CN107703950A - A kind of underwater robot and control method using motion sensing control - Google Patents
A kind of underwater robot and control method using motion sensing control Download PDFInfo
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- CN107703950A CN107703950A CN201711034480.3A CN201711034480A CN107703950A CN 107703950 A CN107703950 A CN 107703950A CN 201711034480 A CN201711034480 A CN 201711034480A CN 107703950 A CN107703950 A CN 107703950A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention discloses a kind of underwater robot and control method using motion sensing control, the robot includes robot body, underwater robot control system and motion sensing control system waterborne；The robot body includes：Form the skeleton of robot body's structure, provided with preceding waterproof compartment and rear waterproof compartment, a vertical direction propeller is provided between forward and backward waterproof compartment, a horizontal direction propeller is provided with after rear waterproof compartment, horizontal direction propeller being capable of the driving of former and later two directions；The underwater robot control system, including robot movement-control system, image collecting device, information carrying means；The motion sensing control system waterborne includes motion sensing control plate and computer host computer.The present invention can realize the motion using hand motion sensing control underwater robot.The overall motion sensing control for realizing robot of the invention, operation format innovation, while underwater realtime graphic can be seen at PC ends.The present invention simplifies mechanical structure compared to remote control, greatly reduces equipment cost.
Description
Technical Field
The invention relates to the field of embedded control, in particular to an underwater robot controlled by using body feeling and a control method thereof.
Background
Underwater robots are one of the most actively developing and leading-edge high-tech fields of this century. The special robot technology and application research based on the non-structural environment and the extreme environment become the main research direction of the robot technology. Since the 90 s of the 20 th century, the application of robotics began to expand from the manufacturing field to the non-manufacturing field, and the popularization and entertainment of underwater robots have been continuously developed. However, the control mode of the current underwater robot basically adopts a remote control device, and the motion of the underwater robot is controlled by rotating a remote control knob, and the control mode is mechanical in form, poor in control flexibility and unsatisfactory in human-computer interaction effect, and the invention provides a novel control method based on gesture induction based on the defect.
Disclosure of Invention
The invention aims to provide an underwater robot controlled by using body feeling and a control method, which can realize the control of the motion of the underwater robot by using hand body feeling.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater robot controlled by using body feeling comprises a robot main body, an underwater robot control system and an above-water body feeling control system; the robot main body includes: the framework forming the main body structure of the robot is provided with a front waterproof cabin and a rear waterproof cabin, a vertical propeller is arranged between the front waterproof cabin and the rear waterproof cabin, a horizontal propeller is arranged behind the rear waterproof cabin, and the horizontal propeller can be driven in the front and the rear directions;
the underwater robot control system comprises a robot motion control system, an image acquisition device and an information transmission device; the robot motion control system and the information transmission device are arranged in the rear waterproof bin, and the image acquisition device is arranged in the front waterproof bin; the robot motion control system consists of a main control panel and a motor control panel, wherein the main control panel is used for receiving gesture control signals forwarded by a computer upper computer of the water motion sensing control system and simultaneously sending image information to a shore-based computer display, and simultaneously the main control panel transmits the control signals to the motor control panel, so that the motor control panel drives a vertical propeller and/or a horizontal propeller to simultaneously or independently work according to different control signals; the main control board runs an embedded Linux operating system by using an embedded processor, the tasks processed by the operating system comprise acquisition of image signals, sending of video signals by using a TCP/IP communication protocol, receiving of control signals sent by the water somatosensory control system, sending of the received control signals to a motor control board through an RS232 serial port communication module, and control of a vertical propeller motor or a horizontal propeller motor by adopting different pulse width modulation corresponding to different control signals, so that the underwater robot is controlled to move underwater in different modes; the image acquisition device acquires the surrounding environment information of the underwater robot in real time, namely a video picture, through a high-definition camera based on a Linux control board; the information transmission device is formed by wrapping a cable by a zero-buoyancy protective sleeve and is communicated with a computer upper computer of the water somatosensory control system by using a power carrier line;
the water somatosensory control system comprises a somatosensory control panel and a computer upper computer, wherein the computer upper computer is communicated with the somatosensory control panel through a USB-to-RS 232 serial port communication module; the somatosensory control panel is provided with an MPU6050 sensor, an RS232 serial port communication module and an I2C communication module, a human body posture signal is obtained, and the tcpSocket- > write (MainSerialRecvData) is called through upper computer software designed by utilizing QT; the function statement sends data to the underwater robot control system by using a TCP/IP protocol, and the MainSerialRecvData in the statement is data received by the upper computer of the computer.
