CN111942530A - Unmanned ship device connected with underwater robot - Google Patents
Unmanned ship device connected with underwater robot Download PDFInfo
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- CN111942530A CN111942530A CN202010856327.4A CN202010856327A CN111942530A CN 111942530 A CN111942530 A CN 111942530A CN 202010856327 A CN202010856327 A CN 202010856327A CN 111942530 A CN111942530 A CN 111942530A
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- ship
- robot
- module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an unmanned ship device for connecting a robot, which comprises a ship and the robot, wherein the robot is electrically connected with the ship, and the unmanned ship device is characterized in that: the carrier of the electrical connection is an ROV cable, and a GPS positioning module, a 4G communication module and a first camera module are arranged on the ship; the ship is arranged on the water surface, and the robot is arranged under the water surface; determining the position of the GPS positioning module through the positioning function of the GPS positioning module, and setting a navigation track according to the current position of the GPS positioning module; the method comprises the steps that water surface obstacles in a sight distance range are identified through a first camera module; the carried 4G communication module is connected with a base station on the road, and internal data of the ship is transmitted to an upper computer for receiving and displaying. The invention realizes the identification of the water surface barrier in the sight distance range through the camera module positioned on the ship, and adjusts the navigation track by analyzing the position of the barrier.
Description
The technical field is as follows:
the invention relates to the technical field of unmanned ships, in particular to an unmanned ship device capable of realizing intelligent launching and recovery of an underwater robot.
Background art:
the main workplaces of the unmanned ship are located on the water surface, and convenience is brought to production practice on the aspects of water parameter monitoring and water surface operation. The cooperative device for unmanned ships is usually produced for solving the communication problem, and when signals cannot be directly transmitted in a long distance, a certain fixed base station is needed for temporary storage of data and then receiving and transmitting are completed. The underwater robot is difficult to transmit data in the underwater working process, underwater wireless communication is easily interfered by underwater sound, and transmission is very inconvenient.
The invention content is as follows:
in order to overcome the defects in the prior art, an underwater robot is used for completing corresponding work in order to solve the problem that an unmanned ship cannot complete underwater operation, and meanwhile, the underwater robot cannot communicate through a 4G or Wi-Fi link in the working process of a deep water area.
The technical scheme of the invention is as follows: an unmanned ship device connected with a robot comprises a ship and the robot, wherein the robot is electrically connected with the ship, an ROV cable is used as a carrier of the electrical connection, and a GPS positioning module, a 4G communication module and a first camera module are arranged on the ship; the ship is arranged on the water surface, and the robot is arranged under the water surface; determining the position of the GPS positioning module through the positioning function of the GPS positioning module, and setting a navigation track according to the current position of the GPS positioning module; the method comprises the steps that water surface obstacles in a sight distance range are identified through a first camera module; the carried 4G communication module is connected with a base station on the road, and internal data of the ship is transmitted to an upper computer for receiving and displaying.
In one embodiment, a second camera module is arranged on the robot, and underwater images are collected and transmitted back in real time through an ROV cable.
In one embodiment, a ship comprises a hull and a hold, the hold being disposed within the hull; the cabin comprises a first cabin and a second cabin, a circuit board and a circuit module can be placed in the first cabin, and a robot can be placed in the second cabin.
In one embodiment, the circuit board and circuit module further comprises a voltage regulator module and a first main controller.
In one embodiment, thrusters are mounted on both the robot and the vessel.
In one embodiment, a pan-tilt is mounted on the first camera module, and the first camera module provides different shooting visual angles for the ship through rotation of the pan-tilt.
In one embodiment, a line collator and a spool are further arranged in the second cabin, the ROV cable is partially or completely wound on the spool, and the spool can adjust the water inlet length of the ROV cable according to the water inlet depth of the robot; and the released ROV cable passes through a small hole formed in the bottom of the ship after being tidied by the line finisher and is connected with the robot.
In one embodiment, the robot is further provided with a second main controller, and the second main controller is connected with the ship through the ROV cable.
In one embodiment, a rudder assembly for controlling the direction is also arranged on the ship, and the heading control of the ship is realized through the angular rotation of the rudder assembly.
In one embodiment, the propellers are screw propellers, one screw propeller is arranged at the head part and the tail part of the ship body respectively, and two screw propellers are arranged at the head part or the tail part of the robot respectively.
The invention has the main beneficial effects that:
1) the unmanned ship device determines the position of the unmanned ship device through the positioning function of the GPS global satellite positioning module.
2) The unmanned ship device sets a navigation track by analyzing the current position of the unmanned ship device.
