CN113156982B - Underwater robot control system and control method thereof - Google Patents
Underwater robot control system and control method thereof Download PDFInfo
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- CN113156982B CN113156982B CN202110424364.2A CN202110424364A CN113156982B CN 113156982 B CN113156982 B CN 113156982B CN 202110424364 A CN202110424364 A CN 202110424364A CN 113156982 B CN113156982 B CN 113156982B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the invention relates to an underwater robot control system and a control method thereof. According to the underwater robot control system, the communication interface conversion module and the information interaction module are added between the underwater information acquisition module and the main control module, different serial interfaces are converted into unified network interfaces, and the communication interfaces are unified, so that the main control module in the underwater robot cabin can acquire the data information of the underwater information acquisition module only by one network cable, the arrangement space in the underwater robot cabin is greatly optimized, great convenience is provided for subsequent maintenance and upgrading, the manufacturing cost is reduced, and the technical problems of complex circuit arrangement, non-uniform communication interfaces and high cost of the control system of the conventional underwater robot are solved.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to an underwater robot control system and a control method thereof.
Background
The sea area of China is wide, various resources are abundant in the sea, and the traditional manual exploration operation has the defects of long period, high working strength, high risk coefficient and the like. With the development of automatic control technology and sensor technology, the level of intellectualization of underwater robots is greatly improved, and the application of the underwater robots in marine exploration is also greatly focused.
A safe and reliable control system is indispensable when the underwater robot performs the detection task. At present, a control system of the underwater robot generally adopts a PC104 and the like as a main control board of the control system, although the main control board of the PC104 is provided with rich interfaces, the interfaces can meet the connection among various electronic devices in a control cabin of the underwater robot, thereby realizing the accurate control of the control system on the motion of the underwater robot. However, the larger volume of the PC104 main control board is not beneficial to the reasonable arrangement of the space in the control cabin of the underwater robot, and the high price of the PC104 main control board increases the construction cost of the whole underwater robot; meanwhile, the communication interfaces between the main control board and various sensors in the existing underwater robot control cabin are not uniform, so that the circuit arrangement in the cabin is complex, and the modularized manufacturing is not facilitated. Therefore, the control system of the existing underwater robot has the problems of complicated circuit arrangement, narrow application and high cost.
Disclosure of Invention
The embodiment of the invention provides an underwater robot control system and a control method thereof, which are used for solving the technical problems of complex circuit arrangement, non-uniform communication interfaces and high cost of the existing underwater robot control system.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
an underwater robot control system comprises a shore-based monitoring module, an airborne communication module, an underwater information acquisition module, a communication interface conversion module, an information interaction module, a main control module and an execution module;
the shore-based monitoring module is used for monitoring the running state of the underwater robot in real time;
the airborne communication module is used for carrying out information interaction with the shore-based monitoring module;
the underwater information acquisition module is used for acquiring the data information of the underwater robot and transmitting the data information to the communication interface conversion module;
the communication interface conversion module is used for being connected with the airborne communication module and the underwater information acquisition module and converting a serial interface into a uniform network interface;
the information interaction module is used for matching a unique IP address with the detection element connected with the communication interface conversion module;
the main control module is used for receiving the data information transmitted by the communication interface conversion module and the information interaction module, generating a control instruction according to the data information and transmitting the control instruction to the execution module;
and the execution module is used for generating a corresponding PWM signal according to the control instruction to control the operation of the execution element.
Preferably, the communication interface conversion module comprises a plurality of USR-K7 modules, a first end of each USR-K7 module is connected with the underwater information acquisition module or the airborne communication module, and a second end of each USR-K7 module is connected with the information interaction module.
Preferably, the information interaction module comprises a wireless communication sub-module and an exchange sub-module connected with the wireless communication sub-module; the wireless communication sub-module is used for selecting an unassigned IP address from an IP address pool according to the equipment IP request of the communication interface conversion module, and transmitting the selected IP address to the exchange sub-module; the switching sub-module distributes the selected IP address to the detection element corresponding to the equipment IP request.