The somatosensory control panel is composed of a main control chip and an MPU6050 sensor module. The external part of the sensor is connected with a computer upper mechanism by a serial port line to form a body sensing control system after being packaged by a shell. MPU6050 sensor is driven by I2C to obtain the original angular velocity omega of the underwater robot x 、ω y 、ω z Then, sending the data to a body sensing control plate angular velocity normalization process of a body sensing control system, wherein omega represents the angular velocity of the robot in unit time;
setting a reference coordinate system E, fixedly connecting the coordinate system with the underwater robot body, and carrying out data normalization processing:
obtaining a quaternion differential equation using the angular velocity:
resolving to obtain four elements q 0 、q 1 、q 2 、q 3 ，
And then carrying out normalization treatment on the obtained four elements:
obtaining an attitude matrix T:
the euler angle can be calculated from the attitude matrix:
and (4) calculating an Euler angle through quaternion solution to obtain the current posture of the hand, and obtaining a yaw angle, a roll angle and a pitch angle of the current gesture. When three angles meet a certain range of conditions, the somatosensory control panel of the somatosensory control system judges that the current posture is a corresponding control instruction, for example: and if the yaw angle is between +20 degrees and +90 degrees, and the roll angle and the pitch angle meet the condition that the yaw angle is between-20 degrees and +20 degrees, judging the control command of 'right turning'. And finally sending the instruction to a control system of the underwater robot to control the underwater robot to perform right turning action. The control method for controlling the robot by using the somatosensory comprises the following steps:
the underwater robot control signal is from an overwater motion sensing control system on a shore base, a motion sensing control panel worn on an arm generates a control signal, the motion sensing control panel drives an MPU6050 sensor by using an I2C communication protocol, the current roll angle, yaw angle and pitch angle of the underwater robot are solved, the angle value is changed according to the change of the gesture posture of a human body, different control signals are generated and are sent to a computer upper computer through RS232 serial port communication, and the computer upper computer sends the control signal to a robot motion control system of the underwater robot control system through a TCP/IP communication protocol; the control signals are sent in a character string mode, 8 bytes are occupied totally, the first three bits represent signal start flag bits to ensure data correctness, the fourth bit represents rear motor control, and the fifth bit represents upper motor control to ensure that forward movement and diving actions of the underwater robot are not conflicted; the last three-bit data represents a signal ending zone bit and is used for ending the judgment of the signal and continuing to receive the next signal; a main control board of the robot motion control system receives a signal sent by a shore-based water somatosensory control system, and meanwhile, the main control board sends a collected video signal to a computer upper computer of the shore-based water somatosensory control system for displaying; the main control board of the robot motion control system sends the received signals to the motor control board through RS232 serial port communication, so that the propeller motor in the vertical direction or the propeller motor in the horizontal direction can complete different actions according to different signals to form self closed loop feedback control; the body sensing control panel of the water body sensing control system drives an MPU6050 sensor by using an I2C communication protocol, the attitude data of the underwater robot acquired by the MPU6050 sensor is transmitted to the body sensing control panel, and then attitude calculation and transmission of attitude signals are completed, and the attitude calculation and body sensing control and the underwater robot control are integrated; thereby controlling the propeller motor in the vertical direction or the propeller motor in the horizontal direction and finishing the control of the underwater robot by using gestures.
