CN101552899A - Remote control underwater robot repeater control device based on twisted pair lines - Google Patents
Remote control underwater robot repeater control device based on twisted pair lines Download PDFInfo
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- CN101552899A CN101552899A CNA2008100108824A CN200810010882A CN101552899A CN 101552899 A CN101552899 A CN 101552899A CN A2008100108824 A CNA2008100108824 A CN A2008100108824A CN 200810010882 A CN200810010882 A CN 200810010882A CN 101552899 A CN101552899 A CN 101552899A
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Abstract
The invention relates to a remote control underwater robot repeater control device based on twisted pair lines. Ethernets are respectively established in a water surface unit and a repeater of an underwater robot, the Ethernet of the water surface unit and the Ethernet of the underwater repeater are connected through a pair of twisted pair lines via main and slave modulating and demodulating units to form unified Ethernet transmission video signals and control signals; the Ethernet of the water surface unit is formed by respectively connecting network ports of a main control computer, an I/O acquisition node, a video decoder and a main modulating and demodulating unit with the network port of a network switch in the water surface unit; and the Ethernet of the underwater repeater is formed by respectively connecting network ports of an I/O acquisition and output node of the repeater, a video encoder and a slave modulating and demodulating unit with the network port of a network switch in the repeater. The invention saves the size and the space of a winch for sheathed cables stored on the water surface; the transmission distance is far; and the expandability of the system is increased.
Description
Technical field
The present invention relates to a kind of repeater video transmission and data communication technology of remote underwater robot, specifically a kind ofly finish control and the transmission of repeater video and the remote underwater robot repeater control device based on twisted-pair feeder of demonstration of the water surface repeater by twisted-pair feeder.
Background technology
Remote underwater robot is a kind of marine equipment that is operated in, and it forms water surface unit, repeater and submersible by three parts usually.Mainly be connected by the armour cable between water surface unit and the repeater, be connected by heaving pile between repeater and the submersible by winch.Concrete see Fig. 1.Water surface unit is mainly used to operate submersible and repeater, and information such as video on submersible and the repeater and transducer are shown by monitor and man-machine interface.Armour cable and heaving pile inside all comprise power line, twisted-pair feeder and optical fiber, and there is armour armour cable outside, are the load-bearing cable, are bearing the weight of submersible and repeater, and heaving pile is the non-bearing cable, in water near neutral buoyancy.Repeater is applied to a certain operating water depth to submersible by the armour cable, and submersible breaks away from repeater, and by the warping winch on the control repeater, the folding and unfolding heaving pile makes submersible have certain operating radius.A video camera, 2 lamp and several electromagnetically operated valve under water are installed on the repeater usually, therefore, are that load capacity is not very big in video transmission and data communication.Traditional repeater system adopts 1 coaxial water surface transmission of video in the armour cable, and a twisted-pair feeder passes data.The coaxial transmission video is subjected to the restriction of transmission range, common scope is below hundreds of rice, and data adopt RS-485 or CAN bus to transmit by twisted-pair feeder usually, the distance of transmission is the longest only about 1200 meters, obviously repeater adopts aforesaid way all to be subjected to the restriction of length aspect to water surface unit transmission of video and data, development along with marine cause, demand to underwater robot also improves thereupon, require underwater robot to darker, multi-functional and networked direction develops, and therefore the video of traditional repeater system and transfer of data can not satisfy the needs of underwater robot development far away.Modern development of fiber technology, also can use on the repeater of robot under water, but owing to adopt Optical Fiber Transmission to need equipment such as watertight optical cable and optical multiplexer under water, make cost very high, normally on submersible, use optical fiber, because the video source on the submersible is many, the data volume of control is big.Repeater is not if adopt optical fiber, also can use twisted-pair feeder to adopt modulation-demodulation technique, make video and transfer of data reach several kms, but video and data respectively take a pair of twisted-pair feeder, in armour cable length in short-term, two pairs of twisted-pair feeders are also not very outstanding from the contradiction of space that takies the armour cable and the weight aspect that increases the armour cable, but during distance, the weight of armour cable is increased, take up room and also become big, and the two pairs of twisted-pair feeders also will use the modulation equipment of different types, and this has increased the installing space and the weight in repeater portions of electronics cabin, and has increased cost and unreliability.