3) The unmanned ship device realizes the identification of the water surface obstacles in the sight distance range through the camera module positioned on the ship.
4) The unmanned ship device adjusts the sailing track by analyzing the position of the obstacle.
5) The unmanned ship device is connected with the on-road base station by carrying the 4G communication module, and internal data of the unmanned ship can be transmitted to the upper computer platform to be received and displayed.
6) And the underwater robot acquires image data and senses the environment through the underwater second camera module.
7) Data interaction between the underwater robot and the unmanned ship is realized through an ROV cable, and the underwater robot is correspondingly supplemented with energy.
Description of the drawings:
the above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
FIG. 1 shows a schematic view of the installation of the components on the vessel of the unmanned ship device for connecting underwater robots according to an embodiment of the present invention
Fig. 2 shows a schematic view of the overall installation of the unmanned ship device connected to the underwater robot according to an embodiment of the present invention.
Fig. 3 is a block diagram showing an unmanned ship apparatus connected to an underwater robot according to an embodiment of the present invention.
Fig. 4 shows a signal transmission path diagram of the unmanned ship device connected to the underwater robot according to an embodiment of the present invention.
Fig. 5 discloses a flowchart of the procedure for connecting the unmanned ship device of the underwater robot according to an embodiment of the present invention.
Referring to fig. 1 in combination with fig. 2-5, in combination with fig. 1, in one embodiment, an unmanned ship device for connecting a robot includes a ship 1 and a robot 2, the robot 2 is electrically connected with the ship 1, the carrier of the electrical connection is an ROV cable 3, and a GPS positioning module 11, a 4G communication module 14 and a first camera module 13 are arranged on the ship; the ship 1 is arranged on the water surface, and the robot 2 is arranged under the water surface; determining the position of the self-body through the positioning function of the GPS positioning module 11, and setting a navigation track according to the current position of the self-body; the water surface barrier recognition in the sight distance range is realized through the first camera module 13; the carried 4G communication module 14 is connected with a base station (not marked in the figure) on the road, and internal data of the ship 1 is transmitted to an upper computer (not marked in the figure) for receiving and displaying.
Preferably, a second camera module 21 is arranged on the robot 2, and is used for collecting underwater images and transmitting the underwater images back through the ROV cable 3 in real time.
As one preference, the ship 1 comprises a hull 15 and a hold 12, which is provided in the hull; wherein the content of the first and second substances,
the hold 12 includes a first hold in which a circuit board and a circuit module can be placed and a second hold in which a robot (not shown) can be placed.
Preferably, the circuit board and the circuit module further include a voltage regulator module and a first main controller (not labeled).
As a preference, thrusters are installed on both the robot 2 and the vessel 1.
As a preference, a pan/tilt head (not labeled in the figure) is installed on the first camera module 13, and the first camera module 13 provides different shooting visual angles for the ship through rotation of the pan/tilt head.
Preferably, a line collator 18 and a spool 19 are further arranged in the second cabin, the ROV cable 3 is partially or completely wound on the spool 19, and the spool 19 adjusts the water inlet length of the ROV cable 3 according to the water inlet depth of the robot 2; the released ROV cable 3 is connected to the robot 2 through a small hole (not shown) formed in the bottom of the vessel 1 after being dressed by the wire dresser 18.
Preferably, the robot 2 is further provided with a second main controller (not shown), and the second main controller is connected with the ship 1 through an ROV cable 3.
Preferably, a rudder assembly 17 for controlling the direction is also provided on the ship 1, and the heading control of the ship is realized through the angular rotation of the rudder assembly.
Preferably, the propellers may be screw propellers, one screw propeller 16 being provided at each of the head and the tail of the hull, and two screw propellers 23 being provided at each of the head and the tail of the robot.
It can be understood that the ROV cable realizes data transmission between the main controllers of the underwater robot and the unmanned vehicle by connecting the underwater robot and the unmanned vehicle, and the acquired data can be transmitted to the land base station through the 4G communication module.
With continued reference to fig. 1 and 2, the second camera device 21 can acquire underwater images at a certain period and return the images in real time. The underwater robot 2 can adopt a four-screw propeller structure to realize power propulsion, ensure the integral actions of moving front and back, left and right and the like, and move left when two screw propellers on the right side work; when the two screw propellers at the rear part work, the underwater robot advances; when the right rear screw propeller works independently, the underwater robot realizes the left direction adjustment; and so on. The screw propeller of the unmanned ship can realize the power propulsion of the unmanned ship, the rudder structure 17 is adopted for the overall direction control, and the course control of the unmanned ship is realized through the angle rotation of the rudder structure 17. The hold is used to protect and contain the line organiser 18 and the spool 19, the spool 19 controlling the working depth of the underwater robot: and in the releasing process of the underwater robot, the wire reel releases the cable, and the released cable passes through the wire collator and passes through the small hole to be connected with the underwater robot. The wire collator is used for preventing the cable from being wound and knotted and is used for collating and straightening the straight cable.