Compared with the prior art, the invention has the following beneficial effects:
the invention firstly proposes to adopt a gesture control mode to remotely control the underwater robot, and the operation mode is beneficial to the quick operation of an operator and greatly improves the operation experience of the operator. The invention integrally realizes the somatosensory control of the robot, has innovative operation form and can see underwater real-time images on the computer display screen.
Compared with the traditional remote controller, the control scheme provided by the invention greatly simplifies the mechanical structure and greatly reduces the equipment cost.
Drawings
FIG. 1 is a schematic diagram of an underwater robot provided by the implementation of the invention;
FIG. 2 is a schematic diagram of a motion sensing control panel provided by an embodiment of the present invention;
FIG. 3 is an overall software roadmap provided by the implementation of the present invention;
fig. 4 is a diagram of an overall communication route provided by the implementation of the present invention.
Detailed Description
The underwater robot of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments:
an underwater observation robot according to an embodiment of the present invention is shown in fig. 1, and includes a robot main body, an underwater robot control system; the underwater observation robot main body includes: the framework 2 forming the main body structure of the robot is provided with a front waterproof cabin 4 and a rear waterproof cabin 3, a vertical propeller 6 is arranged between the front waterproof cabin 4 and the rear waterproof cabin 3, a horizontal propeller 1 is arranged behind the rear waterproof cabin 3, and the horizontal propeller 1 can be driven in the front and rear directions; the underwater robot control system comprises an underwater observation robot motion control system, an image acquisition device and an information transmission device; the underwater observation robot motion control system consists of a main control panel and a motor control panel, wherein an image acquisition device and a camera 5 are arranged in the front waterproof cabin 4, and a robot motion control system and an information transmission device 7 are arranged in the rear waterproof cabin 3; survey the robot under water still includes the body control system is felt on the water on the bank base, body control system is felt on water includes body control panel and computer host computer, as shown in fig. 2, has an RS232 interface 9 and arm cover 10 on the body control panel 8, can connect the computer host computer from RS232 interface 9, just so can utilize the gesture of human hand to control the robot of surveing under water.
As shown in fig. 3, a flow chart of a program of the underwater observation robot sequentially includes: when the underwater observation robot is on water, the hand angle is resolved through the somatosensory control device, then the control instruction corresponding to the angle is determined through the somatosensory control device, and the control instruction is sent to the underwater observation robot by utilizing the upper computer of the somatosensory control system on the shore base. When the underwater observation robot is underwater, the underwater observation robot controls the underwater observation robot to perform corresponding movement according to a control command sent by a computer upper computer of the receiver somatosensory control system, and meanwhile, the underwater observation robot maintains balance by utilizing an algorithm. And the underwater observation robot acquires surrounding underwater video signals at any moment, and transmits the surrounding underwater video signals to a computer upper computer of the shore-based somatosensory control system for image display through a TCP/IP communication protocol.
As shown in fig. 4, a communication connection diagram of an underwater observation robot is shown, and the connection mode is as follows: on water, the hand gesture sensor, namely an MPU6050 sensor sends gesture signals to the hand main control processor through an I2C communication protocol, and the hand gesture sensor and the MPU6050 sensor jointly form the body sensing control board. The hand main control processor sends attitude signals to a shore-based computer upper computer through an RS232 communication protocol, after the computer upper computer receives the attitude signals, through a TCP/IP communication protocol, power carrier waves are utilized, control signals are sent to a main control panel inside the underwater observation robot, then the main control panel sends the control signals to a motor control panel of the underwater observation robot through the RS232 communication protocol, and then a motor is controlled to rotate, meanwhile, image data collected by the image collection device is sent to the main control panel, and images are sent to the shore-based computer upper computer through the TCP/IP communication protocol.