Summary of the invention
At above-mentioned the deficiencies in the prior art part, the technical problem to be solved in the present invention provides a kind of remote underwater robot repeater control device that adopts a pair of twisted-pair feeder transmission of video and data, both the video transmission of repeater the water surface can be arrived, collection and the control of the water surface can be realized again repeater signal.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The present invention is based on the remote underwater robot repeater control device of twisted-pair feeder, this underwater robot has water surface unit, repeater and submersible, it is characterized in that: set up Ethernet in water surface unit and repeater respectively, the Ethernet of water surface unit and under water the Ethernet of repeater couple together by a pair of twisted-pair feeder through master and slave modulator-demodulator, constitute a unified Ethernet transmission video signal and a control signal.
The Ethernet of described water surface unit by the network interface of the network interface of the network interface of the network interface of main control computer, I/O acquisition node, Video Decoder and primary modem respectively with water surface unit in the network interface of the network switch connect and compose; The Ethernet of described repeater is under water gathered by the I/O of repeater and the network interface of the network interface of output node, video encoder and link to each other with the network interface of the network switch the repeater respectively from the network interface of modulator-demodulator constitutes; Described twisted-pair feeder is located in the armour cable, and by this twisted-pair feeder video in the repeater and signal is passed to water surface unit, and water surface unit is also by the control of this twisted-pair feeder realization to repeater simultaneously.
The present invention has following beneficial effect and advantage:
1. weight reduction reduces installing space.The remote underwater robot repeater control device that the present invention is based on twisted-pair feeder is with adopting a pair of twisted-pair feeder to carry out video and transfer of data, saved the resource of twisted-pair feeder in the armour cable, reduce the weight and the diameter that has reduced the armour cable of armour cable, also saved the size and the space of the winch of water surface storage armour cable simultaneously;
2. long transmission distance.The present invention utilizes master and slave modulator-demodulator, transmission range Ethernet on a pair of twisted-pair feeder prolongs, can reach several kms, make video and control based on ethernet technology be achieved like this, not only saved a pair of twisted-pair feeder in original mode but also transmission range also than original traditional coaxial and twisted-pair feeder mode pass farther;
3. can watch video under water by Ethernet.The present invention utilizes video encoder and the decoder based on ethernet technology, not only the video on the repeater can be reduced into the signal that monitor directly shows at the water surface, and can directly browse the video of number format on computers by Ethernet, can carry out the storage of video so easily or on other computer of networking, watch video by Ethernet, very convenient;
4. increased the extensibility of system.Also adopt Ethernet to carry out data acquisition between the control of the water surface of the present invention unit and repeater and carry out the control of repeater actuator, the inheriting of the extensibility of system and program, portability strengthen greatly;
5. simple in structure.The water surface of the present invention unit and under water repeater all adopt the ethernet communication technology, make The whole control system simple in structure, constituted dcs based on ethernet technology, the interface type and the line of system have been reduced, the development trend that meets modern technologies, this kind device can be applicable to occasion like other associated class.
Description of drawings
Fig. 1 is the composition structural representation of remote underwater robot;
Fig. 2 is a repeater control device composition frame chart of the present invention.
Embodiment
As shown in Figure 1, be the composition schematic diagram of remote underwater robot, mainly comprise 3 parts: water surface unit, repeater and submersible, water surface unit links to each other with repeater by the armour cable, and submersible links to each other with repeater by heaving pile.The all dynamic line in armour cable and heaving pile inside, twisted-pair feeder and optical fiber etc.Power line is used for transmitting power from the water surface to repeater and submersible, and twisted-pair feeder is used for transmitting data or signal, and optical fiber is used for transmission of video and data.Armour cable outside is an armour, and power and signal are transmitted in mainly acting as of armour cable, and booster action is as the load-bearing cable, is used for lifting by crane repeater and submersible.Be earlier by dispensing armour cable during underwater robot work, repeater and submersible together are applied to the sea assignment depth of water down, submersible breaks away from repeater, and simultaneously again by the heaving pile in the dispensing repeater, the operation submersible is observed and operation its free repeater.Heaving pile generally is the neutral buoyancy cable in seawater, and when submersible was worked like this, heaving pile can not cause bigger interference to submersible.