The first camera module 13 is used for providing a shooting visual angle for the unmanned ship through rotation of the built-in holder, acquiring images and identifying the images, obtaining corresponding processed images after being connected with an upper computer, and automatically judging whether an obstacle exists in the front or not according to the processed images to automatically avoid the obstacle and navigate autonomously.
The 4G communication module is used for establishing a communication link with an upper computer to realize information transmission between the unmanned ship and the upper computer. The GPS satellite positioning module is used for acquiring self-position information and receiving buoy position information and unmanned ship control task instructions through a satellite link.
With continued reference to fig. 3, in the embodiment of fig. 3, the underwater robot and the unmanned ship are both included, and the underwater robot and the unmanned ship are connected by an ROV cable.
The unmanned ship takes an embedded system as a main controller, and adopts a USB interface and a plurality of I/O ports to realize function expansion and data centralized processing.
The unmanned ship comprises a ship body and two cabins, wherein the ship body comprises two cabins, the first cabin is a main cabin and is used for placing circuit boards and circuit modules, and the first cabin comprises a voltage stabilizing module, a GPS satellite module, a 4G communication module, an embedded main controller, a motor and the like. The second cabin is an underwater robot cabin and is used for parking the underwater robot. The cabin has a spool and line organizer structure, including a first camera module above it, which may be a high definition camera module. The underwater robot also adopts an embedded system as a main controller, and the main controller is connected with the camera module and the power propulsion module to realize image acquisition and navigation control of the underwater robot device.
Referring to fig. 4, fig. 4 is a signal transmission path diagram of the unmanned ship apparatus connected to the underwater robot according to an embodiment of the present invention.
The invention can realize the transmission of the collected data of the underwater robot.
Firstly, a signal transmission flow to an upper computer is as follows: during the working process of the underwater robot, a camera is required to be transmitted to an upper computer to collect pictures, a sensor is required to be carried to collect data parameters and self position parameters, and analog quantity is converted into digital quantity to be transmitted out of a main controller of the underwater robot through A/D conversion after the data parameters are collected by corresponding modules. The underwater robot main controller is connected with the unmanned ship through an ROV cable, so that data can be quickly and accurately received by the unmanned ship through a wired transmission mode; the main controller of the unmanned ship receives corresponding underwater robot data, and meanwhile, the main controller needs to pack and transmit sensor data, camera pictures and position parameters carried by the main controller to an upper computer, and the upper computer receives and displays the data.
On the other hand, the transmission link for the upper computer to send the command signals comprises: when the upper computer sends an instruction to the unmanned ship and the underwater robot, the instruction is firstly packaged and transmitted to the unmanned ship, a main controller of the unmanned ship discriminates and discriminates signals sent by the unmanned ship, and other signals are transmitted to the underwater robot through a wired communication mode to correspondingly adjust a work task.
Referring to fig. 5 in conjunction with fig. 4, fig. 5 discloses a flowchart of a program of the unmanned ship device connected to the underwater robot according to an embodiment of the present invention, which operates as follows:
step S1, initializing the system, and entering step 2 after the system is initialized;
step S2, starting the GPS satellite positioning system, adjusting the level state of the corresponding port and ensuring that signals are periodically transmitted to the satellite, and entering step 3 after the adjustment is finished;
step S3, determining a terminal coordinate, acquiring a position coordinate of the released underwater robot, and entering step 4 after the completion;
step S4, controlling the steering engine to adjust the navigation direction, and entering step 5 after the navigation direction is adjusted;
step S5, the camera collects the image environment, shoots the surrounding environment image, and enters step 6 after the completion;
step S6, the unmanned ship system sends image information to an upper computer platform (PC end) through a 4G communication module, the upper computer processes the image, and step 7 is carried out after the image is processed;
step S7, judging whether there is an obstacle in front, if there is an obstacle, going to step 4, if there is no obstacle, going to step 8;
step S8, judging whether the terminal is reached, entering step 9 if the terminal reaches the release position of the underwater robot, and entering step 4 if the terminal does not reach the release position of the underwater robot;
step S9, the underwater robot is thrown in, a cabin door at the bottom of the unmanned ship is opened, the underwater robot enters the current water area, and the step 10 is carried out after the underwater robot enters the current water area;
step S10, the underwater robot is unfolded to work, the underwater robot moves by a four-screw propeller structure, environmental images and data are collected by combining a high-definition camera device (a sensor can be carried), and the step S11 is carried out after the environmental images and the data are collected;
step S11, judging whether the underwater robot receives a work ending command, if so, entering step 12, and if not, entering step 10;
step S12, the underwater robot is recovered, the spool is wound in the opposite direction, the underwater robot is dragged to recover, the bottom cabin door is closed after recovery, and the step 13 is carried out after recovery;
and step S13, returning and finishing to finish the work.
