thing is completed by underwater camera equipment and image processing equipment,
According to the different evasive strategy of concrete dimensioned, prevent evasive strategy single and less efficient phenomenon of hiding that is causing goes out
Existing.
It is understood that although the present invention is disclosed as above with preferred embodiment, but above-described embodiment it is not used to
Limit the present invention.For any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit,
Technology contents all using the disclosure above make many possible variations and modification to technical solution of the present invention, or are revised as
Equivalent embodiments with change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, still fall within the scope of technical solution of the present invention protection
Interior.
Claims (1)
1. a kind of intelligent underwater robot system, it is characterised in that the system includes infrared distance measuring sensor, takes the photograph under water
Camera, image processor and TMS320C6000 series DSPs, the infrared distance measuring sensor are used for detecting that preceding object thing is arrived
The fore-and-aft distance of the system, the Underwater Camera are used for gathering preceding object object image, described image processor with described
Underwater Camera connects, for carrying out image procossing to the preceding object object image, the TMS320C6000 series DSPs with
The infrared distance measuring sensor and described image processor connect respectively, at based on the fore-and-aft distance and described image
Reason result is realized hiding preceding object thing；
The system also includes：
Memory, according to the input of user, prestores target upper limit gray threshold, target lower limit gray threshold, fore-and-aft distance
Threshold value, vertical dimension threshold value and lateral dimension threshold value；
Laterally direct current generator, for driving transverse propeller, for the power that the system provides horizontal direction, controls the system
Horizontal direction is moved left and right；
Longitudinal direct current generator, for driving longitudinal screw, for the power that the system provides longitudinal direction, controls the system
Longitudinal direction is moved forward and backward；
Vertical direct current generator, for driving vertical screw, for the power that the system provides vertical direction, controls the system
Vertical direction is moved up and down；
The infrared distance measuring sensor is located at the front of the system, also includes that infrared light emitting diode, infrared ray connect
Diode and arithmetic facility is received, the infrared light emitting diode launches infrared signal, hinder when front being run in longitudinal direction
When hindering thing, infrared signal is reflected and is received by the infrared receiver diode, the arithmetic facility is infrared with described
Line emitting diode and infrared receiver diode connect respectively, launch the time difference and infrared ray for receiving based on infrared signal
The spread speed of signal, calculates the fore-and-aft distance apart from preceding object thing；
The Underwater Camera is located at the front of the system, also includes sealing pressure-proof outer cover, for for the underwater camera
Machine provides underwater protection；
Described image processor also includes that image filtering unit, object-recognition unit and dimension calculating unit, described image are filtered
Unit is connected with the Underwater Camera to receive the preceding object object image, the front is hindered based on Wavelets Filtering Algorithm
Hinder object image filtering process to be executed to export filtering image, the object-recognition unit and described image filter unit and described deposit
Reservoir connects respectively, by gray value in the filtering image in the target upper limit gray threshold and the target lower limit gray scale threshold
Pixel between value is recognized and constitutes target image, and the dimension calculating unit is connected with the object-recognition unit, to be based on
The target image calculates the lateral dimension of preceding object thing and vertical dimension in the target image, and described image processor is adopted
Realized with on-site programmable gate array FPGA chip, EP2C5Q208C8N of the fpga chip for ALTERA companies；
