CN101588477A - Video transmission and monitoring system for remotely controlling underwater robot - Google Patents
Video transmission and monitoring system for remotely controlling underwater robot Download PDFInfo
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- CN101588477A CN101588477A CNA2008100115438A CN200810011543A CN101588477A CN 101588477 A CN101588477 A CN 101588477A CN A2008100115438 A CNA2008100115438 A CN A2008100115438A CN 200810011543 A CN200810011543 A CN 200810011543A CN 101588477 A CN101588477 A CN 101588477A
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Abstract
The invention relates to a video transmission and monitoring system for remotely controlling an underwater robot. A control computer is connected with a water surface I/O module through a switch and is connected with an optical multiplexer through the switch, an underwater I/O module controls a camera through a camera control module; a video module of an underwater optical multiplexer is connected with the camera, the underwater optical multiplexer transmits video information to a water surface optical multiplexer, the water surface optical multiplexer is connected with a monitor to display the video information and is connected with a character adder through a video switch, and the character adder outputs video signals to a hard disk video recorder to store video. The invention performs the transmission by adopting optical fiber, improves the video and data transmission quality with long transmission distance and leads operations of storage, copying, and the like to be simple by adopting an Ethernet communication technique. A computer accessed into the Ethernet can conveniently browse and download the video, and the expandability and the flexibility of the whole system are greatly strengthened.
Description
Technical field
The present invention relates to the remote underwater robot communication technical field, is a kind of remote underwater robot video transmission and supervisory control system specifically.
Technical background
Remote underwater robot is a kind of marine equipment that is operated in, many Underwater Cameras are installed on it, and every the confidential observation of underwater camera nautical mile target difference, therefore to carry out zoom (ZOOM) and focus on (FOCUS) control every video camera, just can reach more satisfactory video effect; Simultaneously, be delivered to the water surface to the video image of these Underwater Cameras, carry out Video processing and demonstration.The tradition remote underwater robot adopts coaxial or twisted-pair feeder carries out video transmission, the distance that this transmission method not only transmits is short, and every video camera will take a coaxial or twisted-pair feeder, under the few situation of number of cameras, accept reluctantly, and just become bottleneck or unfeasible during for many Underwater Cameras, because too much coaxial or twisted-pair feeder can make the water surface become very thick under water cable, resistance is very big, and this does not allow; The aspects such as storage, editor and video superimpose that are transferred to water surface video image are also needed to upgrade and regenerate; In addition, Underwater Camera in the past adopts the video camera of Nonadjustable focusing more, realize relatively difficulty of zoom and focus control, and all these can't adapt to and satisfy the requirement of marine cause to remote underwater robot.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide a kind of transmission of adopting Fibre Optical Communication Technology to realize video and data, and realize video monitoring system that every video camera on the underwater robot is controlled and the video image that is transferred to the water surface is processed and displayed.
To achieve these goals, technical scheme of the present invention is: a kind of remote underwater robot video transmission and supervisory control system, and the control computer is by the information of switch collection water surface I/O module, and water surface I/O module links to each other with guidance panel; The control computer is transferred to water surface optical multiplexer with control signal by switch, water surface optical multiplexer carries out the signal transmission by optical fiber and optical multiplexer under water, optical multiplexer links to each other with I/O module under water under water, and the I/O module outputs a control signal to video camera control module group and realizes control to video camera under water; Optical multiplexer links to each other with video camera and gathers video information under water, optical multiplexer is transferred to water surface optical multiplexer with video information under water, water surface optical multiplexer is connected with monitor and carries out video information and show, water surface optical multiplexer is connected with character adder by video switcher simultaneously, character adder links to each other with the control computer by serial ports, the control computer is superimposed upon the information on the underwater robot on the selected video by character adder, the character adder outputting video signal carries out video storage to DVR, and the DVR outputting video signal carries out the video demonstration to master monitor simultaneously.
Optical multiplexer adopts modularized design, is provided with power module, MODEM module and video module in it, and optical multiplexer is provided with Ethernet interface, and the MODEM module is carried out modulation to light signal; Video module can increase according to the quantity of Underwater Camera or reduce, and video camera control module group and water surface monitor also correspondingly increase or reduce.
The control signal of video camera control module comes from the control signal of I/O module output under water, video camera control module group is provided with a plurality of identical control modules, control module is corresponding one by one with Underwater Camera, and control module realizes power supply control, zoom control and the focus control of Underwater Camera.
Described control computer is transferred to I/O module under water with the signal of logical interlock, the video camera control module receives I/O module logical interlock signal under water, the phenomenon that can not be short-circuited for the metal-oxide-semiconductor of realizing in the control module, there is a control signal to work in focusing in the video camera control module and the zoom signal respectively, realizes control Underwater Camera.