It should be noted that the prior art in the protection scope of the present invention is not limited to the examples given in the present application, and all the prior art which is not inconsistent with the technical scheme of the present invention, including but not limited to the prior patent documents, the prior publications and the like, can be included in the protection scope of the present invention. In addition, the combination of the features in the present application is not limited to the combination described in the claims of the present application or the combination described in the embodiments, and all the features described in the present application may be freely combined or combined in any manner unless contradictory to each other. It should also be noted that the above-mentioned embodiments are only specific embodiments of the present invention. It is apparent that the present invention is not limited to the above embodiments and similar changes or modifications can be easily made by those skilled in the art from the disclosure of the present invention and shall fall within the scope of the present invention.
Claims (10)
1. The utility model provides a connect unmanned ship device of robot, includes ship and robot, electric connection between robot and the ship, its characterized in that: the carrier of the electrical connection is an ROV cable, and a GPS positioning module, a 4G communication module and a first camera module are arranged on the ship; the ship is arranged on the water surface, and the robot is arranged under the water surface; determining the position of the GPS positioning module through the positioning function of the GPS positioning module, and setting a navigation track according to the current position of the GPS positioning module; the method comprises the steps that water surface obstacles in a sight distance range are identified through a first camera module; the carried 4G communication module is connected with a base station on the road, and internal data of the ship is transmitted to an upper computer for receiving and displaying.
2. The unmanned ship device of claim 1, wherein: and a second camera module is arranged on the robot and used for collecting underwater images and transmitting the underwater images back through the ROV cable in real time.
3. The unmanned ship device of claim 2, wherein: the ship comprises a ship body and a cabin, wherein the cabin is arranged in the ship body; wherein the content of the first and second substances,
the cabin comprises a first cabin and a second cabin, wherein a circuit board and a circuit module can be placed in the first cabin, and a robot can be placed in the second cabin.
4. The unmanned ship device of claim 3, wherein: the circuit board and the circuit module further comprise a voltage stabilizing module and a first main controller.
5. The unmanned ship device of claim 4, wherein: thrusters are mounted on both the robot and the vessel.
6. The unmanned ship device of claim 5, wherein: the cloud platform is installed on the first camera module, and the first camera module provides different shooting visual angles for the ship through rotation of the cloud platform.
7. The unmanned ship device of claim 6, wherein: a line collator and a spool are further arranged in the second cabin, the ROV cable is partially or completely wound on the spool, and the spool can adjust the water inlet length of the ROV cable according to the water inlet depth of the robot; and the released ROV cable passes through a small hole formed in the bottom of the ship after being sorted by the line sorter and is connected with the robot.
8. The unmanned ship device of claim 7, wherein: and the robot is also provided with a second main controller, and the second main controller is connected with the ship through the ROV cable.
9. The unmanned marine vessel arrangement of claim 8, wherein: and a rudder assembly for controlling the direction is also arranged on the ship, and the course control of the ship is realized through the angular rotation of the rudder assembly.
10. The unmanned marine vessel arrangement of any one of claims 5-9, wherein: the propeller is a spiral propeller, the head or the tail of the ship body is respectively provided with a spiral propeller, and the head and the tail of the robot are respectively provided with two spiral propellers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010856327.4A CN111942530A (en) | 2020-08-24 | 2020-08-24 | Unmanned ship device connected with underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010856327.4A CN111942530A (en) | 2020-08-24 | 2020-08-24 | Unmanned ship device connected with underwater robot |
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| CN111942530A true CN111942530A (en) | 2020-11-17 |
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| CN202010856327.4A Pending CN111942530A (en) | 2020-08-24 | 2020-08-24 | Unmanned ship device connected with underwater robot |
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| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
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| CN113687041A (en) * | 2021-07-30 | 2021-11-23 | 杭州电子科技大学 | Submersible type water area monitoring three-body unmanned ship |
| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
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Application publication date: 20201117 |