Preferably, the shore-based monitoring module comprises a monitoring terminal and a first communication sonar and a first RF sub-module which are connected with the monitoring terminal; corresponding to the first communication sonar and the first RF sub-module, the airborne communication module comprises a second communication sonar connected with the first communication sonar and a second RF sub-module connected with the first RF sub-module, and the second communication sonar and the second RF sub-module are respectively connected with the communication interface conversion module.
Preferably, the detection element of the underwater information acquisition module comprises a GPS receiver, an inertial navigation device, a depth gauge, a range sonar and a Doppler log which are connected with the communication interface conversion module; the GPS receiver is used for detecting the position of the underwater robot on the water level of the water area; the inertial navigation is used for detecting the running position and speed of the underwater robot in a navigation coordinate system; the depth gauge is used for detecting the depth of the underwater robot; the distance measuring sonar is used for obtaining the distance between the underwater robot and the obstacle in the advancing direction; the Doppler log is used for detecting the speed of the underwater robot relative to the water area and the distance traveled by the underwater robot.
Preferably, the main control module comprises a processor of the 4-generation raspberry group.
Preferably, the execution module comprises a slave control sub-module, and a plurality of first execution elements, second execution elements and third execution elements connected with the slave control sub-module, wherein the slave control sub-module is connected with the master control module through a serial interface.
Preferably, the first executing element is a relay, the second executing element is a steering engine, and the third executing element is a motor.
The invention also provides a control method of the underwater robot control system, which comprises the following steps of:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, a timer is started, and the main control module waits for a certain time to execute the task;
the steps in the process of executing the tasks by the main control module include:
s21, the main control module acquires an operation heading angle detected by inertial navigation of the underwater robot, a depth detected by a depth gauge and data detected by the inertial navigation and Doppler log, and obtains a forward speed through data fusion;
s22, if the forward speed does not need to be controlled, when the underwater robot runs in a horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s23, if the forward speed needs to be controlled and is smaller than the maximum running speed of the execution parameters, when the underwater robot runs in the horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s24, if the running pose of the underwater robot reaches the expected pose of the execution parameter, completing execution of the task; if the running pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
the execution parameters comprise the maximum running speed and the expected pose of the underwater robot, wherein the expected pose comprises the position and the heading angle of the underwater robot.
Preferably, in step S24, the achieving of the running pose of the underwater robot to the desired pose of the execution parameter includes: the error values between the position and heading angle of the current running pose of the underwater robot and the position and heading angle of the expected pose are set in a specified error range; the heading angle of the running pose of the underwater robot is obtained by inertial navigation detection, and the position of the running pose of the underwater robot is obtained by calculation according to the forward speed integral.
From the above technical solutions, the embodiment of the present invention has the following advantages: according to the underwater robot control system and the control method thereof, the communication interface conversion module and the information interaction module are added between the underwater information acquisition module and the main control module, different serial interfaces are converted into uniform network interfaces, and the main control module in the underwater robot cabin can acquire the data information of the underwater information acquisition module only by one network cable through unification of the communication interfaces, so that the arrangement space in the underwater robot cabin is greatly optimized, great convenience is provided for subsequent maintenance and upgrading, the manufacturing cost is reduced, and the technical problems of complex circuit arrangement, non-uniform communication interfaces and high cost of the control system of the existing underwater robot are solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a frame diagram of an underwater robot control system according to an embodiment of the present invention.
Fig. 2 is a further frame diagram of an underwater robot control system according to an embodiment of the present invention.
Fig. 3 is a frame diagram of an execution module of the underwater robot control system according to the embodiment of the present invention.
Fig. 4 is a flowchart of steps of a control method of the underwater robot control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the application provides an underwater robot control system and a control method thereof, which are characterized in that a 4-generation raspberry group processor with low cost and small volume is adopted as a main control board to replace a PC104 main control board which is used conventionally, so that the cost of the underwater robot control system is reduced, and the installation space in an underwater robot control cabin is saved; and secondly, a communication interface conversion module is also adopted to convert different communication interfaces into uniform network interfaces, so that the arrangement of lines in the control cabin of the underwater robot is simplified, the integration level of the control system of the underwater robot is improved, and the technical problems of complex line arrangement, non-uniform communication interfaces and high cost of the control system of the conventional underwater robot are solved.
