CN107985533A - Unmanned remotely controlled submersible vehicle and its control method - Google Patents
Unmanned remotely controlled submersible vehicle and its control method Download PDFInfo
- Publication number
- CN107985533A CN107985533A CN201711437234.2A CN201711437234A CN107985533A CN 107985533 A CN107985533 A CN 107985533A CN 201711437234 A CN201711437234 A CN 201711437234A CN 107985533 A CN107985533 A CN 107985533A
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- Prior art keywords
- unit
- remotely controlled
- submersible vehicle
- beacon element
- unmanned remotely
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000007667 floating Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/02—Divers' equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a kind of unmanned remotely controlled submersible vehicle, including the body with camera unit and control unit；The power unit being arranged on body；For the beacon element being worn on a certain position of user's body, the beacon element can launch multiple optics control signals of different light and shade brightness；The optics control signal that described control unit can be collected according to the camera unit controls the power unit to make corresponding response, to adjust the movement posture of the body.In addition, the control method present invention also provides unmanned remotely controlled submersible vehicle.The unmanned remotely controlled submersible vehicle and its control method that the application provides can be acted accordingly by receiving the optics control signal of exterior transmission, realize spot hover, from motion tracking, floating, dive, overlook, look up, turn left, turn right, advance, the function such as retreat, avoid when being controlled using cable that there is a phenomenon where wind.
Description
Technical field
The present invention relates to submersible field, more particularly to a kind of submersible and its control method using optical communication.
Background technology
Diving personnel or swimming fan have found general after beautiful splendid scenery or memorable thing in water
It will recognize that souvenir of taking pictures, they can carry with Underwater Camera and be recorded in general.But this style of shooting without
Oneself is fused together by method completely with background, it is impossible to allows and oneself is personally dissolved into fine view.Therefore, be merely able to according to
By companion for oneself shooting or by the shooting of underwater cable man-controlled mobile robot.
At present, common unmanned remotely controlled submersible vehicle (ROV, Remotely operated underwater vehicle) is adopted
ROV bodies are connected with cable, with terminal control unit control ROV movements.Which needs user to be controlled by cable to ROV
System, cable easily produce winding, knot, and inconvenient to carry.
The content of the invention
In view of defect existing in the prior art, the present invention provides a kind of unmanned remotely controlled submersible vehicle, including：
Body with camera unit and control unit；
The power unit being arranged on body；
For the beacon element being worn on a certain position of user's body, the beacon element can launch different light and shades
Multiple optics control signals of brightness；
The optics control signal that described control unit can be collected according to the camera unit controls the power
Unit makes corresponding response, to adjust the movement posture of the body.
In certain embodiments of the present invention, the beacon element can be sent more in a manner of the flicker of different frequency
A optics control signal.
In certain embodiments of the present invention, the specific fortune of multiple beacon elements is preset with described control unit
The shape that dynamic rail mark is formed, and correspondence is established into shape movement corresponding with the body；When the shooting
When the movement locus that unit collects the beacon element meets default shape, described control unit controls the body to complete
Corresponding movement.
In the present embodiment, by the use of luminous light bar as beacon element, the different light and shade luminance transformations of light bar are passed through
The optics control signal different as switching, or the identification for the different movement locus for passing through light bar are used as switching command,
Such as light bar flicker is fast as the instruction from motion tracking, the slow instruction as spot hover of flicker.This method can be bright
Aobvious distinguishes object and background objects, excludes interference of the environment for optics control signal.
In certain embodiments of the present invention, the power unit has multiple, and is arranged on the body not
Same position；The optics control signal that described control unit can be collected according to the camera unit, controls corresponding dynamic
Power unit responds, to adjust the movement posture of the body.
In certain embodiments of the present invention, the unmanned remotely controlled submersible vehicle includes the use being arranged on the body
In the sensor unit for the hovering posture for perceiving submerged depth and the body.
In addition, present invention also offers a kind of control method of unmanned remotely controlled submersible vehicle, including：
The beacon element on a certain position of user's body is worn on the multiple optics control letters of different light and shade brightness emissions
Number；
The optics that the control unit being arranged on unmanned remotely controlled submersible vehicle body is collected according to camera unit controls
Signal controls the power unit to make corresponding response, to adjust the movement posture of the body.
In certain embodiments of the present invention, the beacon element can be sent more in a manner of the flicker of different frequency
A optics control signal.
