CN108171948A - A kind of underwater robot base station and underwater robot system - Google Patents
A kind of underwater robot base station and underwater robot system Download PDFInfo
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- CN108171948A CN108171948A CN201711297796.1A CN201711297796A CN108171948A CN 108171948 A CN108171948 A CN 108171948A CN 201711297796 A CN201711297796 A CN 201711297796A CN 108171948 A CN108171948 A CN 108171948A
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- underwater robot
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
- H04B3/544—Setting up communications; Call and signalling arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
- H04W88/085—Access point devices with remote components
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The present invention provides a kind of underwater robot base station and underwater robot system, wherein, underwater robot base station includes：Base station body；Wireless communication apparatus is provided in the base station body；The wireless communication apparatus is connect with controller；The base station body is used to connect with underwater robot by communication cable；The controller for receiving control instruction from the external world by the wireless communication apparatus, and based on the notification instruction, the underwater robot operation is controlled by the communication cable；Job information transmitted by underwater robot is obtained, and outwardly send the job information by the wireless communication apparatus by the communication cable.In communication process, underwater robot base station can be communicated wirelessly by wireless communication apparatus and remote server and intelligent terminal, remote server is enabled to obtain the working condition of underwater robot from base station waterborne in real time, and underwater robot is manipulated in real time.
Description
Technical field
The present invention relates to underwater robot technical field, in particular to a kind of underwater robot base station and under water
Robot system.
Background technology
Underwater robot (Remote Operated Vehicle, ROC), also referred to as unmanned remotely controlled submersible vehicle, are a kind of work
In underwater limit operation robot, it can pull the plug and complete certain operations instead of people.As mankind's activity is gradually extended to sea
In the water environments such as ocean, rivers, underwater robot becomes the important carrier for realizing the functions such as underwater exploration, photography and amusement.
In order to realize the control to underwater robot, it usually needs by communication cable by underwater robot and in the water surface
On base station connect.Then the control to underwater robot is realized by base station.But with current job requirements, no
Only the operator of base station waterborne needs to know the working condition of underwater robot, needs remote server most of the time
Have to the working condition of underwater robot and understand in real time and control, and current base station waterborne can not meet this and use need
It asks.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of underwater robot base station and underwater robot system
System enables to remote server to obtain the working condition of underwater robot from base station waterborne in real time, and in real time to underwater
People is manipulated.
In a first aspect, an embodiment of the present invention provides a kind of underwater robot base station, including：Base station body；
Wireless communication apparatus is provided in the base station body；
The wireless communication apparatus is connect with controller；
The base station body is used to connect with underwater robot by communication cable；
The controller, for receiving control instruction from the external world by the wireless communication apparatus, and based on the notice
Instruction controls the underwater robot operation by the communication cable；Underwater robot institute is obtained by the communication cable
The job information of transmission, and outwardly sent the job information by the wireless communication apparatus.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein：Institute
Wireless communication module is stated to include：Forth generation 4G communication modules；
The 4G communication modules include：4G power modules, 4G modules and 4G antennas；
The 4G power modules are electrically connected respectively with the controller and the 4G modules；
The 4G antennas are electrically connected with the 4G modules；
The controller, specifically for enter power on mode after, by the way that the 4G power modules is controlled to power on to start
The 4G modules, and after the 4G modules are started, the job information is passed into the 4G modules；Receive the 4G modules
The control instruction of transmission sends operational order based on the control instruction to the underwater robot.