Embodiment one:
fig. 1 is a frame diagram of an underwater robot control system according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an underwater robot control system, which includes a shore-based monitoring module 10, an airborne communication module 20, an underwater information acquisition module 30, a communication interface conversion module 40, an information interaction module 50, a main control module 60, and an execution module 70;
the shore-based monitoring module 10 is used for monitoring the running state of the underwater robot in real time;
the airborne communication module 20 is used for carrying out information interaction with the shore-based monitoring module 10;
the underwater information acquisition module 30 is configured to acquire data information of the underwater robot and transmit the data information to the communication interface conversion module 40;
the communication interface conversion module 40 is used for connecting with the airborne communication module 20 and the underwater information acquisition module 30 and converting the serial interface into a uniform network interface;
the information interaction module 50 is configured to match a unique IP address with a detection element connected to the communication interface conversion module 40;
the main control module 60 is configured to receive the data information transmitted by the communication interface conversion module 40 and the information interaction module 50, generate a control instruction according to the data information, and transmit the control instruction to the execution module 70;
the execution module 70 is configured to generate a corresponding PWM signal according to the control instruction to control the operation of the execution element.
The underwater robot control system can reduce the overall construction cost of the underwater robot and enable the circuit arrangement in the underwater robot control cabin to be highly integrated.
In the embodiment of the present invention, the main control module 60 is mainly configured to generate a control instruction according to the data information acquired by the underwater information acquisition module 30, and transmit the control instruction to the execution module 70.
It should be noted that, the main control module 60 mainly uses the processor of the 4-generation raspberry group as the main control module, and uses the processor of the 4-generation raspberry group as the main control module, which is small in size and low in cost, and the main control module 60 is configured to receive the data information of the underwater information acquisition module 30 transmitted by the communication interface conversion module 40 and the information interaction module 50, and generate a corresponding control instruction to the execution module 70, thereby implementing the specified motion of the underwater robot. In this embodiment, the data information includes acquiring depth of the underwater robot in water, operation data, an operation heading angle, a position where the underwater robot is located, and the like. According to the underwater robot control system, the low-cost raspberry pie is used as the main control module to construct the underwater robot control system, so that the space arrangement of the underwater robot control cabin is optimized, and the manufacturing cost of the underwater robot is reduced.
Compared with the existing underwater robot adopting a PC104 control board, the underwater robot control system adopts a processor of the 4-generation raspberry group as a main control module, and specific comparison information is shown in the following table 1.
Table 1 data information comparison table of main control module and PC104 control board for 4-generation raspberry group
| Name of the name | PC104 embedded core module | Raspberry pi 4 |
| CPU main frequency | 1.46G～1.91GHz | 1.5GHz |
| Memory | 4G DDR3L | 2/4/8G DDR4 |
| Bluetooth (R) | Without any means for | Bluetooth 5.0 |
| Image output | 1 VGA | Double micro HDMI port |
| Wired network | 2 10/100/1000BaseT Ethernet ports | Gigabit Ethernet |
| Wireless network | Without any means for | 802.11ac(2.4/5GHz) |
| USB port | 4 USB2.0 | 2 USB2.0/2 USB3.0 |
| GPIO | 8-way | 40 paths |
| External dimension | 115.6mm*98mm | 85mm*56mm |
| Cost of | 2000RMB | 200RMB |
According to the table, in the underwater robot control cabin with extremely compact space, the processor of the 4-generation raspberry group with smaller overall dimension can save more space; in terms of performance, the 4-generation raspberry group processor supports the 8G DDR4 on-board RAM at the highest, so that larger calculation memory can be provided; meanwhile, the port with two USB3.0 is beneficial to high-speed data transmission. The processor purchase price of the 4-generation raspberry group is a great advantage over the PC104 core board in terms of cost.
In the embodiment of the present invention, the shore-based monitoring module 10 is mainly used for monitoring the real-time running state of the underwater robot by a shore-end operator, and the airborne communication module 20 is mainly used for information interaction with the shore-based monitoring module 10. The underwater information acquisition module 30 is mainly used for sensing the external environment in the operation process of the underwater robot, and provides necessary data information for the main control module 60 through the communication interface conversion module 40 and the information interaction module 50.
