CN103064296A - Underwater robot auxiliary control system - Google Patents
Underwater robot auxiliary control system Download PDFInfo
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- CN103064296A CN103064296A CN2011103238573A CN201110323857A CN103064296A CN 103064296 A CN103064296 A CN 103064296A CN 2011103238573 A CN2011103238573 A CN 2011103238573A CN 201110323857 A CN201110323857 A CN 201110323857A CN 103064296 A CN103064296 A CN 103064296A
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Abstract
The invention relates to underwater robot control technique, in particular to an underwater robot auxiliary control device. The underwater robot auxiliary control system comprises a strapdown inertial navigation system and a visual simulation system and is characterized in that the strapdown inertial navigation system for transmitting underwater robot position and posture information is arranged on an underwater robot carrier, the strapdown inertial navigation system is connected with the visual simulation system for virtually displaying underwater robot movement track, and the visual simulation system is arranged in an underwater robot control chamber. The underwater robot auxiliary control system can simulate and display posture and motion of an underwater robot in deep sea to enable an operator to control the underwater robot conveniently. The underwater robot auxiliary control system is simple in structure and convenient to build. The underwater robot auxiliary control device and an underwater robot main control system are two independent systems and cannot affect each other. The underwater robot auxiliary control system is small in size and easy to install.
Description
Technical field
The present invention relates to the underwater robot control technology, specifically a kind of underwater robot sub-control system.
Background technology
21 century is the century of ocean, and the ocean that accounts for global 71% area will be next century, also be the environment that the following mankind depend on for existence.Underwater robot (ROV) is the powerful that mankind nowadays is explored marine environment and exploitation ocean resources, but the ROV control system is complicated, operating process is loaded down with trivial details, and the ROV carrier is in the deep-sea of several kms, operating personnel can't directly observe to control the ROV carrier, can only control by the numerical information that a series of sensor feedback are returned position and the attitude of ROV, Here it is so-called " blind operation ".This mode of operation needs operating personnel constantly to read the data such as the position of ROV and attitude, and forms the sense organ understanding of ROV motion state in the brain of oneself, and then removes to control the ROV carrier by sequence of operations, and obviously this process is more loaded down with trivial details.
Summary of the invention
For the problems referred to above, the invention provides a kind of underwater robot sub-control system.
The technical scheme that the present invention adopts for achieving the above object is: a kind of underwater robot sub-control system, comprise strapdown inertial navigation system and vision emulation system, the strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
Strapdown inertial navigation system is used for attitude, displacement and the velocity information of output underwater robot.
Described strapdown inertial navigation system is connected with vision emulation system by the RS485 bus.
Described vision emulation system is that the equipment that can realize the vision simulation program is housed.
Described strapdown inertial navigation system sends the data communication device of vision emulation system to and crosses formula
Carry out data and process, be converted into the vision simulation demonstration of carrier, wherein,
X is the displacement of carrier on the world coordinate system directions X;
Y is the displacement of carrier on the world coordinate system Y-direction;
Z is the displacement of carrier on world coordinate system Z direction;
Sx is carrier displacement on the directions X in moving coordinate system;
Sy is carrier displacement on the Y-direction in moving coordinate system;
Sz is carrier displacement on the Z direction in moving coordinate system;
θ is the angle of direction of motion and the moving coordinate system Y-axis of carrier.
The three-dimensional model of carrier adopts MultiGen Creator to make in the described vision emulation system.
The mathematical model of heaving pile is a space para-curve in the described vision emulation system, and the method that adopts described point to draw in vision simulation shows that dynamically this parabola model is:
Wherein, (x, y, z) is the coordinate of arbitrfary point on the para-curve;
A, b are the parabola model parameter.
The technical scheme that the present invention adopts for achieving the above object is: a kind of underwater robot sub-control system, and the present invention has the following advantages:
1. simulation shows attitude and the motion conditions of underwater robot in the deep-sea, and three-dimensional model is succinctly efficient, and display capabilities is strong in real time, and the handled easily personnel control underwater robot.
2. underwater robot sub-control system includes only a strapdown inertial navigation device and a vision simulation computing machine, and is simple in structure, and system building is convenient;
3. underwater robot sub-control system and underwater robot master control system are two systems independently, are independent of each other each other.
4. volume is little, is easy to install.
Description of drawings
Fig. 1 is general structure block diagram of the present invention;
Fig. 2 is decorum signal flow graph of the present invention;
Fig. 3 is vision simulation computer control process flow diagram of the present invention;
Fig. 4 is underwater robot carrier three-dimensional model diagram of the present invention;
Fig. 5 is the mathematical model figure of hitched ropes of underwater robots of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
As shown in Figure 1, a kind of remote underwater robot supplementary controlled system, comprise strapdown inertial navigation system and vision emulation system, the strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
Strapdown inertial navigation system is used for attitude, displacement and the velocity information of output underwater robot.