The 4G modules, for after the job information that the controller is sent is received, by the job information according to
4G communication protocols are packaged, and the job information after packing is sent to remote server by 4G antennas；Described in reception
The control instruction being packaged according to 4G communication protocols that remote server is sent is parsed the control instruction and by institute
It states control instruction and passes to the underwater robot.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiment of first aspect, wherein：Institute
4G power modules are stated to specifically include：Electric pressure converter；
The pin 1 and pin 11 of the electric pressure converter are grounded；Pin 9 is grounded after connecting capacitance C37；Pin 6 is signal
Input terminal, for connecting controller；Pin 7 and pin 8 are all connected with ferrite bean FB6；The other end of ferrite bean FB6 is
Voltage input end, for connecting power supply；And pin 7 and pin 8 are also associated with capacitance C35 in parallel and capacitance C36；Capacitance C35
It is grounded with capacitance C36 far from one end of pin 7 and pin 8；Pin 2 connects one end of inductance L3；The other end and pipe of inductance L3
Foot 3 connects, and as the voltage output end of 4G power modules, for connecting the power input of 4G modules.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, wherein：Institute
Wireless communication module is stated to include：Wireless Fidelity WiFi wireless communication modules
The WiFi wireless communication modules include：WiFi power modules, WiFi module and WiFi antennas；
The WiFi power modules are electrically connected respectively with the controller and the WiFi module；
The WiFi antennas are electrically connected with the WiFi module；
The controller, specifically for enter power on mode after, by the way that the WiFi power modules is controlled to power on to open
The WiFi module is moved, and after the WiFi module is started, the job information is passed into the WiFi module；Receive institute
The control instruction of WiFi module transmission is stated, operational order is sent to the underwater robot based on the control instruction.
The WiFi module, for after the job information that the controller is sent is received, the job information to be pressed
It is packaged according to WiFi communication agreement, and the job information after packing is sent to remote server by 4G antennas；It receives
The control instruction being packaged according to WiFi communication agreement that the remote server is sent, the control instruction is parsed
And the control instruction is passed into the underwater robot.
The WiFi module, for after the job information that the controller is sent is received, the job information to be pressed
It is packaged according to WiFi communication agreement, and the job information after packing is sent to remote server by 4G antennas；It receives
The control instruction being packaged according to WiFi communication agreement that the remote server is sent, the control instruction is parsed
And the control instruction is passed into the underwater robot.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein：Institute
WiFi power modules are stated to include：Electric pressure converter；
The pin 1 and pin 2 of the electric pressure converter are connect by inductance L4 with pin 10, and with ferrite bean FB7
Connection；Voltage input end of the other end of ferrite bean FB7 as WiFi power modules, for connecting power supply；Pin 10 is also
It is connected with capacitance C39；The other end ground connection of capacitance C39；Signal input part of the pin 9 as WiFi power modules, for connecting
Controller；Pin 11 is grounded；Pin 6 connects inductance C40；The other end ground connection of inductance C40；Pin 3 and pin 4 are connected with each other,
And connect resistance R20；The other end connection pin 7 of resistance R20, and as the voltage output end of WiFi power modules, for even
Connect the voltage input end of WiFi；Voltage output end is also associated with resistance R11 in parallel, capacitance C41, capacitance C42, capacitance C43, electricity
Hold C44, resistance R11, capacitance C41, capacitance C42, capacitance C43, capacitance C44 the other end be grounded.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiment of first aspect, wherein：Institute
It states controller and is also associated with power carrier communication module；
The power carrier communication module includes：Power carrier power module and power line carrier module；
Wherein, controller and the power carrier power module；The power carrier power module connects the electric power and carries
Wave module；
The controller is used to communicate for the underwater robot by the power carrier communication module.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiment of first aspect, wherein：Institute
Controller is stated to be connected with：Charge management circuit；
The charge management circuit is used to connect charge power supply；
The controller is additionally operable to carry out charge control to charge power supply by the charge management circuit.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiment of first aspect, wherein：Institute
It states controller and is also associated with indicator light circuit；
Light of the controller for controlling indicator light different under different wireless communication modes lights.
With reference to first aspect, an embodiment of the present invention provides the 8th kind of possible embodiment of first aspect, wherein：Institute
Controller is stated, is additionally operable to：
Job Summary information is generated, and the Job Summary information is passed through the wireless communication according to the job information
Module is sent to the remote server；
The Job Summary information includes：Image hashing and with the corresponding description information of described image abstract.
