CN104932518A - Underwater robot sea search system - Google Patents
Underwater robot sea search system Download PDFInfo
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- CN104932518A CN104932518A CN201510249489.0A CN201510249489A CN104932518A CN 104932518 A CN104932518 A CN 104932518A CN 201510249489 A CN201510249489 A CN 201510249489A CN 104932518 A CN104932518 A CN 104932518A
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Abstract
An underwater robot sea search system relates to an underwater robot, and comprises a water surface control system, an underwater relay control system and an underwater control system; the water surface control system comprises an energy acquisition subsystem, a display subsystem, and an order control subsystem; the underwater control system comprises the underwater robot, various underwater sensor modules, a video acquisition module, an underwater camera module and a power drive module; an output end of the energy acquisition subsystem is respectively connected with an input end of the order control subsystem, an input end of the display subsystem, and an input end of the underwater relay control system; an output end of the order control subsystem is connected with an input end of the underwater relay control system; the underwater relay control system is respectively connected with various underwater sensor modules, the video acquisition module, the underwater camera module and the power drive module; an output end of the power drive module is connected with the underwater robot; an output end of the underwater relay control system is connected with an input end of the display subsystem. The underwater sea search system can freely switch between a planktonic modal and a creep modal.
Description
Technical field
The present invention relates to underwater robot, especially relate to a kind of simple to operate, function perfects and accommodative ability of environment is strong underwater robot ocean search system.
Background technology
The underwater robot Recent Progresses In The Development of China is huge.In recent years, underwater robot is searched and rescued under water, habitata, the aspect such as ocean search play huge effect.It can substitute frogman and enter into detection and the collection operation that underwater environment that is severe, that be unsuitable for human survival carries out high strength, greatly load.
Current, the mode of underwater robot mainly contains creeps, adsorbs and swims.Creep because speed is excessively slow, large-area search cannot be realized; Absorption requires high to the concavo-convex degree of wall and material, and adaptive faculty is weak; Mode of swimming plays greatly effect in search procedure, but when finding search target, is only well to realize detection and collection operation by mode of swimming.
Remote underwater robot mainly relies on operating personnel in first Long-distance Control in the class, to the behavior command that underwater robot is concrete; Autonomous underwater robot then carries out autonomous search mission according to the instruction pre-set.These two kinds of underwater robots respectively have relative merits.
At present, underwater robot major part is all the shallow sea operation for the short time, so providing of its energy is all powered by preprepared conventional accumulators.But the search operation of most ocean all needs to spend a large amount of time, the source therefore powered to underwater robot and mode also determine the length of underwater robot continuous working period.
Summary of the invention
The object of the invention is to power defect that is limited, single mode underwater robot functional limitation to overcome conventional accumulators, providing a kind of can freely switch in swim mode and mode of creeping and have the underwater robot ocean search system of infinite energy source.
The present invention is provided with water surface control system, under water relay control system and Subsea Control Systems;
Described water surface control system is provided with energy resource collecting subsystem, display subsystem, instruction control subsystem; Described Subsea Control Systems is provided with underwater robot, various underwater sensor module, video acquisition module, Underwater Camera module and power drive module;
The output terminal of the described energy resource collecting subsystem respectively input end of and instruction control subsystem, the input end of display subsystem is connected with the input end of relay control system under water, the output terminal of instruction control subsystem is connected with the input end of relay control system under water, relay control system is connected with power drive module with various underwater sensor module, video acquisition module, Underwater Camera module respectively under water, the output terminal of power drive module is connected with underwater robot, and the output terminal of relay control system is connected with the input end of display subsystem under water.
Subsea Control Systems by each data collecting module collected to data send to relay control system under water, relay control system is responsible for the multichannel data that collection Subsea Control Systems collects under water, and by these data to the transmission of water surface control system, its effect reduces water surface control system to the impact of Subsea Control Systems; Water surface control system shows relay control system under water and feeds back the data of coming, operating personnel on deck can Real Time Observation seabed situation by the video data that sends, and concrete operational order can be sent to relay system under water by system interface according to actual conditions, make it control Subsea Control Systems and perform corresponding behavior command.