The present invention adopts Ethernet to carry out the core of video and transfer of data as the water surface and repeater, the network node of the water surface has main control computer, the I/O acquisition node, Video Decoder, network node under water has I/O collection and output node and video encoder, water surface unit adopts a pair of twisted-pair feeder to carry out extension of network with under water repeater to be connected with network, video on the repeater is transmitted and demonstration by video encoder and Video Decoder based on Ethernet, and water surface unit and repeater are also finished the control of signals collecting and actuator by Ethernet by main control computer.
As shown in Figure 2, be the block diagram of system of water surface unit and repeater, it mainly by water surface unit and under water two parts constitute.Water surface unit mainly comprises main control computer, I/O acquisition node, guidance panel, Video Decoder, monitor, primary modem and the network switch etc.; Underwater portion is that repeater comprises I/O collection and output node, video encoder and from formations such as modulator-demodulator, video camera and the network switchs.The guidance panel of water surface unit links to each other with the I/O acquisition node, by the order on the I/O acquisition node acquisition operations panel; The video output of Video Decoder is connected with monitor, by the monitor display video image; The network interface of the network interface of water surface unit main control computer, the network interface of I/O acquisition node, Video Decoder and the network interface of primary modem are connected with the network interface of the network switch in the water surface unit respectively, constitute the Ethernet of water surface unit; The I/O of underwater portion gathers and output node is used for gathering and control transducer and actuator in the repeater; The video inputs of video encoder links to each other with video camera in the repeater; The I/O of repeater gathers and the network interface of the network interface of output node, video encoder and link to each other with the network interface of the network switch of repeater respectively from the network interface of modulator-demodulator, constitutes the Ethernet of repeater under water.Another interface (LINE) end of the primary modem of water surface unit, a pair of twisted-pair feeder in the water receiving face armour cable, that a pair of twisted-pair feeder corresponding in the armour cable on the interface from modulator-demodulator of repeater (LINE) the termination repeater with water surface unit, like this Ethernet of water surface unit and under water the Ethernet of repeater couple together through a twisted-pair feeder by master and slave modulator-demodulator, constitute a unified Ethernet.By this Ethernet, the camera video of repeater is input to video encoder, passes to water surface unit through Ethernet, and the Video Decoder of water surface unit becomes the reduction of data of video encoder the real time video image of monitor demonstration.The continue control of device of water surface cell pairs is switch command by the I/O acquisition node acquisition operations panel of water surface unit, read the data of water surface unit I/O node by Ethernet by main control computer, through routine processes, passing under water by Ethernet control command, the I/O of repeater gathers and output node, thereby the actuator on the control repeater, and repeater I/O gathered and the data of the transducer that output node is gathered are read the main control computer of water surface unit, on the man-machine interface of water surface unit, show after treatment.
Claims (4)
1. remote underwater robot repeater control device based on twisted-pair feeder, it is characterized in that: the water surface unit and the repeater of robot are set up Ethernet under water respectively, the Ethernet of water surface unit and under water the Ethernet of repeater couple together by a pair of twisted-pair feeder through master and slave modulator-demodulator, constitute a unified Ethernet transmission video signal and a control signal.
2. by the described remote underwater robot repeater control device of claim 1, it is characterized in that based on twisted-pair feeder: the Ethernet of described water surface unit by the network interface of the network interface of the network interface of the network interface of main control computer, I/O acquisition node, Video Decoder and primary modem respectively with water surface unit in the network interface of the network switch connect and compose.