In the embodiment of the present invention, the communication interface conversion module 40 is mainly used for converting the serial interfaces RS232 or RS485 of the airborne communication module 20 and the underwater information acquisition module 30 into a unified network interface, so as to facilitate the acquisition of the data information by the main control module 60.
It should be noted that, the communication interface conversion module 40 for converting the serial interface into the unified network interface is mainly implemented by using a USR-K7 module. A corresponding number of USR-K7 modules are arranged in the communication interface conversion module 40 depending on the number of detection elements in the underwater information acquisition module 30 and the on-board communication module 20.
In the embodiment of the present invention, the information interaction module 50 is mainly configured to allocate a unique IP address to each detection element of the access communication interface conversion module 40, so as to obtain detection data information of the detection element by the main control module 60.
In the embodiment of the present invention, the execution module 70 is mainly configured to receive a control instruction from the main control module 60, generate a corresponding PWM pulse signal, and control the execution element.
According to the underwater robot control system provided by the invention, the communication interface conversion module and the information interaction module are added between the underwater information acquisition module and the main control module, so that different serial interfaces are converted into uniform network interface interfaces, and the main control module in the underwater robot cabin can acquire the data information of the underwater information acquisition module only by one network cable through unification of the communication interfaces, so that the arrangement space in the underwater robot cabin is greatly optimized, great convenience is provided for subsequent maintenance and upgrading, the manufacturing cost is reduced, and the technical problems of complex circuit arrangement, nonuniform communication interfaces and high cost of the control system of the conventional underwater robot are solved.
Fig. 2 is a further frame diagram of an underwater robot control system according to an embodiment of the present invention.
As shown in fig. 2, in one embodiment of the present invention, the shore-based monitoring module 10 includes a monitoring terminal 11, and a first communication sonar 12 and a first RF sub-module 13 connected to the monitoring terminal 11; corresponding to the first communication sonar 12 and the first RF sub-module 14, the on-board communication module 20 includes a second communication sonar 21 connected to the first communication sonar 12 and a second RF sub-module 22 connected to the first RF sub-module 13, and the second communication sonar 21 and the second RF sub-module 22 are connected to the communication interface conversion module 40, respectively.
It should be noted that, the first communication sonar 12 is placed in water near the shore-based monitoring module 10, and is connected with the monitoring terminal 11 through an RS232 serial interface, when the underwater robot moves below the water surface, the underwater robot data sent by the second communication sonar 21 is transmitted to the monitoring terminal 11, so as to realize real-time acquisition and display of the running state of the underwater robot; the first RF sub-module 13 is connected with the antenna frame and is elevated near the monitoring terminal 11 and is connected with the monitoring terminal 11 through an RS232 serial interface, when the underwater robot maneuvers on the water surface, the first RF sub-module 13 receives the underwater robot operation data sent by the second RF sub-module 22, high-speed acquisition of real-time state data of the underwater robot is achieved, and task mission of the underwater robot can be updated timely. In this embodiment, the monitor terminal 11 may be an industrial personal computer, a mobile phone, an iPad, a computer, or the like.
As shown in fig. 2, in one embodiment of the present invention, the detection elements of the underwater information acquisition module 30 include a GPS receiver 31, an inertial navigation 32, a depth gauge 33, a ranging sonar 34, and a doppler log 35 connected to a communication interface conversion module 40; the GPS receiver 31 is used to detect the position of the underwater robot at the level of the water area; inertial navigation 32 is used to detect the position and speed of the operation of the underwater robot in the navigation coordinate system; the depth gauge 33 is used for detecting the depth of the underwater robot; the ranging sonar 34 is used for acquiring the distance from the underwater robot to the obstacle in the forward direction; the doppler log 35 is used to detect the speed of the underwater robot relative to the body of water and the range travelled by the underwater robot.
It should be noted that, the GPS receiver 31 is mainly used for acquiring position information of the underwater robot when the underwater robot moves on the water surface, so as to calibrate positioning navigation data of the underwater robot; the speed, range and position of the underwater robot in the navigation coordinate system are calculated by adopting an accelerometer mainly according to the data detected by the inertial navigation 32 and the Doppler log 35; the depth gauge 33 is mainly used for detecting the depth data of the current underwater robot and transmitting the depth data to the main control module 60 through the communication interface conversion module 40 and the information interaction module 50; ranging sonar 34 obtains distance information of the underwater robot from the forward direction obstacle and transmits the data to main control module 60 for planning the obstacle avoidance path of the underwater robot.