Energy resource collecting subsystem receives solar radiation by the photovoltaic panel be fixed on water surface deck, by storage of solar energy in the solar storage battery be connected with photovoltaic panel, for whole underwater robot ocean search system provides the sufficient energy.Because whole system can be applicable in the search operation of long ocean, therefore energy acquisition system can make a change according to the running status of current solar storage battery charge condition to this system; When energy is too low, this system enters park mode, the consumption of economize energy, waits for that solar storage battery electricity just proceeds to normal mode of operation after acquiring a certain degree.The mode of operation of whole system all can be shown with the form of pilot lamp, and the form also with word in control inerface is pointed out.
The multichannel data from Subsea Control Systems that relay control system is collected under water is shown by the form of picture and text and video by display subsystem, the data of underwater sensor collection show in graph form, be illustrated with the form of word after mathematical analysis is carried out to curve, the real-time video of camera collection is play in real time, so that operating personnel's Real Time Observation underwater robot handling situations.
Instruction control subsystem is the direct input control order of operating personnel on deck, instruction is sent to relay control system under water, send Subsea Control Systems to by relay control system again, the instruction of Subsea Control Systems analysis and Control, make underwater robot perform concrete operations.
Described solar storage battery can adopt plumbic acid maintenance-free accumulator, and it has non-maintaining characteristic and the few feature of environmental pollution.
Described relay control system under water mainly as a relaying, the interference that the cable reducing water surface control system moves to Subsea Control Systems.Be connected with the armour cable that weight is large between relay control system with water surface control system under water, relay control system is connected with the lightweight heaving pile of Subsea Control Systems under water.Relay control system has multiple interface under water, for receiving the underwater sensor data and video and image information that collect from Subsea Control Systems and sending this multiline message to water surface control system.
Underwater robot is the body of whole system; Underwater sensor module in charge image data, comprising the degree of depth, speed, angle, temperature, pressure transducer; Video acquisition module is then implement to gather video data by camera; Underwater Camera can obtain useful graphical information, sends instruction and realizes whether obtaining present image information, and this picture rich in detail is fed back to water surface control system by water surface control system.Power drive module, makes underwater robot push ahead by underwater propeller.Underwater robot has two kinds of mode, mode of swimming and mode of creeping, when underwater has just started to execute the task, be introduced into mode of swimming, current underwater robot carries out inch-by-inch search according to pre-set route, advances along " bow " font path, after finding target, send signal to control system waterborne, control system waterborne determines current particular location by GPS module again, and shows in display subsystem.Select " bow " font as underwater robot progress path mainly due to this path simply, can inch-by-inch search be realized, avoid the omission of hunting zone to cause the failure of search mission.This underwater robot ocean search system can be used for obtaining subsea image information and the target search in ocean and actual job.If with in Yu Haiyang search, system is analyzed the real time scene that camera photographs, judge whether existing object is the target that we find according to algorithm for pattern recognition, if be not the target found then continue to move on along " bow " font path, if search out target object, underwater robot interrupts current path, and vertical landing is to seabed, then by water surface control system, operation is on the spot carried out by operating personnel's Long-distance Control underwater robot.
The power drive module of described Subsea Control Systems is positioned at the top of described underwater robot, each two of front and back, is controlled working direction and the speed of underwater robot by each angle of rake rotating speed of Systematical control.
Described video acquisition module is positioned at the front portion of described underwater robot, this module can 90 ° of rotations, scene before underwater robot and below can be taken, when underwater robot be in swim mode time, only take the scene below underwater robot, when underwater robot be in creep mode time, only take the scene before underwater robot.
Instant invention overcomes conventional accumulators to power defect that is limited, single mode underwater robot functional limitation, provide and a kind ofly can freely switch in swim mode and mode of creeping and have the underwater robot ocean search system of infinite energy source.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of underwater robot provided by the invention search system on the spot.
Fig. 2 is the progress path schematic diagram of underwater robot under mode of swimming, and wherein R represents the radius of underwater robot scope that camera can photograph under floating state.
Embodiment
For making object of the present invention, scheme and advantage clearly understand, below in conjunction with concrete enforcement, and with reference to accompanying drawing, the invention will be further described.
The population of land gets more and more, and the scope of activities of people extend to ocean gradually.In recent years, marine technology obtained fast development, and due to needs such as oil exploitation, ocean search and rescue, seabed explorations, underwater robot also obtains larger development, and it replaces the severe deep-marine-environment of staff's entered environment to carry out seabed operation and seabed search mission.