In certain embodiments of the present invention, the specific fortune of multiple beacon elements is preset with described control unit
The shape that dynamic rail mark is formed, and correspondence is established into shape movement corresponding with the body；When the shooting
When the movement locus that unit collects the beacon element meets default shape, described control unit controls the body to complete
Corresponding movement.
In certain embodiments of the present invention, when the optics control signal of beacon element transmitting trace command, and
When the beacon element is in the focal position of the camera unit, described control unit controls the power unit to make accordingly
Response so that described in described volume tracing beacon element move；
When the optics control signal of beacon element transmitting trace command, and the beacon element is not in the shooting
During the focal position of unit, described control unit first controls the power unit to make corresponding response, so that the beacon
Unit is located at the focal position of the camera unit, then controls the power unit to make corresponding response, so that described
Beacon element described in this volume tracing is moved.
In certain embodiments of the present invention, when the optics control signal of beacon element transmitting spot hover, institute
The optics control signal that stating control unit can collect according to the camera unit controls the power unit to make phase
The response answered, so that the body spot hover is to relevant position；If sensor unit perceives the submerged depth obtained and institute
The hovering posture of body and the optics control signal of the spot hover are stated there are error, then described control unit control is described dynamic
Power unit makes corresponding compensation campaign.
Unmanned remotely controlled submersible vehicle provided by the invention and its control method are by receiving the exterior optics control signal transmitted
Can be acted accordingly, realize spot hover, from motion tracking, floating, dive, overlook, look up, turn left, turn right, advance, after
The function such as move back, avoid when being controlled using cable that there is a phenomenon where wind.Meanwhile this unmanned remotely controlled submersible vehicle has multiple expand
Interface is opened up, it can be achieved that to Underwater Camera, underwater luminaire, laser, infrared, acoustic equipment carrying.
Brief description of the drawings
Fig. 1 is the communication scheme of the unmanned remotely controlled submersible vehicle of an embodiment of the present invention；
Fig. 2 is the unmanned remotely controlled submersible vehicle of an embodiment of the present invention according to the workflow of automatic tracking control signal
Figure；
Fig. 3 is the unmanned remotely controlled submersible vehicle of an embodiment of the present invention according to the workflow of fixed point suspension control signal
Figure；
Fig. 4 is the unmanned remotely controlled submersible vehicle of an embodiment of the present invention according to advance, the workflow of retrogressing control signal
Figure.
Embodiment
In order to make the purpose, technical scheme and advantage of invention clearer, below in conjunction with the accompanying drawings with specific embodiment to hair
It is bright to be described in further detail.Although disclosure exemplary embodiment is shown in attached drawing, it being understood, however, that can be with each
Kind form realizes the present invention without should be limited by embodiments set forth here.Conversely, there is provided these embodiments are to be able to
The more thorough explanation present invention, and the scope of the present invention can be completely communicated to those skilled in the art.
As shown in Figure 1, embodiment of the present invention provides a kind of unmanned remotely controlled submersible vehicle, it is included with camera unit 11
Body 1 with control unit, the power unit 12 being arranged on body, for be worn on a certain position of user's body (such as
Wrist) on beacon element 2.
Beacon element 2 can launch multiple optics control signals of different light and shade brightness, and camera unit 11 collects the light
Learn control signal and be sent to control unit, control unit controls power unit 12 to make phase according to the optics control signal
The response answered, to adjust the movement posture of body 1.
Beacon element 2 can also send multiple optics control signals in a manner of the flicker of different frequency.
Further, the shape (such as three that the special exercise track of multiple beacon elements is formed is preset with control unit
Angular track, circular trace, square track etc.), and corresponding close is established into the movement corresponding with body 1 of above-mentioned shape
System.When the movement locus that camera unit 11 collects beacon element 2 meets default shape, control unit control power unit
12 so that body 1 is completed to move accordingly.
Above-mentioned power unit 12 has a diverse locations that are multiple, and being arranged on body 1, power unit in present embodiment
12 have four, they are respectively the vertical direction propeller for being arranged at 1 head end of body and tail end, and are arranged at body 1 or so
Horizontal direction propeller on the wing of both sides.The optics control signal that control unit can be collected according to camera unit 11, control
Make corresponding power unit 12 and respond that (such as left side horizontal direction propeller starts, then body rotates to the right；Hang down front end
Nogata starts to propeller, then body is faced upward), to adjust the movement posture of body 1.
Further, the sensor list of the hovering posture for perceiving submerged depth and body can also be installed on body 1
Member.