Second aspect, the embodiment of the present invention also provide a kind of underwater robot system, including：Above-mentioned first aspect is any one
Underwater robot base station, underwater robot, remote server and intelligent terminal described in；Wherein；
The underwater robot base station is connect by communication cable with the underwater robot；
The underwater robot base station respectively with the remote server and the intelligent terminal wireless connection.
The underwater robot base station and underwater robot system that the embodiment of the present invention is provided, include underwater robot
Base station, underwater robot base station include：Base station body；Wireless communication apparatus is provided in the base station body；The channel radio
News device is connect with controller；The base station body is used to connect with underwater robot by communication cable；The controller is used
In receiving control instruction from the external world by the wireless communication apparatus, and the control instruction is transmitted by the communication cable
To the underwater robot；Job information transmitted by underwater robot is obtained, and pass through the nothing by the communication cable
Line communication device outwardly sends the job information.In communication process, underwater robot base station can pass through channel radio
News device is communicated wirelessly with remote server and intelligent terminal, and remote server is enabled to be obtained in real time from base station waterborne
The working condition of underwater robot, and underwater robot is manipulated in real time.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structure diagram of a kind of underwater robot base station that the embodiment of the present invention is provided；
In the underwater robot base station provided Fig. 2 shows the embodiment of the present invention, the physical circuit knot of 4G power modules
Structure；
Fig. 3 shown in the underwater robot base station that the embodiment of the present invention is provided, the physical circuit of WiFi power modules
Structure；
Fig. 4 shows the structure diagram of another underwater robot base station that the embodiment of the present invention is provided；
Fig. 5 shows the structure diagram of a kind of underwater robot system that the embodiment of the present invention is provided；
Fig. 6 shows the flow chart of the control method of underwater robot base station that the embodiment of the present invention is provided.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in middle attached drawing, it is clear that described embodiment is only
It is part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of different.Therefore, below to provide in the accompanying drawings the present invention
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on the embodiment of the present invention, institute that those skilled in the art are obtained under the premise of creative work is not made
There is other embodiment, shall fall within the protection scope of the present invention.
Function of the underwater robot base station without realization remote data communication at present, therefore current remote server can not be met
The working condition of underwater robot is obtained in real time and the use demand of real-time control is carried out to underwater robot.Based on this, this hair
A kind of underwater robot base station of bright offer and underwater robot system enable to remote server in real time from base station waterborne
The working condition of underwater robot is obtained, and underwater robot is manipulated in real time.
For ease of understanding the present embodiment, first to a kind of underwater robot base station disclosed in the embodiment of the present invention
It describes in detail.
It should be noted that in the description of the present invention, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In addition, in the description of the present invention unless specifically defined or limited otherwise, term " installation ", " connects " connected "
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can be machine
Tool is connected or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, can above-mentioned term be understood in the present invention with concrete condition
Concrete meaning.
Shown in Figure 1, the underwater robot base station that the embodiment of the present invention is provided includes：Base station body 10；
Wireless communication apparatus 20 is provided in the base station body 10；
The wireless communication apparatus 20 is connect with controller 30；
The base station body 10 is used to connect with underwater robot by communication cable；
The controller 30, for receiving control instruction from the external world by the wireless communication apparatus, and based on described logical
Know instruction, the underwater robot operation is controlled by the communication cable；Underwater robot is obtained by the communication cable
Transmitted job information, and outwardly sent the job information by the wireless communication apparatus.
When specific implementation, base station body 10 can be base station waterborne at present or lash ship.Base station body can
It swims on the water surface, and passes through communication cable and underwater robot links together.Communication cable receipts are provided in base station body
Frame is put, and can realize that the folding and unfolding of underwater robot is controlled by the communication cable retractable frame, to control under underwater robot
Latent depth.