Underwater robot ocean of the present invention search system, can by photovoltaic panel and solar storage battery, by switching underwater robot mode as the case may be, to be swum by setting the searching route of underwater robot under mode, provide a kind of can for a long time in remote undersea detection and ocean automatically inch-by-inch search automatically and the underwater robot ocean search system that combines of remote control.
Fig. 1 is the structured flowchart of the underwater robot ocean search system according to invention embodiment, and the embodiment of the present invention is provided with water surface control system 1, under water relay control system 2 and Subsea Control Systems 3; Described water surface control system 1 is provided with energy resource collecting subsystem 11, display subsystem 12, instruction control subsystem 13; Described Subsea Control Systems 3 is provided with underwater robot 31, various underwater sensor module 32, video acquisition module 33, Underwater Camera module 34 and power drive module 35;
The input end of the output terminal difference and instruction control subsystem 13 of described energy resource collecting subsystem 11, the input end of display subsystem 12 is connected with the input end of relay control system 2 under water, the output terminal of instruction control subsystem 13 is connected with the input end of relay control system 2 under water, under water relay control system 2 respectively with various underwater sensor module 32, video acquisition module 33, Underwater Camera module 34 is connected with power drive module 35, the output terminal of power drive module 35 is connected with underwater robot 31, the output terminal of relay control system 2 is connected with the input end of display subsystem 12 under water.
Energy resource collecting subsystem, receives solar radiation by the photovoltaic panel be fixed on water surface deck, by storage of solar energy in the solar storage battery be connected with photovoltaic panel, for whole underwater robot ocean search system provides the sufficient energy.Because whole system can be applicable in the search operation of long ocean, therefore energy acquisition system can make a change according to the running status of current solar storage battery charge condition to this system; At set intervals by collection electricity, when energy is too low, this system enters park mode, closes the search work task of underwater robot, makes it remain static, the consumption of economize energy; Wait for that making solar storage battery electricity reach a certain amount of rear underwater talent by photovoltaic panel collection sun power transfers normal mode of operation to from park mode, stopped task before continuing to perform.The mode of operation of whole system all can be pointed out with the form of pilot lamp, and also identifies with the form of word in control inerface.Described solar storage battery is plumbic acid maintenance-free accumulator, because it has non-maintaining characteristic and the few feature of environmental pollution.
Display subsystem, the multichannel data from Subsea Control Systems that relay control system is collected under water is shown by the form of picture and text and video, the data that underwater sensor gathers, with the display of the form of the curve of dynamic change, with the form of word are illustrated after carrying out mathematical analysis to curve; The real-time video of camera collection is play in real time, so that operating personnel's Real Time Observation underwater robot handling situations.
Instruction control subsystem passes through the direct input control order in interface by the operating personnel on deck, instruction is sent to relay control system under water, send Subsea Control Systems to by relay control system again, the instruction of Subsea Control Systems analysis and Control, make underwater robot perform concrete operations.When robot swims and carries out finding suspected target object in search mission process along " bow " font path preset under mode under water, Subsea Control Systems sends information to relay control system under water, identification discovery suspected target object, application judges further; Relay control system submits this information to further to water surface control system under water, operating personnel do preliminary judgement on deck by real-time video, remote-controlled Subsea Control Systems controls Underwater Camera module photograph high-definition image information, then by computing machine, characteristic matching analysis is carried out to this image collected and target image and do further judgement, if it is determined that be target object, then remote underwater robot gos deep into seabed and does and further operate on the spot.Now, inputting dependent instruction instruction by operating personnel makes underwater robot make the respective action such as advance or retrogressing.
Relay control system is mainly as a relaying under water, the interference that the cable reducing water surface control system moves to Subsea Control Systems.Be connected with the armour cable that weight is large between relay control system with water surface control system, relay control system is connected with the lightweight heaving pile of Subsea Control Systems.Relay system has multiple interface under water, for receiving the underwater sensor data and video and image information that collect from Subsea Control Systems and sending this multiline message to water surface control system.
Underwater sensor module in charge image data, comprising the degree of depth, speed, angle, temperature, pressure transducer.This multiple types sensor is uniformly distributed in the body surface of underwater robot.This sensor is connected by serial ports or common I/O port, is stored in the memory module of Subsea Control Systems by the form being packaged into packet after digital-to-analog conversion, sends to relay control system under water at regular intervals.