The underwater observation robot is placed in water, the computer upper computer is connected with the underwater observation robot control system through power line carriers, and the underwater observation robot control system corresponds to different action instructions according to the received gesture angle values.
(1) The arm is forward: and (5) forward instructions for the robot.
(2) The arm swings downwards and upwards: and (5) giving instructions for descending and ascending the robot.
(3) The arm moves to the left and right direction: corresponding to the left and right directions of the robot.
The somatosensory control system is connected with a data line to a computer upper computer through an RS232 interface, signals are sent to the computer upper computer, the computer upper computer sends data to the main control panel of the underwater observation robot through an Ethernet port through power carrier waves, and then transmission of control signals is completed.
After the signal transmission is finished, the stable operation of the underwater robot is ensured by using a four-rotor P (proportion) I (integral) D (differential) control technology for reference. The relationship between the input e (t) and the output U (t) is as follows:
a transfer function of
The stable operation of the system can be ensured.
When the underwater observation robot is used, the underwater observation robot can be placed in a water pool of an aquarium, and a zero-buoyancy line is connected to an Ethernet port of a computer through a power carrier module. The other end of the computer is connected to a somatosensory control panel worn on the arm through a serial port line, the computer upper computer is opened to wait for successful connection, then the arm is swung to control the motion of the underwater observation robot, and meanwhile, underwater images can be seen on a computer display screen.
Claims (3)
1. The utility model provides an utilize body to feel underwater robot of control which characterized in that: the underwater robot control system comprises a robot main body, an underwater robot control system and an above-water somatosensory control system; the robot main body includes: the framework forming the main body structure of the robot is provided with a front waterproof cabin and a rear waterproof cabin, a vertical direction propeller is arranged between the front waterproof cabin and the rear waterproof cabin, a horizontal direction propeller is arranged behind the rear waterproof cabin, and the horizontal direction propeller can be driven in the front and rear directions;
the underwater robot control system comprises a robot motion control system, an image acquisition device and an information transmission device; the robot motion control system and the information transmission device are arranged in the rear waterproof bin, and the image acquisition device is arranged in the front waterproof bin; the robot motion control system consists of a main control panel and a motor control panel, wherein the main control panel is used for receiving gesture control signals forwarded by a computer upper computer of the water motion sensing control system and simultaneously sending image information to a shore-based computer display, and simultaneously the main control panel transmits the control signals to the motor control panel, so that the motor control panel drives a vertical propeller and/or a horizontal propeller to simultaneously or independently work according to different control signals; the main control board runs an embedded Linux operating system by using an embedded processor, the tasks processed by the operating system comprise acquisition of image signals, sending of video signals by using a TCP/IP communication protocol, receiving of control signals sent by the water somatosensory control system, sending of the received control signals to a motor control board through an RS232 serial port communication module, and control of a propeller motor in the vertical direction or a propeller motor in the horizontal direction by adopting different pulse width modulation corresponding to different control signals, so that the underwater robot is controlled to move underwater in different modes; the image acquisition device acquires the surrounding environment information of the underwater robot in real time, namely a video picture, through a high-definition camera on the basis of a Linux control board; the information transmission device is formed by wrapping a cable by a zero-buoyancy protective sleeve and is communicated with a computer upper computer of the water somatosensory control system by using a power carrier line;
the overwater motion sensing control system comprises a motion sensing control panel and a computer upper computer, wherein the computer upper computer is communicated with the motion sensing control panel through a USB-to-RS 232 serial port communication module; the somatosensory control panel is provided with an MPU6050 sensor, an RS232 serial port communication module and an I2C communication module, a human body posture signal is obtained, and the tcpSocket- > write (MainSerialRecvData) is called through upper computer software designed by utilizing QT; the functional statement sends data to the underwater robot control system by using a TCP/IP protocol, and the MainSerialRecvData in the statement is the data received by the upper computer of the computer.