When controller sends the job information by wireless communication apparatus to remote server, due to job information
Data volume be very big, and due to there is many repeated datas in work data, can also by work data to
When remote server is sent, Job Summary information is generated, and the Job Summary information is led to according to the job information
It crosses the wireless communication module and is sent to the remote server；The Job Summary information includes：Image hashing and with institute
State the corresponding description information of image hashing.
Specifically, the summary info generated can be according to certain time interval or image frame period from underwater
It is extracted in video information acquired in people, obtains corresponding Job Summary information.The analysis of early period can also be carried out to image, is obtained
Corresponding description information is obtained, and using description information as a part for Job Summary information.
It is shown in Figure 4：
Wireless communication module 20 includes：Forth generation mechanics of communication (4generation, 4G) communication module and Wireless Fidelity
(WIreless-Fidelity, WiFi) wireless communication module.
Wherein, 4G communication modules include：4G power modules 41,4G modules 42 and 4G antennas 43；
The 4G power modules 41 are electrically connected respectively with the controller 30 and the 4G modules 42；
The 4G antennas 43 are electrically connected with the 4G modules 42.
Specifically, the controller, specifically for enter power on mode after, by the way that the 4G power modules is controlled to power on
To start the 4G modules, and after the 4G modules are started, the job information is passed into the 4G modules；Described in reception
The control instruction that 4G modules are sent sends operational order based on the control instruction to the underwater robot.
The 4G modules, for after the job information that the controller is sent is received, by the job information according to
4G communication protocols are packaged, and the job information after packing is sent to remote server by 4G antennas；Described in reception
The control instruction being packaged according to 4G communication protocols that remote server is sent is parsed the control instruction and by institute
It states control instruction and passes to the underwater robot.
It should be noted that 4G communication modules are actually more suitable for longer-distance communication.By the 4G communication modules,
It can realize the communication between remote server and base station waterborne so that operator can remotely control underwater robot
System, and the long-range job information for obtaining underwater robot in real time, such as detection image, detection data etc..
Shown in Figure 2, the embodiment of the present invention also provides a kind of particular circuit configurations of 4G power modules, including：
Electric pressure converter TPS62097；The pin 1 and pin 11 of the electric pressure converter TPS62097 is grounded；Pin 9 connects
It is grounded after meeting capacitance C37；Pin 6 is signal input part, for connecting controller；Pin 7 and pin 8 are all connected with ferrite bean
FB6；The other end of ferrite bean FB6 is voltage input end, for connecting power supply；And pin 7 and pin 8 are also associated with parallel connection
Capacitance C35 and capacitance C36；Capacitance C35 and capacitance C36 is grounded far from one end of pin 7 and pin 8；Pin 2 connects inductance L3
One end；The other end of inductance L3 is connect with pin 3, and as the voltage output end of 4G power modules, for connecting 4G modules
Power input.
The WiFi wireless communication modules include：WiFi power modules 51, WiFi module 52 and WiFi antennas 53；
The WiFi power modules 51 are electrically connected respectively with the controller 30 and the WiFi module 52；
The WiFi antennas 53 are electrically connected with the WiFi module 52.
Specifically, the controller, specifically for enter power on mode after, by controlling on the WiFi power modules
The job information after the WiFi module is started, is passed to the WiFi module by electricity to start the WiFi module；
The control instruction that the WiFi module is sent is received, operational order is sent to the underwater robot based on the control instruction.
The WiFi module, for after the job information that the controller is sent is received, the job information to be pressed
It is packaged according to WiFi communication agreement, and the job information after packing is sent to remote server by 4G antennas；It receives
The control instruction being packaged according to WiFi communication agreement that the remote server is sent, the control instruction is parsed
And the control instruction is passed into the underwater robot.