As shown in fig. 2, in one embodiment of the present invention, the communication interface conversion module 40 includes a plurality of USR-K7 modules, a first end of each USR-K7 module is connected to the underwater information acquisition module 30 or the on-board communication module 20, and a second end of each USR-K7 module is connected to the information interaction module 50.
It should be noted that, the second communication sonar 21, the second RF sub-module 22, the GPS receiver 31, the inertial navigation 32, the depth gauge 33, the ranging sonar 34, and the doppler log 35 are all connected to one USR-K7 module, respectively. In this embodiment, the interfaces of the second communication sonar 21, the second RF sub-module 22, the GPS receiver 31, the inertial navigation 32, the depth gauge 33, the ranging sonar 34 and the doppler log 35 are all serial RS232 interfaces, and the serial RS232 interfaces are converted into uniform network interfaces through the USR-K7 module, so that the main control module 60 can obtain the data information of various detection elements through the information interaction module 50, the wiring between the detection elements and the main control module 60 is simplified, and the uniform network interfaces are also convenient for programming design of the main control module 60.
Compared with the existing underwater robot control system in which the communication interfaces of all detection elements are directly connected with the PC104 main control board, the underwater robot control system also connects the unified network interface with the exchange sub-modules in the information interaction module 50 one by one through network cables, so that the purpose of optimizing the line arrangement is achieved. The control system of the underwater robot improves the integration level of the structure in the cabin of the underwater robot through the designed communication interface conversion module, and the integrated control system is not only beneficial to the subsequent maintenance of the control cabin, but also simplifies the program design flow of the main control module.
As shown in fig. 2, in one embodiment of the present invention, the information interaction module 50 includes a wireless communication sub-module 51 and a switching sub-module 52 connected to the wireless communication sub-module 51; the wireless communication sub-module 51 is configured to select an unassigned IP address from the IP address pool according to the device IP request of the communication interface conversion module 40, and transmit the selected IP address to the exchange sub-module 52; the switching sub-module 52 assigns the selected IP address to the detection element corresponding to the device IP request.
It should be noted that, the wireless communication sub-module 51 may be a WiFi router, and the switch sub-module 52 may be a switch. The working principle of the information interaction module 50 is as follows: the WiFi router allocates an IP address through a DHCP function inside the WiFi router, an address pool is arranged in the DHCP, and the WiFi router transmits an unallocated IP address from the address pool allowed to be allocated to a device requesting the IP address from the WiFi router. Since the number of LAN ports of the WiFi router is limited, the number of LAN ports is extended by the switch, so that more IP address requesting devices can be accessed. Taking the depth gauge 33 as an example, after the serial port of the RS232 is converted into the internet port by the communication interface conversion module 40, the information interaction module 50 is requested to allocate an IP address, and the WiFi router in the information interaction module 50 selects an unallocated IP address from the IP address pool to allocate the unallocated IP address to the depth gauge 33, and since each allocated IP address is unique, the main control module 60 can obtain the measurement data of the depth gauge 33 through the address.
Fig. 3 is a frame diagram of an execution module of the underwater robot control system according to the embodiment of the present invention.
As shown in fig. 3, in one embodiment of the present invention, the execution module 70 includes a slave control sub-module 71, and a plurality of first, second, and third execution elements 72, 73, and 74 connected to the slave control sub-module 71, the slave control sub-module 71 being connected to the master control module 61 through a serial interface. The first actuator 72 is a relay, the second actuator 73 is a steering engine, and the third actuator 74 is a motor.
The slave control submodule 71 is connected with the master control module 60 through an RS232 serial port; the third actuator 74 includes a first motor and a second motor disposed at left and right sides of the tail of the underwater robot, and the first motor and the second motor are connected to the slave control submodule 71 through corresponding first motor drivers and second motor drivers, respectively. The second actuator 73 comprises a first steering engine and a second steering engine which are arranged on the left side and the right side of the underwater robot, and the first steering engine and the second steering engine are connected with the slave control submodule 71 through corresponding steering engine controllers respectively.