The TMS320C6000 series DSPs and wireless data transmission interface, the memory, the horizontal direct current generator, described
At longitudinal direct current generator, the vertical direct current generator, the infrared distance measuring sensor, the Underwater Camera and described image
Reason device connects respectively, when the fore-and-aft distance for receiving the infrared distance measuring sensor transmission is less than or equal to the fore-and-aft distance threshold
During value, start the Underwater Camera and described image processor, and vertical less than or equal to described in the vertical dimension for receiving
During dimension threshold, entrance machine override mode when the vertical dimension for receiving is more than the vertical dimension threshold value and is received
Lateral dimension be less than or equal to the lateral dimension threshold value when, enter machine bypass pattern, be more than in the vertical dimension for receiving
During the vertical dimension threshold value and when the lateral dimension that receives is more than the lateral dimension threshold value, barrier alarm signal is sent
Number；
Wireless data transmission interface, is connected with control platform waterborne by cordless communication network, by the target image and described
In target image, the lateral dimension of preceding object thing and vertical dimension are sent to the control platform waterborne, are receiving the barrier
The barrier alarm signal is transmitted to the control platform waterborne when hindering thing alarm signal, and receives the control waterborne and put down
The control instruction that platform sends is being transmitted to the TMS320C6000 series DSPs by the control instruction；
Wherein, in the machine override mode, the TMS320C6000 series DSPs first control the vertical direct current generator and are
The system provides the power of vertical direction, subsequently controls longitudinal direct current generator and provides the dynamic of longitudinal direction for the system
Power；Bypass in pattern in the machine, the TMS320C6000 series DSPs first control the horizontal direct current generator for the system
System provides the power of horizontal direction, subsequently controls the power that longitudinal direct current generator provides longitudinal direction for the system；
Wherein, the transverse propeller, the longitudinal screw and the vertical screw are all located at the afterbody of the system；
Power supply unit, is provided power supply for the system, and is connected with described with the TMS320C6000 series DSPs
The control of TMS320C6000 series DSPs is lower to provide power saving management for the system；
The power supply unit is chargeable lithium cell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410510729.3A CN104317302B (en) | 2014-09-28 | 2014-09-28 | Intelligent underwater robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410510729.3A CN104317302B (en) | 2014-09-28 | 2014-09-28 | Intelligent underwater robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104317302A CN104317302A (en) | 2015-01-28 |
| CN104317302B true CN104317302B (en) | 2017-03-15 |
Family
ID=52372544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410510729.3A Expired - Fee Related CN104317302B (en) | 2014-09-28 | 2014-09-28 | Intelligent underwater robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104317302B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104704990B (en) * | 2015-04-08 | 2016-09-14 | 南通市广益机电有限责任公司 | A kind of pomegranate tree electronization picking method automatically |
| CN104875217A (en) * | 2015-04-30 | 2015-09-02 | 芜湖林一电子科技有限公司 | Robot vision underwater tracking machine |
| CN104954766A (en) * | 2015-07-23 | 2015-09-30 | 李艳芹 | Searching method for human body below bottom of ship |
| CN105204415A (en) * | 2015-09-18 | 2015-12-30 | 毛茂军 | Remote control system of underwater robot |
| CN105843248A (en) * | 2016-03-15 | 2016-08-10 | 冀大雄 | Underwater robot |
| CN106314728B (en) * | 2016-09-18 | 2018-02-27 | 河海大学常州校区 | Underwater search and rescue robot, cooperative control system and its method of work |
| CN106335617B (en) * | 2016-09-18 | 2018-02-23 | 河海大学常州校区 | Underwater robot energy supplying system, underwater robot and underwater crowd's system |
| CN107024821A (en) * | 2017-05-18 | 2017-08-08 | 深圳市沃特沃德股份有限公司 | The method and lighting device of a kind of lighting device capturing information |
