CN102029611A - Device and method for controlling micro underwater robot - Google Patents
Device and method for controlling micro underwater robot Download PDFInfo
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- CN102029611A CN102029611A CN2009101876163A CN200910187616A CN102029611A CN 102029611 A CN102029611 A CN 102029611A CN 2009101876163 A CN2009101876163 A CN 2009101876163A CN 200910187616 A CN200910187616 A CN 200910187616A CN 102029611 A CN102029611 A CN 102029611A
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Abstract
The invention discloses a device and method for controlling a micro underwater robot. The device comprises a control lever, a personal computer (PC) and a mobile hard disk, wherein the control lever is a joystick comprising buttons and a rocker, and is connected with the input end of the PC by a universal serial bus (USB) interface to provide control signals for the PC; the output end of the PC is connected with the micro underwater robot by a control cable and is connected with the mobile hard disk by the USB interface; the PC stores a control program for regularly acquiring, reading and analyzing control quantity data, and the PC is provided with a display for displaying the control quantity data; and the mobile hard disk contains a database for storing the control quantity data of the control lever. The method comprises a method for acquiring the states of the rocker and buttons of the joystick and a data storage method. By using the joystick with the USB interface as the control signal device, the device provided by the invention has the characteristics of small volume, light weight and extremely low power consumption and is low in price, thereby being especially suitable for the practical situation that the self-provided energy of a micro remotely-operated vehicle (ROV) is limited.
Description
Technical field
The present invention discloses a kind of miniature underwater robot control device and method, can be applicable to real-time collection, the storage of the controlled quentity controlled variable data of miniature underwater robot specifically.
Background technology
Underwater robot (ROV) be a kind ofly can move about in the seabed, operation or be engaged in the diving outfit under water of special work.At present, ROV has a very wide range of applications in China, particularly sees fields such as bullet investigation at ocean research, offshore oil drilling, sea rescue, Marine Geology, landforms, mineral products, and ROV is all bringing into play irreplaceable effect.
Miniature ROV is special a kind of in the ROV family, miniature ROV carries the energy, motion is dexterous, carry microcam and sensor, can expand the observation scope of manned underwater vehicle, can go deep into the narrow and small complex region that manned underwater vehicle inconvenience maybe dare not enter and carry out work, avoid dangerous, increase the security of manned underwater vehicle; It can take the operation situation of manned underwater vehicle outside ship, significant to the meticulous observation and the operation of regional areas such as deep-sea hydrothermal; It can check the seat base area territory of manned underwater vehicle in unknown waters in advance, also can carry out the inspection of propeller and hull external fault, and miniature ROV causes that special structure and feature are becoming the new research focus in ROV research and development field.
Miniature ROV is little because of its volume, carry the energy, and its controlled quentity controlled variable harvester and method have also been proposed new requirement.Controlled quentity controlled variable harvester and method power consumption under the prerequisite of assurance function will reduce as far as possible, and weight and volume is as far as possible little.Generally, miniature ROV adopts rocking bar and button as the equipment that produces controlled quentity controlled variable, rocking bar can provide the continually varying analog quantity of certain limit, button provides switching value, rocking bar and button have certain volume and quality, and need to be equipped with special power supply energy is provided, what is more important is necessary for the two provides special analog quantity and digital data acquisition equipment to carry out the collection of controlled quentity controlled variable, this needs again to consume certain effective volume, quality, power, is suitable for volume, quality, the less demanding occasion of power consumption.Rocking bar and button are expensive, particularly the product price of import is high, the rocking bar price of a two-freedom even reach several ten thousand dollars, and a simple import brand button price also can reach several thousand dollars, head and shoulders above general user's ability to bear, be not suitable for large batch of employing.This will develop towards the direction of more small size, more low quality, more low-power consumption with regard to requiring miniature ROV control system, not only is easy to carry, and for energy-conserving and environment-protective positive meaning is arranged.The harvester of controlled quentity controlled variable must have computer as host computer, but ordinary PC volume, weight power consumption all are not suitable for the characteristics of miniature ROV, so harvester need be equipped with special PC.
Summary of the invention
At the puzzlement that rocking bar in the prior art and button involve great expense and have relatively high expectations and bring with rocking bar and button volume, quality, power consumption, the technical problem to be solved in the present invention provides the device and method of a kind of miniature underwater robot control system controlled quentity controlled variable data acquisition.
To achieve these goals, technical scheme of the present invention is:
Comprise control stick, PC and portable hard drive; Control stick is the game paddle that comprises button and rocking bar, link to each other with the PC input by USB interface, for PC provides the controlled quentity controlled variable data, the PC output links to each other with miniature underwater robot by the control cable, and the PC output also links to each other with portable hard drive by USB interface; Wherein, be provided with mainboard in the described PC, control stick links to each other with mainboard by USB interface, and mainboard links to each other with portable hard drive by USB interface; Also there is control program in the PC, is used for timing acquiring, reads, analysis and Control amount data, also be provided with display in the PC, be used to show the controlled quentity controlled variable data; Be provided with database in the described portable hard drive, be used to store the controlled quentity controlled variable data.The controlled quentity controlled variable data of described button are digital data, and the controlled quentity controlled variable data of rocking bar are analog data.Described PC connects power module by power interface; Described power module is whole device power supply.