3. by the described remote underwater robot repeater control device based on twisted-pair feeder of claim 1, it is characterized in that: the Ethernet of described repeater is under water gathered by the I/O of repeater and the network interface of the network interface of output node, video encoder and link to each other with the network interface of the network switch the repeater respectively from the network interface of modulator-demodulator constitutes.
4. by the described remote underwater robot repeater control device of claim 1 based on twisted-pair feeder, it is characterized in that: described twisted-pair feeder is located in the armour cable, and video in the repeater and signal are passed to water surface unit by this twisted-pair feeder, control to repeater is also realized by this twisted-pair feeder in water surface unit simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100108824A CN101552899A (en) | 2008-04-02 | 2008-04-02 | Remote control underwater robot repeater control device based on twisted pair lines |
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| CNA2008100108824A CN101552899A (en) | 2008-04-02 | 2008-04-02 | Remote control underwater robot repeater control device based on twisted pair lines |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126222A (en) * | 2011-04-27 | 2011-07-20 | 东南大学 | Control system for remote-controlled robot |
| CN105577238A (en) * | 2016-03-17 | 2016-05-11 | 天津海之星海洋科技发展有限公司 | Umbilical cable communication system for underwater robot based on power carrier |
| CN106364630A (en) * | 2016-09-22 | 2017-02-01 | 华中科技大学 | Semi-active heave compensation system for cabled underwater robot |
| TWI577190B (en) * | 2014-01-09 | 2017-04-01 | 國立中山大學 | Communication device of underwater vehicle |
| CN106683373A (en) * | 2016-12-06 | 2017-05-17 | 北京臻迪机器人有限公司 | Underwater unmanned ship communication system |
| CN106814740A (en) * | 2016-12-06 | 2017-06-09 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control system under water |
| CN107786852A (en) * | 2017-11-17 | 2018-03-09 | 上海遨拓深水装备技术开发有限公司 | A kind of submersible high-speed high capacity data transfer and storage system |
| CN114913761A (en) * | 2022-05-20 | 2022-08-16 | 北京晟海汇泽科技有限公司 | Platform for underwater robot education and underwater scientific research |
| CN114913761B (en) * | 2022-05-20 | 2024-06-04 | 北京晟海汇泽科技有限公司 | Platform for underwater robot education and underwater scientific research |
-
2008
- 2008-04-02 CN CNA2008100108824A patent/CN101552899A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126222A (en) * | 2011-04-27 | 2011-07-20 | 东南大学 | Control system for remote-controlled robot |
| TWI577190B (en) * | 2014-01-09 | 2017-04-01 | 國立中山大學 | Communication device of underwater vehicle |
| CN105577238A (en) * | 2016-03-17 | 2016-05-11 | 天津海之星海洋科技发展有限公司 | Umbilical cable communication system for underwater robot based on power carrier |
| CN106364630A (en) * | 2016-09-22 | 2017-02-01 | 华中科技大学 | Semi-active heave compensation system for cabled underwater robot |
| CN106364630B (en) * | 2016-09-22 | 2018-07-24 | 华中科技大学 | One kind having half Active Heave Compensation System of cable underwater robot |
| CN106683373A (en) * | 2016-12-06 | 2017-05-17 | 北京臻迪机器人有限公司 | Underwater unmanned ship communication system |
| CN106814740A (en) * | 2016-12-06 | 2017-06-09 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control system under water |
| CN106683373B (en) * | 2016-12-06 | 2020-10-13 | 北京臻迪科技股份有限公司 | Underwater unmanned ship communication system |
| CN107786852A (en) * | 2017-11-17 | 2018-03-09 | 上海遨拓深水装备技术开发有限公司 | A kind of submersible high-speed high capacity data transfer and storage system |
| CN114913761A (en) * | 2022-05-20 | 2022-08-16 | 北京晟海汇泽科技有限公司 | Platform for underwater robot education and underwater scientific research |
| CN114913761B (en) * | 2022-05-20 | 2024-06-04 | 北京晟海汇泽科技有限公司 | Platform for underwater robot education and underwater scientific research |
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Open date: 20091007 |