Embodiment two:
fig. 4 is a flowchart of steps of a control method of the underwater robot control system according to an embodiment of the present invention.
As shown in fig. 4, the embodiment of the invention further provides a control method of an underwater robot control system, and the control method based on the underwater robot control system comprises the following steps:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, a timer is started, and the main control module waits for a certain time to execute the task;
the steps in the process of executing the tasks by the main control module comprise:
s21, acquiring an operation heading angle detected by an underwater robot by inertial navigation, a depth detected by a depth gauge and a forward speed obtained by data fusion of data detected by the inertial navigation and a Doppler log by a main control module;
s22, if the forward speed does not need to be controlled, when the underwater robot runs in the horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the operation of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s23, if the forward speed needs to be controlled and is smaller than the maximum running speed of the execution parameters, when the underwater robot runs in the horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the operation of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s24, if the running pose of the underwater robot reaches the expected pose of the execution parameter, completing the execution of the task; if the running pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
the execution parameters comprise the maximum running speed of the underwater robot and the expected pose, wherein the expected pose comprises the position and the heading angle of the underwater robot.
It should be noted that, in the first embodiment, the content of the underwater robot control system has been described in detail, and in this embodiment, it is not described in detail.
In step S21 of the embodiment of the present invention, the master control module performs fusion processing on the speed detected by inertial navigation and the speed detected by the doppler log to obtain a forward speed of the underwater robot, and the slave control sub-module in the execution module controls the operation of the first execution element, the second execution element and the third execution element according to the forward speed.
It should be noted that, the main control module obtains the forward speed of the underwater robot by comprehensively considering the actual performance of the third execution element and the limitation of avoiding obstacles to the speed value in the motion process. The forward speed of the underwater robot is obtained by data fusion of the speed measured by inertial navigation and the speed measured by a Doppler log. In the embodiment, the Kalman filtering algorithm is adopted to realize data fusion, so that the forward speed of the underwater robot is obtained by fusing the data detected by the inertial navigation and the Doppler log, the error of the data detected by a single detection element is avoided, the forward speed of the underwater robot is inaccurate, and the accuracy of the data is improved. The kalman filter algorithm is a well-established algorithm, which belongs to the prior art and will not be described in detail in this embodiment.
In step S22 and step S23 of the embodiment of the present invention, when the underwater robot is in a horizontal plane operation, the slave control submodule in the execution module generates two paths of PWM pulse signals for controlling the rotational speeds of two third execution elements according to the control instruction; when the underwater robot runs on the vertical plane, the control command received from the control submodule in the execution module generates PWM pulse signals for controlling the rotation of the two second execution elements.
The rotation of the third executing element completes the bow turning control of the underwater robot. And the second executive component rotates to finish the depth adjustment control of the underwater robot.
In the embodiment of the present invention, in step S24, the operation pose of the underwater robot reaching the desired pose of the execution parameter includes: the error values between the position and heading angle of the current running pose of the underwater robot and the position and heading angle of the expected pose are set in a specified error range; the heading angle of the running pose of the underwater robot is obtained by inertial navigation detection, and the position of the running pose of the underwater robot is obtained by integral calculation of a main control module according to the forward speed.
The error value between the position of the current running pose of the underwater robot and the position of the expected pose is within a specified error range, and the heading angle between the heading angle of the current running pose of the underwater robot and the position of the expected pose is within a specified error range. The error range is set according to the requirements of the underwater robot. The heading angle is measured by a gyroscope in inertial navigation. The position integral calculation involves the disciplinary fusion knowledge of sensor principles, signal processing, high-number calculus and the like, and the technology is a mature technology in the field and is not described in detail herein.