2. The underwater robot controlled by body feeling as claimed in claim 1, wherein: the somatosensory control panel consists of a main control chip and an MPU6050 sensor module, and the MPU6050 sensor is driven by I2C to obtain the original angular velocity omega of the underwater robot x 、ω y 、ω z Then, sending the data to a body sensing control plate angular velocity normalization process of a body sensing control system, wherein omega represents the angular velocity of the robot in unit time;
setting a reference coordinate system E, fixedly connecting the coordinate system with the underwater robot body, and carrying out data normalization processing:
obtaining a quaternion differential equation using the angular velocity:
resolving to obtain four elements q 0 、q 1 、q 2 、q 3 ，
And then carrying out normalization treatment on the obtained four elements:
obtaining an attitude matrix T:
euler angles can be calculated from the attitude matrix:
θ＝arcsin(T 32 )
and (4) solving an Euler angle through quaternion to obtain the current gesture of the hand, and obtaining a yaw angle, a roll angle and a pitch angle of the current gesture.
3. The method for controlling a robot according to claim 1, wherein: the method comprises the following steps:
the underwater robot control signal is from an overwater motion sensing control system on a shore base, a motion sensing control panel worn on an arm generates a control signal, the motion sensing control panel drives an MPU6050 sensor by using an I2C communication protocol, the current roll angle, yaw angle and pitch angle of the underwater robot are solved, the angle value is changed according to the change of the gesture posture of a human body, different control signals are generated and are sent to a computer upper computer through RS232 serial port communication, and the computer upper computer sends the control signal to a robot motion control system of the underwater robot control system through a TCP/IP communication protocol; the control signals are sent in a character string mode, 8 bytes are occupied, the first three bits represent signal starting flag bits to ensure data correctness, the fourth bit represents rear motor control, and the fifth bit represents upper motor control to ensure that the underwater robot does not collide with the descending motion; the last three-bit data represents a signal ending zone bit and is used for ending the judgment of the signal and continuing to receive the next signal; a main control board of the robot motion control system receives a signal sent by a shore-based water motion sensing control system, and simultaneously sends a collected video signal to a computer upper computer of the shore-based water motion sensing control system for displaying; the main control board of the robot motion control system sends the received signals to the motor control board through RS232 serial port communication, so that the propeller motor in the vertical direction or the propeller motor in the horizontal direction can complete different actions according to different signals, and self closed loop feedback control is formed; the body sensing control panel of the overwater body sensing control system drives an MPU6050 sensor by using an I2C communication protocol, attitude data of the underwater robot acquired by the MPU6050 sensor is transmitted to the body sensing control panel, and then attitude calculation and transmission of attitude signals are completed, and the attitude calculation, body sensing control and underwater robot control are combined into a whole; thereby controlling the propeller motor in the vertical direction or the propeller motor in the horizontal direction and finishing the control of the underwater robot by using gestures.
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| CN108363415A (en) * | 2018-03-29 | 2018-08-03 | 燕山大学 | A kind of vision remote control servomechanism and method applied to underwater robot |
| CN108995786A (en) * | 2018-07-14 | 2018-12-14 | 芜湖益浩昌智能设备有限公司 | A kind of adjustable underwater robot of operation posture |
| CN109918545A (en) * | 2019-03-26 | 2019-06-21 | 珠海格力智能装备有限公司 | The extracting method and device of sensing data |
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| CN110308797A (en) * | 2019-07-09 | 2019-10-08 | 西北工业大学 | Underwater robot environmental interaction system based on body-sensing technology mechanical arm and virtual reality technology |
| CN109784499B (en) * | 2018-12-21 | 2021-01-05 | 华南理工大学广州学院 | Learning robot and control method |
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| CN110308797A (en) * | 2019-07-09 | 2019-10-08 | 西北工业大学 | Underwater robot environmental interaction system based on body-sensing technology mechanical arm and virtual reality technology |
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