The present invention has more following advantage:
1. the present invention adopts optical fiber to transmit, and video and data distance have improved video and data transmission quality, has strengthened the distance of transmission, the longest 10KM that reaches.
2. the present invention adopts optical multiplexer, makes the passage of video transmission to expand by video card, and video card of every expansion can increase by 4 video channels.
3. control module is adopted in the control of the camera video among the present invention, and the corresponding video camera of each module increases video camera and only need increase a control module.
4. video camera control module of the present invention, simple in structure, multiple functional, and adopt photoelectricity to isolate between control signal and output signal, reduced interference.
5. the present invention adopts the ethernet communication technology, not only Ethernet is adopted in the water surface, control under water, and DVR also has Ethernet interface, make the operations such as storage, copy of video image become easily simple, can browse this easily, download this video for the computer that inserts this Ethernet, the extensibility and the flexibility of whole system strengthen greatly.
6. the present invention adopts video switcher to realize the switching and the selection of video very easily, adopts the dynamic character superimposer by computer by serial information such as the degree of depth of underwater robot, course to be superimposed upon on the selected video simultaneously.
Description of drawings
Video transmission of Fig. 1 underwater robot and supervisory control system schematic diagram;
Fig. 2 Underwater Camera control module schematic diagram;
Fig. 3 underwater robot video and monitor system software flow chart.
Embodiment
Embodiment: as shown in Figure 1, below in conjunction with accompanying drawing the present invention is described in further detail, a kind of remote underwater robot video transmission and supervisory control system, the control computer links to each other with man-machine interface, the control computer is gathered the information of I/O module waterborne by switch, and water surface I/O module links to each other with guidance panel; The control computer is transferred to control signal the MODEM module of water surface optical multiplexer by switch.The water surface and all be provided with optical multiplexer under water, optical multiplexer adopts modularized design, is provided with power module, MODEM module and video module in it, and optical multiplexer is provided with Ethernet interface.Wherein power module is responsible for providing power supply; Video module can increase the quantity of this video module as required, and each video module contains 4 video channels, and the water surface and video module under water are provided with in pairs; The MODEM module is provided with Ethernet interface and light signal is carried out modulation; Water surface optical multiplexer carries out the signal transmission by optical fiber and optical multiplexer under water.
The vision signal of water surface optical multiplexer video module output links to each other with video switcher with little monitor respectively, and character adder is connected with control computer, DVR respectively; Video switcher selects 1 road video to output to character adder, the control computer passes to character adder by serial ports with information, in selected video, the superpose information of underwater robot and video transmission stored to DVR of character adder, DVR is exported this video and is shown in real time to master monitor, and DVR be provided be used to browse, the Ethernet interface of foradownloaded video.The I/O module outputs to the control that video camera control module group realizes video camera with control signal under water; The video module of optical multiplexer links to each other with video camera and gathers video information under water, under water optical multiplexer with video information through Optical Fiber Transmission to water surface optical multiplexer, the video module of water surface optical multiplexer is connected with monitor and carries out the video information demonstration.The control signal of Underwater Camera control module comes from the control signal of I/O module output under water, video camera control module group is provided with a plurality of identical control modules, control module is corresponding one by one with Underwater Camera, and control module realizes power supply control, zoom control and the focus control of Underwater Camera.
Present embodiment adopts 4 video cameras, the video transmission and the demonstration of whole system are described, Underwater Camera links to each other with video module, the vision signal of Underwater Camera is passed to the video module of water surface optical multiplexer through optical fiber by video module under water, every road video module of water surface optical multiplexer is connected with monitor respectively, carries out the information video and shows; Simultaneously at the water surface this 4 tunnel vision signal being carried out bridge joint respectively is input in the video switcher, video switcher is according to selecting output 1 tunnel vision signal in character adder, to be superimposed upon from some important informations of underwater robot in the selected video by character adder, outputing to DVR by character adder stores, the while DVR is exported this video again in real time and is shown to master monitor, observes for the operator.Power supply control, zoom and the focus control of Underwater Camera realized by video camera control module group, every corresponding control module of video camera, and each module is all identical.The control signal of video camera control module is by the collection of master control water surface control computer by the water surface, passes to I/O acquisition module under water after treatment, receives the control that realizes in the corresponding video camera control module video camera by this module output control signal.Water surface control computer, under water, water surface I/O module and DVR adopt Ethernet to connect.Main control computer by Ethernet can visit, video image in the imprinting playback DVR.Owing to adopt Ethernet, video image can be downloaded in the computer that inserts this Ethernet and play.Waterborne and the ethernet communication of the control section employing under water technology of whole system not only makes control system become flexible and expands, and makes control system have good inheritance and versatility; DVR also has Ethernet interface, and in the employed Ethernet of access control system, make the operations such as storage, copy of video image become easily simple, can browse easily, download the video in this DVR for the computer that inserts this Ethernet, strengthen the value of video image.