The control method of the underwater robot control system provided by the invention realizes the operation of the underwater robot based on the underwater robot control system, and improves the operation efficiency of the underwater robot.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The underwater robot control system is characterized by comprising a shore-based monitoring module, an airborne communication module, an underwater information acquisition module, a communication interface conversion module, an information interaction module, a main control module and an execution module;
the shore-based monitoring module is used for monitoring the running state of the underwater robot in real time;
the airborne communication module is used for carrying out information interaction with the shore-based monitoring module;
the underwater information acquisition module is used for acquiring the data information of the underwater robot and transmitting the data information to the communication interface conversion module;
the communication interface conversion module is used for being connected with the airborne communication module and the underwater information acquisition module and converting a serial interface into a uniform network interface;
the information interaction module is used for matching a unique IP address with the detection element of the underwater information acquisition module connected with the communication interface conversion module;
the main control module is used for receiving the data information transmitted by the communication interface conversion module and the information interaction module, generating a control instruction according to the data information and transmitting the control instruction to the execution module;
the execution module is used for generating a corresponding PWM signal according to the control instruction to control the operation of the execution element;
the execution module comprises a slave control submodule and a plurality of first execution elements, second execution elements and third execution elements which are connected with the slave control submodule, and the slave control submodule is connected with the master control module through a serial interface;
the first executing element is a relay, the second executing element is a steering engine, and the third executing element is a motor;
the communication interface conversion module comprises a plurality of USR-K7 modules, a first end of each USR-K7 module is connected with the underwater information acquisition module or the airborne communication module, and a second end of each USR-K7 module is connected with the information interaction module.
2. The underwater robot control system of claim 1, wherein the information interaction module comprises a wireless communication sub-module and an exchange sub-module connected with the wireless communication sub-module; the wireless communication sub-module is used for selecting an unassigned IP address from an IP address pool according to the equipment IP request of the communication interface conversion module, and transmitting the selected IP address to the exchange sub-module; the switching sub-module distributes the selected IP address to the detection element corresponding to the equipment IP request.
3. The underwater robot control system of claim 1, wherein the shore-based monitoring module comprises a monitoring terminal and a first communication sonar and a first RF sub-module connected to the monitoring terminal; corresponding to the first communication sonar and the first RF sub-module, the airborne communication module comprises a second communication sonar connected with the first communication sonar and a second RF sub-module connected with the first RF sub-module, and the second communication sonar and the second RF sub-module are respectively connected with the communication interface conversion module.
4. The underwater robot control system of claim 1, wherein the detection element of the underwater information acquisition module comprises a GPS receiver, inertial navigation, depth gauge, ranging sonar, and doppler log connected with the communication interface conversion module; the GPS receiver is used for detecting the position of the underwater robot on the water level of the water area; the inertial navigation is used for detecting the running position and speed of the underwater robot in a navigation coordinate system; the depth gauge is used for detecting the depth of the underwater robot; the distance measuring sonar is used for obtaining the distance between the underwater robot and the obstacle in the advancing direction; the Doppler log is used for detecting the speed of the underwater robot relative to the water area and the distance traveled by the underwater robot.
5. The underwater robot control system of claim 1, wherein the master control module comprises a processor of the 4-generation raspberry group.
6. A control method of an underwater robot control system, characterized in that the control method based on an underwater robot control system according to any one of claims 1-5 comprises the steps of:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, a timer is started, and the main control module waits for a certain time to execute the task;
the steps in the process of executing the tasks by the main control module include:
s21, the main control module acquires an operation heading angle detected by inertial navigation of the underwater robot, a depth detected by a depth gauge and data detected by the inertial navigation and Doppler log, and obtains a forward speed through data fusion;
s22, if the forward speed does not need to be controlled, when the underwater robot runs in a horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s23, if the forward speed needs to be controlled and is smaller than the maximum running speed of the execution parameters, when the underwater robot runs in the horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module obtains the running pose of the running underwater robot;
s24, if the running pose of the underwater robot reaches the expected pose of the execution parameter, completing execution of the task; if the running pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
the execution parameters comprise the maximum running speed and the expected pose of the underwater robot, wherein the expected pose comprises the position and the heading angle of the underwater robot.
7. The control method of the underwater robot control system according to claim 6, wherein in step S24, the running pose of the underwater robot reaching the desired pose of the execution parameter comprises: the error values between the position and heading angle of the current running pose of the underwater robot and the position and heading angle of the expected pose are set in a specified error range; the heading angle of the running pose of the underwater robot is obtained by inertial navigation detection, and the position of the running pose of the underwater robot is obtained by calculation according to the forward speed integral.
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