As in Figure 2-4, present invention also offers a kind of control method of unmanned remotely controlled submersible vehicle, including：
The beacon element 2 on a certain position of user's body is worn on the multiple optics control letters of different light and shade brightness emissions
Number；
The optics that the control unit being arranged on unmanned remotely controlled submersible vehicle body 1 is collected according to camera unit 11 controls letter
Number control power unit 12 make corresponding response, to adjust the movement posture of body.
Beacon element 2 can send multiple optics control signals in a manner of the flicker of different frequency.
Further, the shape that the special exercise track of multiple beacon elements 2 is formed is preset with control unit, and will
Correspondence is established in shape movement corresponding with body.The movement locus that beacon element 2 is collected when camera unit 11 meets
During default shape, control unit control body 1 is completed to move accordingly.
When the optics control signal of the transmitting trace command of beacon element 2, and beacon element 2 is in the focus of camera unit 11
During position, control unit control power unit 12 makes corresponding response, so that 1 tracking beacon unit 2 of body moves.Work as letter
The optics control signal that unit 2 launches trace command is marked, and when beacon element 2 is not in the focal position of camera unit 11, control
Unit processed first controls power unit 12 to make corresponding response, so that beacon element 2 is located at the focal position of camera unit 11,
Then control power unit 12 makes corresponding response, so that body 1 tracks the beacon element movement.
With reference to Fig. 2, specifically, control unit receives optics control signal and starts to perform trace routine, first determines whether letter
The center whether unit 2 is in camera unit 11 is marked, if it is in the left side of center, the propeller on right side is to pusher
Water, left side propeller are realized quickly to turn left, beacon element 2 is located at the center of camera unit 11 to water is pushed forward.If its
On the right side of center, then the propeller in left side is realized and quickly turned right, make to pusher water, right-side propellers to water is pushed forward
Beacon element 2 is located at the center of camera unit 11.If it is pushed down in the top of center, former and later two propellers
Water, realizes and quickly floats, beacon element 2 is located at the center of camera unit 11.If it is in the lower section of center,
Former and later two propellers push up water, realize quick dive, beacon element 2 is located at the center of camera unit 11.
With reference to Fig. 3, further, when beacon element 2 launches the optics control signal of spot hover, control unit 12 can
The optics control signal control power unit 12 collected according to institute's camera unit 11 makes corresponding response, so that body 1
Spot hover is to relevant position.At this time, if sensor unit perceives the submerged depth obtained and the hovering posture and fixed point of body
The optics control signal of hovering is there are error, then control unit control power unit 12 to make corresponding compensation campaign.
With reference to Fig. 4, when beacon element 2 launches the fixed optics control signal advanced or retreat, control unit control power list
Member 12 promotes body 1 to advance or retreat corresponding distance or time.Missed if its advance or the distance retreated or time exist
Difference, then control unit control power unit 12 make corresponding compensation campaign.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is nonrestrictive.Although
The present invention is described in detail with reference to embodiment, it should be appreciated by those of ordinary skill in the art that the skill to the present invention
Art scheme technical scheme is modified or replaced equivalently, without departure from the spirit and scope of technical solution of the present invention, it should all cover at this
Among the right of invention.
Claims (10)
1. unmanned remotely controlled submersible vehicle, it is characterised in that including：
Body with camera unit and control unit；
The power unit being arranged on body；
For the beacon element being worn on a certain position of user's body, the beacon element can launch different light and shade brightness
Multiple optics control signals；
The optics control signal that described control unit can be collected according to the camera unit controls the power unit
Corresponding response is made, to adjust the movement posture of the body.
2. unmanned remotely controlled submersible vehicle according to claim 1, it is characterised in that：
The beacon element can send multiple optics control signals in a manner of the flicker of different frequency.
3. unmanned remotely controlled submersible vehicle according to claim 2, it is characterised in that：
The shape that the special exercise track of multiple beacon elements is formed is preset with described control unit, and by the shape
Correspondence is established in shape movement corresponding with the body；When the camera unit collects the movement rail of the beacon element
When mark meets default shape, described control unit controls the body to complete corresponding movement.
4. unmanned remotely controlled submersible vehicle according to any one of claim 1-3, it is characterised in that：
The power unit has diverse locations that are multiple, and being arranged on the body；
The optics control signal that described control unit can be collected according to the camera unit, controls corresponding power list
Member responds, to adjust the movement posture of the body.
5. unmanned remotely controlled submersible vehicle according to claim 1, it is characterised in that including：
The sensor unit for being used to perceive submerged depth and the hovering posture of the body being arranged on the body.