Video acquisition module is then implement to gather video data by camera.Video acquisition module is positioned at the front portion of underwater robot, this module can 90 ° of rotations, scene before underwater robot and below can be taken, when underwater robot be in swim mode time, only take the scene below underwater robot, when underwater robot be in creep mode time, only take the scene before underwater robot.
Underwater Camera can obtain useful graphical information, sends instruction and realizes whether obtaining present image information, and this picture rich in detail is fed back to water surface control system by water surface control system.Generally, Underwater Camera module is in dormant state, only just takes current scene after receiving the acquisition image information from relay control system under water, and gives relay control system under water by this image information Real-time Feedback.
Power drive module, makes underwater robot push ahead by underwater propeller.Power drive module is positioned at the top of underwater robot, each two of front and back, is controlled working direction and the speed of underwater robot by each angle of rake rotating speed of Systematical control.
Underwater robot has two kinds of mode, and mode of swimming and mode of creeping, Fig. 2 is the progress path schematic diagram of underwater robot 31 under mode of swimming, and wherein R represents the radius of underwater robot scope that camera can photograph under floating state.When underwater has just started to execute the task, be introduced into mode of swimming, current underwater robot has carried out inch-by-inch search according to pre-set route, advances along " bow " font path.Select " bow " font as the progress path of underwater robot mainly because this path is simple, and can inch-by-inch search be realized, avoid the omission of hunting zone to cause the failure of search mission.This underwater robot ocean search system can be used for obtaining subsea image information and the target search in ocean and actual job.If with in Yu Haiyang search, the real time scene that system photographs camera and the target that we will search for carry out characteristic matching, judge whether existing object is the target that we find, if be not we the target found then continue to move on along " bow " font path, if search out target object, underwater robot interrupts current path, and vertical landing is to seabed, then by water surface control system, operation is on the spot carried out by operating personnel's Long-distance Control underwater robot.
Claims (4)
1. underwater robot ocean search system, is characterized in that being provided with water surface control system, under water relay control system and Subsea Control Systems;
Described water surface control system is provided with energy resource collecting subsystem, display subsystem, instruction control subsystem; Described Subsea Control Systems is provided with underwater robot, underwater sensor module, video acquisition module, Underwater Camera module and power drive module;
The output terminal of the described energy resource collecting subsystem respectively input end of and instruction control subsystem, the input end of display subsystem is connected with the input end of relay control system under water, the output terminal of instruction control subsystem is connected with the input end of relay control system under water, relay control system is connected with power drive module with underwater sensor module, video acquisition module, Underwater Camera module respectively under water, the output terminal of power drive module is connected with underwater robot, and the output terminal of relay control system is connected with the input end of display subsystem under water.
2. underwater robot ocean search system as claimed in claim 1, is characterized in that described underwater sensor module includes but not limited to depth transducer, speed pickup, angular transducer, temperature sensor, pressure transducer.
3. underwater robot ocean search system as claimed in claim 1, is characterized in that described power drive module is positioned at the top of underwater robot, each two of front and back, for by controlling angle of rake rotating speed to control working direction and the speed of underwater robot.
4. underwater robot ocean search system as claimed in claim 1, is characterized in that described video acquisition module is positioned at the front portion of underwater robot, and video acquisition module can 90 ° of rotations, for taking scene before underwater robot and below.
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| CN108037766A (en) * | 2017-12-11 | 2018-05-15 | 河海大学 | One kind, which is swum, to be rolled into bottom and dwells type underwater vehicle control system |
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Cited By (9)
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| CN107329488A (en) * | 2016-04-30 | 2017-11-07 | 付斌 | Unmanned aerial vehicle (UAV) control method under water based on distribution embedded system |
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| CN109213181A (en) * | 2018-09-04 | 2019-01-15 | 涵速智能科技（上海）有限公司 | A kind of underwater unmanned plane visual angle switching system based on Brilliant Eyes camera lens control technology |
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| CN110362118A (en) * | 2019-07-08 | 2019-10-22 | 长江大学 | The aerial underwater multirobot in sea remotely three-dimensional cooperative control system and its control method |
| CN111696691A (en) * | 2020-05-26 | 2020-09-22 | 江苏核电有限公司 | Method and device for inspecting matching surface between bottom of protection tube assembly and nuclear fuel assembly |
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