As shown in Figure 2, the Underwater Camera control module is to the control of power supply control, zoom and the focusing of Underwater Camera.Wherein power supply control adopts relay (REL1) to realize, the action of I/O module output control signal (Power) control relay (REL1) contact under water, and out-put supply (Ph+), thus realization is to the control of camera power supply.The circuit of zoom and focus control is just the same, to be focused to example, every road needs two control signals to focus on (FOCUS+, FOCUS-), these two signals link to each other with the input of optocoupler (IC1) respectively, output control two first metal-oxide-semiconductors (RF1) and second metal-oxide-semiconductor (RF2) of optocoupler (IC1), 2 pin short circuits of its first, second metal-oxide-semiconductor are as the focusing of output signal (Fout) control Underwater Camera.Focus on (FOCUS+, FOCUS-) signal from the digital quantity output of I/O module under water, there is logical interlock in two signals, be that these two signals can not work simultaneously, otherwise will cause first metal-oxide-semiconductor (RF1) and second metal-oxide-semiconductor (RF2) short circuit, the logical interlock of two control signals is realized by water surface control computer.
As shown in Figure 3, the idiographic flow of underwater robot video transmission and supervisory control system program is: the control computer program is by the mode of operation of water surface I/O module ethernet communication subprogram scanning panel, the camera power supply control switch, the state acquisition of zoom and focusing switch is to the control computer, the data that the control Computer Processing collects, carry out logical interlock, guarantee the focusing (FOCUS+ of each Underwater Camera control module, FOCUS-), zoom (ZOOM+, ZOOM-) control signal can not work simultaneously, pass through I/O module ethernet communication subprogram under water again, export I/O module under water to, the digital quantity output module of I/O module outputs to the respective pin of Underwater Camera control module with control signal under water, realizes the control to Underwater Camera.Because the zoom of video camera is identical with the focus control logic, therefore only introduce the logical interlock program that focuses on here, the zoom program is omitted; Water surface control computer is by the mode of operation of water surface I/O module ethernet communication subprogram scanning panel, the on off state of camera power supply control switch, focusing and focusing is collected main control computer, the supervisory control system program judges at first whether the camera power supply switch is connected, if access failure is not then exported any control signal; If connect, then the out-put supply control signal.Program judges whether focusing adds the button state that subtracts with focusing identical again then; If identical, represent that two buttons are pressed simultaneously or relieving simultaneously, computer is not exported control signal.If is judgement to focus on to add to press different? if then output focuses on increase control signal, if not, then output focuses on down control signal.No matter which kind of situation of program assurance is only exported a focus control signal like this, thereby the situation that assurance can not be short-circuited.
Claims (4)
1, a kind of remote underwater robot video transmission and supervisory control system is characterized in that: the control computer is by the information of switch collection water surface I/O module, and water surface I/O module links to each other with guidance panel; The control computer is transferred to water surface optical multiplexer with control signal by switch, water surface optical multiplexer carries out the signal transmission by optical fiber and optical multiplexer under water, optical multiplexer links to each other with I/O module under water under water, and the I/O module outputs a control signal to video camera control module group and realizes control to video camera under water; Optical multiplexer links to each other with video camera and gathers video information under water, optical multiplexer is transferred to water surface optical multiplexer with video information under water, water surface optical multiplexer is connected with monitor and carries out video information and show, water surface optical multiplexer is connected with character adder by video switcher simultaneously, character adder links to each other with the control computer by serial ports, the control computer is superimposed upon the information on the underwater robot on the selected video by character adder, the character adder outputting video signal carries out video storage to DVR, and the DVR outputting video signal carries out the video demonstration to master monitor simultaneously.
2, according to described remote underwater robot video transmission of claim 1 and supervisory control system, it is characterized in that: optical multiplexer adopts modularized design, be provided with power module, MODEM module and video module in it, optical multiplexer is provided with Ethernet interface, and the MODEM module is carried out modulation to light signal; Video module can increase according to the quantity of Underwater Camera or reduce, and video camera control module group and water surface monitor also correspondingly increase or reduce.
3, according to described remote underwater robot video transmission of claim 1 and supervisory control system, it is characterized in that: the control signal of video camera control module comes from the control signal of I/O module output under water, video camera control module group is provided with a plurality of identical control modules, control module is corresponding one by one with Underwater Camera, and control module realizes power supply control, zoom control and the focus control of Underwater Camera.