Adopt in the PC and have the control program control method; Described control program flow process is as follows: PC brings into operation; Whether detect the USB interface state normal; If normal, game paddle is installed then; Whether detect the game paddle installation process normal; If normal, running game handle then; Whether detect the game paddle running status normal; If normal, then set up and connect database; Timing acquiring controlled quentity controlled variable data; Judge whether Exit Game handle running status; If not, then read, analyze, store game paddle controlled quentity controlled variable data, get back to judging whether Exit Game handle running status step., then close database and connect and the timeing closing device for being if judge whether Exit Game handle running status, out of service.The generation of USB interface state is unusual, the generation of game paddle installation process is unusual, the game paddle running status takes place unusually or set up and connect failed database if detect, and then PC is pointed out or reported to the police, and out of service.
The present invention has following beneficial effect:
1. game paddle is cheaply practical.The game paddle that adopts USB interface is for PC provides the controlled quentity controlled variable data, has that volume is little, in light weight, the characteristics of extremely low power dissipation, and low price, is particularly suitable for the actual conditions that miniature ROV provides the limited energy for oneself.
2.PC devices such as the mainboard of the special selection of machine, hard disk also have, and volume is little, in light weight, convenient carrying, with miniature underwater robot be used very suitable.
3. has data storage function.Can be stored in the database collecting control data, be convenient to the user and collect, analyze and use data.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is a control program flow chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
As shown in Figure 1, a kind of miniature underwater robot control device of the present invention comprises control stick, PC and portable hard drive; Control stick is the game paddle that comprises button and rocking bar, link to each other with the PC input by USB interface, for PC provides the controlled quentity controlled variable data, the PC output links to each other with miniature underwater robot by the control cable, and the PC output also links to each other with portable hard drive by USB interface; Wherein, be provided with mainboard in the described PC, control stick links to each other with mainboard by USB interface, and mainboard links to each other with portable hard drive by USB interface; Also there is control program in the PC, is used for timing acquiring, reads, analysis and Control amount data, also be provided with display in the PC, be used to show the controlled quentity controlled variable data; Be provided with database in the described portable hard drive, be used to store the controlled quentity controlled variable data.The controlled quentity controlled variable data of described button are digital data, and the controlled quentity controlled variable data of rocking bar are analog data.Described PC connects power module by power interface; Described power module is whole device power supply.
As shown in Figure 2, adopt the control method that has control program in the PC, wherein said control program may further comprise the steps: PC brings into operation; Whether detect the USB interface state normal; If normal, game paddle is installed then; Whether detect the game paddle installation process normal; If normal, running game handle then; Whether detect the game paddle running status normal; If normal, then set up and connect database; Timing acquiring controlled quentity controlled variable data; Judge whether Exit Game handle running status; If not, then read, analyze, store the game paddle data, get back to judging whether Exit Game handle running status step., then close database and connect and the timeing closing device for being if judge whether Exit Game handle running status, out of service.No matter for which kind of situation, unusual if testing result takes place, then PC is pointed out or is reported to the police, and out of service.
The concrete course of work is exemplified below:
What game paddle adopted is the BTP-C031 type game paddle of the logical company in north, and main equipment is rocking bar and button on it.Rocking bar has continuously, the stroke of bounded, and button has " opening " and " pass " two kinds of opposite states, to rocking bar that is applied to the industry control occasion and button very similar characteristics is arranged.
The mainboard of the special selection of PC is the small-sized mainboard AIMB210 that grinds magnificent company, and hard disk is the notebook hard disk HMI160-HI of Samsung.With the USB interface of BTP-C031 by USB extended line connection mainboard AIMB210, AIMB210 connects hard disk HMI160-HI by serial ports, and AIMB210 connects power supply by power interface and grinds magnificent power module OP-20PZE, for system provides power supply.
Simultaneously, adopt the VisualStdio2005 exploitation capture program of Microsoft, adopt the Direct XSDK of Microsoft 9.0 class libraries game paddle to be docked with capture program as fastening means; Adopt the OleDB technology to carry out the data storage; The method of using Direct X SDK 9.0 class libraries is for to quote Direct X and Direct Input dynamic link at VisualStdio2005.
After the PC start, detection is connected situation with the USB interface of game paddle, detects the ruuning situation of hardware such as mainboard, hard disk; If it is all normal, start capture program in the PC, operation by game paddle control miniature underwater robot, observe the ruuning situation of miniature underwater robot by the display in the PC, and service data is stored in the hard disk, so that collect the underwater duty of miniature underwater robot.