Described strapdown inertial navigation system is connected with vision emulation system by the RS485 bus.
Described vision emulation system is that the equipment that can realize the vision simulation program is housed.
Described vision emulation system adopts virtual reality technology, and with attitude and the motion state of the virtual real lower robot carrier of underwater robot modeling demonstration, and then auxiliary underwater robot is controlled the real underwater robot of personnel operation in the motion at deep-sea.
Described underwater robot sub-control system and underwater robot master control system are two systems independently, are independent of each other each other.
System signal process flow diagram of the present invention as shown in Figure 2.Strapdown inertial navitation system (SINS) is a kind of in the inertial navigation system system, be installed in it on ROV carrier after, can transmit in real time the position of ROV carrier and attitude information in the vision emulation system of pulpit.Vision emulation system adopts virtual reality technology, by an industrial computer corresponding vision simulation is installed and realizes.Receive the position and attitude information of ROV carrier when vision emulation system after, just can drive the ROV three-dimensional model motion in the Virtual Ocean Environment, the attitude that demonstrates underwater robot carrier in the deep-sea that ROV carrier model in the vision simulation computing machine will be real-time like this changes and displacement changes situation, and final operating personnel just can control the underwater robot carrier that is in the deep-sea easily by observing vision emulation system.
Vision simulation computer control process flow diagram of the present invention as shown in Figure 3.This program adopts Visual Studio 2003 and Vega Prime function library to realize, is comprised of a thread.This program is initialization vision simulation environment at first, the position of the position of various objects and attitude, especially ROV and attitude in the set environment.Then after reading the attitude and displacement information of the ROV carrier in the deep-sea of being sent by the RS485 bus by strapdown inertial navigation system, change the motion state of virtual ROV according to these information.The frame rate of this programming picture is 50 frames/s, and upgrades position and the attitude information of virtual ROV at each frame of picture, just can demonstrate intuitively so the motion state of virtual ROV in continuous picture disply.This program also needs virtual ROV carrier is carried out collision detection, and so-called collision detection is exactly to detect the distance of virtual ROV three-dimensional model and other three-dimensional models.If virtual ROV three-dimensional model with other modal distances be zero (namely colliding), just make the stop motion of virtual ROV three-dimensional model, occur to prevent the phenomenon that virtual ROV three-dimensional model passes other three-dimensional models.The position of the relevant carrier that strapdown inertial navigation system is transmitted up and attitude information need to be further processed the vision simulation that these information could be converted into carrier and show, this relates to the transition problem of moving coordinate system and world coordinate system, and its conversion formula is:
Wherein, X is the displacement of carrier on the world coordinate system directions X;
Y is the displacement of carrier on the world coordinate system Y-direction;
Z is the displacement of carrier on world coordinate system Z direction;
Sx is carrier displacement on the directions X in moving coordinate system;
Sy is carrier displacement on the Y-direction in moving coordinate system;
Sz is carrier displacement on the Z direction in moving coordinate system;
θ is the angle of direction of motion and the moving coordinate system Y-axis of carrier.
Underwater robot carrier three-dimensional model diagram of the present invention as shown in Figure 4.The tools of this three-dimensional model are MultiGen Creator, utilize the method for dynamic modeling, take two-dimentional surface sweeping image as the basis, load one and the proportional texture picture of realistic model size at the model surface that establishes, the model of setting up like this is more true to nature comparatively speaking.Observed following four principles in the process of making ROV three-dimensional model: (1) can not have faying surface and close too near face; (2) a plurality of fine strip shape models can not be intensive; (3) single fine strip shape, the single face model can not be too thin; (4) the texture pixel size requirements is 2 Nth power, can not surpass 1024 pixels.In order in vision simulation, to demonstrate the effect of thruster rotation, it is rotatable need to specifying thruster when setting up the ROV three-dimensional model, therefore needing to set angle of rake blade is the DOF node, just can control angle of rake sense of rotation and rotational speed like this in vision simulation.
The mathematical model figure of hitched ropes of underwater robots of the present invention as shown in Figure 5.In order in vision simulation, to show heaving pile dynamically, suppose the space para-curve that is shaped as of heaving pile, and hypothesis at any time, set up the three-dimensional right-handed coordinate system take the position of ROV model as true origin, and parabolical summit, space is on initial point, and another point is obviously in the repeater position.This space para-curve can be regarded as by the Plane intersects in a paraboloid of revolution and the space and produces.The paraboloid of revolution is take initial point as the summit, and the coordinate points at mistake repeater place; And space midplane process initial point, and the coordinate points at process repeater place.It is exactly the spatial mathematic of heaving pile that such two space curved surfaces intersect what obtain---space para-curve.