6. the control method of unmanned remotely controlled submersible vehicle, it is characterised in that including：
The beacon element on a certain position of user's body is worn on the multiple optics control signals of different light and shade brightness emissions；
The optics control signal that the control unit being arranged on unmanned remotely controlled submersible vehicle body is collected according to camera unit
The power unit is controlled to make corresponding response, to adjust the movement posture of the body.
7. the control method of unmanned remotely controlled submersible vehicle according to claim 6, it is characterised in that：
The beacon element can send multiple optics control signals in a manner of the flicker of different frequency.
8. the control method of unmanned remotely controlled submersible vehicle according to claim 7, it is characterised in that：
The shape that the special exercise track of multiple beacon elements is formed is preset with described control unit, and by the shape
Correspondence is established in shape movement corresponding with the body；When the camera unit collects the movement rail of the beacon element
When mark meets default shape, described control unit controls the body to complete corresponding movement.
9. the control method of the unmanned remotely controlled submersible vehicle according to any one of claim 6-8, it is characterised in that：
When the optics control signal of beacon element transmitting trace command, and the beacon element is in the camera unit
During focal position, described control unit controls the power unit to make corresponding response, so that described in described volume tracing
Beacon element is moved；
When the optics control signal of beacon element transmitting trace command, and the beacon element is not in the camera unit
Focal position when, described control unit first controls the power unit to make corresponding response, so that the beacon element
Positioned at the focal position of the camera unit, the power unit is then controlled to make corresponding response, so that the body
Track the beacon element movement.
10. the control method of the unmanned remotely controlled submersible vehicle according to any one of claim 6-8, it is characterised in that：
When the optics control signal of beacon element transmitting spot hover, described control unit can be according to the camera unit
The optics control signal collected controls the power unit to make corresponding response, so that the body spot hover
To relevant position；
If sensor unit perceives the optics control of the submerged depth obtained and the hovering posture and the spot hover of the body
Signal processed is there are error, then described control unit controls the power unit to make corresponding compensation campaign.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711437234.2A CN107985533B (en) | 2017-12-26 | 2017-12-26 | Unmanned remote control submersible and control method thereof |
| PCT/CN2018/112476 WO2019128447A1 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| AU2018394779A AU2018394779B2 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| US16/483,742 US10988218B2 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| EP18893605.8A EP3560814A4 (en) | 2017-12-26 | 2018-10-29 | Remotely operated underwater vehicle and control method therefor |
| JP2019543942A JP6955568B2 (en) | 2017-12-26 | 2018-10-29 | Remote-controlled unmanned submersible and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711437234.2A CN107985533B (en) | 2017-12-26 | 2017-12-26 | Unmanned remote control submersible and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107985533A true CN107985533A (en) | 2018-05-04 |
| CN107985533B CN107985533B (en) | 2020-06-09 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711437234.2A Active CN107985533B (en) | 2017-12-26 | 2017-12-26 | Unmanned remote control submersible and control method thereof |
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| CN (1) | CN107985533B (en) |
Cited By (6)
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| CN109263840A (en) * | 2018-08-02 | 2019-01-25 | 哈尔滨工程大学 | Propeller and active method for diagnosing faults in a kind of latent deep dive of underwater National People's Congress |
| CN109941412A (en) * | 2019-04-25 | 2019-06-28 | 福州大学 | A kind of multi-functional universal remote control unmanned submersible platform and its application method |
| WO2019128447A1 (en) * | 2017-12-26 | 2019-07-04 | 天津深之蓝海洋设备科技有限公司 | Remotely operated underwater vehicle and control method therefor |
| CN112332878A (en) * | 2020-10-28 | 2021-02-05 | 维沃移动通信有限公司 | Operation track adjusting method and device and electronic equipment |
| CN114077313A (en) * | 2021-11-25 | 2022-02-22 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot and control method thereof |
| CN114524071A (en) * | 2020-11-23 | 2022-05-24 | 中国科学院沈阳自动化研究所 | ROV hovering positioning control method |
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| CN112332878A (en) * | 2020-10-28 | 2021-02-05 | 维沃移动通信有限公司 | Operation track adjusting method and device and electronic equipment |
| CN114524071A (en) * | 2020-11-23 | 2022-05-24 | 中国科学院沈阳自动化研究所 | ROV hovering positioning control method |
| CN114524071B (en) * | 2020-11-23 | 2022-12-20 | 中国科学院沈阳自动化研究所 | ROV hovering positioning control method |
| CN114077313A (en) * | 2021-11-25 | 2022-02-22 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot and control method thereof |
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