Claims (6)
1. miniature underwater robot control device is characterized in that:
Comprise control stick, PC and portable hard drive; Control stick is the game paddle that comprises button and rocking bar, link to each other with the PC input by USB interface, for PC provides the controlled quentity controlled variable data, the PC output links to each other with miniature underwater robot by the control cable, and the PC output also links to each other with portable hard drive by USB interface; Wherein, be provided with mainboard in the described PC, control stick links to each other with mainboard by USB interface, and mainboard links to each other with portable hard drive by USB interface; Also there is control program in the PC, is used for timing acquiring, reads, analysis and Control amount data, also be provided with display in the PC, be used to show the controlled quentity controlled variable data; Be provided with database in the described portable hard drive, be used to store the controlled quentity controlled variable data.
2. according to the described miniature underwater robot control device of claim 1, it is characterized in that: the controlled quentity controlled variable data of described button are digital data, and the controlled quentity controlled variable data of rocking bar are analog data.
3. according to the described miniature underwater robot control device of claim 1, it is characterized in that: described PC connects power module by power interface; Described power module is whole device power supply.
4. a miniature underwater robot control method is characterized in that: adopt the control method that has control program in the PC; Described control program may further comprise the steps:
PC brings into operation;
Whether detect the USB interface state normal;
If normal, game paddle is installed then;
Whether detect the game paddle installation process normal;
If normal, running game handle then;
Whether detect the game paddle running status normal;
If normal, then set up and connect database;
Timing acquiring controlled quentity controlled variable data;
Judge whether Exit Game handle running status;
If not, then read, analyze, store game paddle controlled quentity controlled variable data, get back to judging whether Exit Game handle running status step.
5. according to the described miniature underwater robot control method of claim 4, it is characterized in that:, then close database and connect and the timeing closing device for being if judge whether Exit Game handle running status, out of service.
6. it is characterized in that according to the described miniature underwater robot control method of claim 4: no matter for which kind of situation, unusual if testing result takes place, then PC is pointed out or is reported to the police, and out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101876163A CN102029611A (en) | 2009-09-25 | 2009-09-25 | Device and method for controlling micro underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009101876163A CN102029611A (en) | 2009-09-25 | 2009-09-25 | Device and method for controlling micro underwater robot |
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| CN102029611A true CN102029611A (en) | 2011-04-27 |
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| CN2009101876163A Pending CN102029611A (en) | 2009-09-25 | 2009-09-25 | Device and method for controlling micro underwater robot |
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| CN (1) | CN102029611A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439935A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Underwater robot control system based on state machine model |
| CN103439894A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control system of shallow miniature underwater robot |
| RU2523160C1 (en) * | 2013-02-07 | 2014-07-20 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | Device for controlling underwater robot |
| RU2524034C1 (en) * | 2013-02-07 | 2014-07-27 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | Device for controlling underwater robot |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
| RU2789510C1 (en) * | 2022-11-09 | 2023-02-06 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий им. академика М.Д. Агеева Дальневосточного отделения Российской академии наук | Method for position-force control of an underwater vehicle with a multi-link manipulator for performing contact manipulation operations with underwater objects |
-
2009
- 2009-09-25 CN CN2009101876163A patent/CN102029611A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2523160C1 (en) * | 2013-02-07 | 2014-07-20 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | Device for controlling underwater robot |
| RU2524034C1 (en) * | 2013-02-07 | 2014-07-27 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | Device for controlling underwater robot |
| CN103439935A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Underwater robot control system based on state machine model |
| CN103439935B (en) * | 2013-08-15 | 2015-12-02 | 青岛远创机器人自动化有限公司 | A kind of underwater robot control system based on state machine model |
| CN103439894A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control system of shallow miniature underwater robot |
| CN103439894B (en) * | 2013-08-19 | 2016-10-05 | 青岛远创机器人自动化有限公司 | A kind of shallow small underwater robot deck control system |
| CN104850133A (en) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | Modular ROV control system |
| CN104850133B (en) * | 2015-05-18 | 2018-04-24 | 哈尔滨工程大学 | A kind of modular ROV control system |
| RU2789510C1 (en) * | 2022-11-09 | 2023-02-06 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий им. академика М.Д. Агеева Дальневосточного отделения Российской академии наук | Method for position-force control of an underwater vehicle with a multi-link manipulator for performing contact manipulation operations with underwater objects |
| RU2799176C1 (en) * | 2023-03-20 | 2023-07-04 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий им.академика М.Д. Агеева Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Method for position-force control of an autonomous uninhabited underwater vehicle with a multistage manipulator |
| RU2814354C1 (en) * | 2023-07-19 | 2024-02-28 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий им. академика М.Д. Агеева Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Method for stabilizing autonomous unmanned underwater vehicle in hovering mode when performing contact operations with underwater objects by installed on it multi-link manipulator |
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Application publication date: 20110427 |