Its mathematical model can be described with following system of equations.
Wherein, (x, y, z) is the coordinate of arbitrfary point on the para-curve; A, b are space parabola model parameter.
In the known situation of carrier and repeater coordinate position, can calculate two parameter a and b in the above-mentioned system of equations, finally can be in the hope of the mathematical model expression formula of heaving pile.
On the basis of known heaving pile mathematical model, the method that adopts described point to draw in the vision simulation environment can show heaving pile, and in the renewal of each two field picture of vision simulation, all need to recomputate the mathematical model of heaving pile, and described point is drawn again, like this could the dynamic state that upgrades heaving pile.
Claims (7)
1. underwater robot sub-control system, comprise strapdown inertial navigation system and vision emulation system, it is characterized in that, the strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
2. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system is used for attitude, displacement and the velocity information of output underwater robot.
3. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system is connected with vision emulation system by the RS485 bus.
4. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described vision emulation system is that the equipment that can realize the vision simulation program is housed.
5. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system sends the data communication device of vision emulation system to and crosses formula
Carry out data and process, be converted into the vision simulation demonstration of carrier, wherein,
X is the displacement of carrier on the world coordinate system directions X;
Y is the displacement of carrier on the world coordinate system Y-direction;
Z is the displacement of carrier on world coordinate system Z direction;
Sx is carrier displacement on the directions X in moving coordinate system;
Sy is carrier displacement on the Y-direction in moving coordinate system;
Sz is carrier displacement on the Z direction in moving coordinate system;
θ is the angle of direction of motion and the moving coordinate system Y-axis of carrier.
6. a kind of underwater robot sub-control system according to claim 1 is characterized in that, the three-dimensional model of carrier adopts MultiGen Creator to make in the described vision emulation system.
7. a kind of underwater robot sub-control system according to claim 1, it is characterized in that, the mathematical model of heaving pile is a space para-curve in the described vision emulation system, and the method that adopts described point to draw in vision simulation shows that dynamically this parabola model is:
Wherein, (x, y, z) is the coordinate of arbitrfary point on the para-curve;
A, b are the parabola model parameter.
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| CN105319987A (en) * | 2015-11-09 | 2016-02-10 | 哈尔滨工程大学 | Working ROV training simulator motion control simulation system |
| CN104407521B (en) * | 2014-11-13 | 2017-02-15 | 河海大学常州校区 | Method for realizing real-time simulation of underwater robot |
| CN106600666A (en) * | 2016-12-19 | 2017-04-26 | 河海大学常州校区 | Underwater robot simulation demonstration system and simulation method |
| CN106997175A (en) * | 2016-10-21 | 2017-08-01 | 遨博（北京）智能科技有限公司 | A kind of robot simulation control method and device |
| CN107526369A (en) * | 2017-10-17 | 2017-12-29 | 西北工业大学 | The distance type underwater robot Trajectory Tracking Control method of multi-thruster |
| CN108733045A (en) * | 2017-09-29 | 2018-11-02 | 北京猎户星空科技有限公司 | Robot and its barrier-avoiding method and computer readable storage medium |
| CN110110356A (en) * | 2019-03-26 | 2019-08-09 | 江西理工大学 | The production method and system of Tai Aoyangsen mechanism foot formula kinematic robot |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN113433835A (en) * | 2020-03-23 | 2021-09-24 | 中国科学院沈阳自动化研究所 | UNITY 3D-based underwater vehicle vision simulation system and method |
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| CN105319987A (en) * | 2015-11-09 | 2016-02-10 | 哈尔滨工程大学 | Working ROV training simulator motion control simulation system |
| CN106997175A (en) * | 2016-10-21 | 2017-08-01 | 遨博（北京）智能科技有限公司 | A kind of robot simulation control method and device |
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| CN108733045A (en) * | 2017-09-29 | 2018-11-02 | 北京猎户星空科技有限公司 | Robot and its barrier-avoiding method and computer readable storage medium |
| CN107526369A (en) * | 2017-10-17 | 2017-12-29 | 西北工业大学 | The distance type underwater robot Trajectory Tracking Control method of multi-thruster |
| CN110110356A (en) * | 2019-03-26 | 2019-08-09 | 江西理工大学 | The production method and system of Tai Aoyangsen mechanism foot formula kinematic robot |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN110434876B (en) * | 2019-08-09 | 2024-03-22 | 南京工程学院 | Six-degree-of-freedom ROV simulation driving system and simulation method thereof |
| CN113433835A (en) * | 2020-03-23 | 2021-09-24 | 中国科学院沈阳自动化研究所 | UNITY 3D-based underwater vehicle vision simulation system and method |
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