4, according to described remote underwater robot video transmission of claim 1 and supervisory control system, it is characterized in that: described control computer is transferred to I/O module under water with the signal of logical interlock, the video camera control module receives I/O module logical interlock signal under water, the phenomenon that can not be short-circuited for the metal-oxide-semiconductor of realizing in the control module, there is a control signal to work in focusing in the video camera control module and the zoom signal respectively, realizes control Underwater Camera.
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| CNA2008100115438A CN101588477A (en) | 2008-05-23 | 2008-05-23 | Video transmission and monitoring system for remotely controlling underwater robot |
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| CNA2008100115438A CN101588477A (en) | 2008-05-23 | 2008-05-23 | Video transmission and monitoring system for remotely controlling underwater robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103281511A (en) * | 2013-03-29 | 2013-09-04 | 国家电网公司 | Hot-line work training base wireless video surveillance system |
| CN103543070A (en) * | 2012-07-13 | 2014-01-29 | 中国科学院沈阳自动化研究所 | Controllable test platform applied to simulated hydraulic pressure test device |
| CN103856750A (en) * | 2012-11-30 | 2014-06-11 | 中国科学院沈阳自动化研究所 | Video collecting and storage method and device suitable for long-term seafloor observation |
| CN103997628A (en) * | 2014-06-09 | 2014-08-20 | 中国能源建设集团广东省电力设计研究院 | Method and communication structure for optimizing thermal power plant information system |
| CN105430351A (en) * | 2015-12-23 | 2016-03-23 | 国家海洋局第一海洋研究所 | Underwater high-definition data transmission system |
| CN106872194A (en) * | 2016-12-29 | 2017-06-20 | 中国船舶重工集团公司第七0研究所 | A kind of comprehensive detection device for submarine navigation device |
| CN107257435A (en) * | 2017-07-10 | 2017-10-17 | 昆明理工大学 | A kind of astronomical IMAQ and apparatus monitor system and its control method |
| CN108012077A (en) * | 2017-11-10 | 2018-05-08 | 北京臻迪科技股份有限公司 | Camera control method, photographic method, apparatus and system |
| CN109167899A (en) * | 2018-09-30 | 2019-01-08 | 华中科技大学 | A kind of warship, ship and the underwater component actuation real time monitoring apparatus of submarine navigation device |
| CN109963089A (en) * | 2017-12-22 | 2019-07-02 | 中国科学院沈阳自动化研究所 | A kind of submersible water surface unit video system |
| CN113163274A (en) * | 2021-06-24 | 2021-07-23 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot communication system |
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2008
- 2008-05-23 CN CNA2008100115438A patent/CN101588477A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543070A (en) * | 2012-07-13 | 2014-01-29 | 中国科学院沈阳自动化研究所 | Controllable test platform applied to simulated hydraulic pressure test device |
| CN103543070B (en) * | 2012-07-13 | 2015-09-09 | 中国科学院沈阳自动化研究所 | A kind of controllable test platform be applied in simulated water pressure test unit |
| CN103856750A (en) * | 2012-11-30 | 2014-06-11 | 中国科学院沈阳自动化研究所 | Video collecting and storage method and device suitable for long-term seafloor observation |
| CN103281511A (en) * | 2013-03-29 | 2013-09-04 | 国家电网公司 | Hot-line work training base wireless video surveillance system |
| CN103997628A (en) * | 2014-06-09 | 2014-08-20 | 中国能源建设集团广东省电力设计研究院 | Method and communication structure for optimizing thermal power plant information system |
| CN105430351A (en) * | 2015-12-23 | 2016-03-23 | 国家海洋局第一海洋研究所 | Underwater high-definition data transmission system |
| CN106872194A (en) * | 2016-12-29 | 2017-06-20 | 中国船舶重工集团公司第七0研究所 | A kind of comprehensive detection device for submarine navigation device |
| CN107257435A (en) * | 2017-07-10 | 2017-10-17 | 昆明理工大学 | A kind of astronomical IMAQ and apparatus monitor system and its control method |
| CN107257435B (en) * | 2017-07-10 | 2021-05-14 | 昆明理工大学 | Astronomical image acquisition and equipment monitoring system and control method thereof |
| CN108012077A (en) * | 2017-11-10 | 2018-05-08 | 北京臻迪科技股份有限公司 | Camera control method, photographic method, apparatus and system |
| CN109963089A (en) * | 2017-12-22 | 2019-07-02 | 中国科学院沈阳自动化研究所 | A kind of submersible water surface unit video system |
| CN109167899A (en) * | 2018-09-30 | 2019-01-08 | 华中科技大学 | A kind of warship, ship and the underwater component actuation real time monitoring apparatus of submarine navigation device |
| CN113163274A (en) * | 2021-06-24 | 2021-07-23 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot communication system |
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