| CN107329470B (en) * | 2017-06-07 | 2021-06-29 | 北京臻迪科技股份有限公司 | Control method and device of wading robot and wading robot |
| CN107908196A (en) * | 2017-11-14 | 2018-04-13 | 青岛乐爱创意科技有限公司 | A kind of method and system of the underwater submarine action control mechanism based on machine vision |
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN109062230B (en) * | 2018-08-06 | 2021-05-04 | 江苏科技大学 | Underwater auxiliary oil extraction robot control system and dynamic positioning method |
| TWI721324B (en) | 2018-10-10 | 2021-03-11 | 鴻海精密工業股份有限公司 | Electronic device and stereoscopic object determining method |
| CN111031231A (en) * | 2018-10-10 | 2020-04-17 | 富泰华工业（深圳）有限公司 | Electronic device and method for judging three-dimensional object |
| CN109688382B (en) * | 2018-12-28 | 2021-07-27 | 福州大学 | Underwater image processing system of underwater robot |
| CN109814602B (en) * | 2019-04-04 | 2022-02-22 | 哈尔滨工程大学 | UUV collision avoidance method with fishing boat trawl avoidance function |
| CN110996049B (en) * | 2019-11-21 | 2021-08-17 | 中国联合网络通信集团有限公司 | Underwater search method and system |
| CN113313443A (en) * | 2021-04-09 | 2021-08-27 | 云南电网有限责任公司德宏供电局 | Mirror image dynamic tool management system and method |
| CN117806334B (en) * | 2024-02-29 | 2024-05-14 | 广东电网有限责任公司阳江供电局 | Underwater robot obstacle avoidance path planning method and system based on artificial intelligence |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2521480B2 (en) * | 1987-06-30 | 1996-08-07 | 三田工業株式会社 | Toner supply cartridge |
| CN101408772B (en) * | 2008-11-21 | 2010-09-08 | 哈尔滨工程大学 | AUV intelligent touching-avoiding method |
| CN102231082B (en) * | 2011-04-08 | 2013-06-12 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN102323584A (en) * | 2011-05-19 | 2012-01-18 | 哈尔滨工程大学 | A kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to |
| CN202534975U (en) * | 2012-01-06 | 2012-11-14 | 山西省电力公司长治供电分公司 | Transformer substation inspection robot with infrared obstacle-avoiding function |
| CN103529844B (en) * | 2013-10-18 | 2017-03-15 | 吴宝举 | Underwater robot collision prevention method based on Forward-looking Sonar |
-
2014
- 2014-09-28 CN CN201410510729.3A patent/CN104317302B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104317302A (en) | 2015-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104317302B (en) | Intelligent underwater robot system | |
| CN104210629B (en) | One is obstacle avoidance method under water | |
| CN104267643B (en) | Underwater robot target positioning identification system | |
| Zereik et al. | Challenges and future trends in marine robotics | |
| Murphy et al. | Robot-assisted bridge inspection | |
| CN104567820A (en) | Underwater target central position searching system | |
| KR100938479B1 (en) | Deep-sea Unmanned Underwater Vehicles System | |
| CN104215988A (en) | Underwater target positioning method | |
| CN108045530A (en) | A kind of submarine cable detection underwater robot and operational method | |
| CN105775073A (en) | Modular underwater teleoperator | |
| CN206871329U (en) | A kind of underwater system to charge online | |
| CN104916207A (en) | Special unmanned bathyscaph combined type aquarium device for juvenile national defense scientific literacy training | |
| Xiang et al. | Research progresses on equipment technologies used in safety inspection, repair, and reinforcement for deepwater dams | |
| CN205418033U (en) | Modularization is remote -controlled robot under water | |
| CN108725704A (en) | A kind of integration and cooperation system and its control method based on Intelligent unattended ship | |
| TWI304038B (en) | ||
| CN105149824B (en) | Method for automatically identifying underwater welding seams | |
| CN105095875A (en) | Method for detecting fishes under ship based on image filtering | |
| Fontes et al. | Challenges and alternatives for unmanned underwater vehicular research in the Amazon basin: Towards a more sustainable management of water resources and the environment | |
| CN108332058A (en) | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device | |
| CN208198790U (en) | A kind of deepwater robot | |
| Yamamoto et al. | Agile ROV for underwater surveillance | |
| CN211844857U (en) | Underwater operation robot | |
| Keerthi Kumar | Overview of Remotely Operated Vehicles | |
| Munir et al. | Design and Fabrication of a Low-Cost Multi-Purpose Underwater Remotely Operated Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20170928 |