Shown in Figure 3, the embodiment of the present invention also provides a kind of particular circuit configurations of WiFi power modules, including：Electricity
Pressure converter TPS61232；The pin 1 of the electric pressure converter TPS61232 and house keeper 2 are connect by inductance L4 with pin 10,
And it is connect with ferrite bean FB7；Voltage input end of the other end of ferrite bean FB7 as WiFi power modules, is used for
Connect power supply；Pin 10 is also associated with capacitance C39；The other end ground connection of capacitance C39；Letter of the pin 9 as WiFi power modules
Number input terminal, for connecting controller；Pin 11 is grounded；Pin 6 connects inductance C40；The other end ground connection of inductance C40；Pin 3
It is connected with each other with pin 4, and connects resistance R20；The other end connection pin 7 of resistance R20, and as the electricity of WiFi power modules
Output terminal is pressed, for connecting the voltage input end of WiFi；Voltage output end is also associated with resistance R11 in parallel, capacitance C41, electricity
Hold C42, capacitance C43, capacitance C44, resistance R11, capacitance C41, capacitance C42, capacitance C43, capacitance C44 the other end be grounded.
It should be noted that WiFi communication module is more suitble to the wireless communication of closer distance.Pass through the WiFi communication mould
Block, can realize base station waterborne and terminal device apart from base station distance waterborne within limits, such as smart mobile phone, flat
Communication between plate computer etc. so that more operators can closely control underwater robot, and obtain water in real time
The job information of lower robot, such as detection image, detection data etc..
In addition, shown in Figure 4, in the underwater robot base station that the embodiment of the present invention is provided, the controller also connects
It is connected to power carrier communication module；
The power carrier communication module includes：Power carrier power module 61 and power line carrier module 62；
Wherein, controller 30 and the power carrier power module 61；The power carrier power module 61 connects described
Power line carrier module 62.
The power carrier communication module is used to connect with the communication cable；
The controller is used to communicate for the underwater robot by the power carrier communication module.
Specific implementation when, power carrier communication module be actually with the communication module before underwater robot,
It realizes the wire communication between underwater robot.
Shown in Figure 4, controller is also associated with charge management circuit 71.The charge management circuit is electric for connecting charging
Source；The used charge management circuit of controller carries out charge control to charge power supply.
Controller is also associated with key circuit 81.The key circuit includes：First key circuit and the second key circuit；When
When first key circuit is connected, controller control 4G power modules power on, 4G modules to be driven to work.
When the second key circuit is connected, controller control WiFi power modules power on, WiFi module to be driven to work.
Shown in Figure 4, controller is also associated with indicator light circuit 91；Controller is used in different wireless communication modes
Lower control indicator light difference light lights.Such as：Three kinds of operating modes include：Remote radio communication pattern, short-range wireless communication,
Without wireless communication.
Underwater robot base station provided by the present invention, including：Base station body；Channel radio is provided in the base station body
Interrogate device；The wireless communication apparatus is connect with controller；The base station body is used for through communication cable and underwater robot
Connection；The controller for receiving control instruction from the external world by the wireless communication apparatus, and passes through the communication cable
The control instruction is passed into the underwater robot；Operation transmitted by underwater robot is obtained by the communication cable
Information, and outwardly sent the job information by the wireless communication apparatus.In communication process, underwater robot base
Standing can be communicated wirelessly by wireless communication apparatus and the external world, and remote server is enabled to be obtained in real time from base station waterborne
The working condition of underwater robot, and underwater robot is manipulated in real time.
The underwater robot base station that the embodiment of the present invention is provided at work, including standby mode, awakening mode,
Power on mode and charge mode.Shown in Figure 6, the course of work is as follows：
S601：Whether detection key circuit time that is triggered reaches preset time in the standby state.
When specific implementation, first have to power on controller.Controller is entered low by initial configuration after the power is turned on
Power-consumption standby state.In stand-by mode, wireless communication apparatus is closed, and only retains key circuit, at this time system
Power consumption substantially reduced compared with normal operating conditions.
Controller passes through the indirect button of key circuit.User is started by controller of the button triggering in standby mode,
For example, controller can be STM32F103C8T6 microcontrollers, in the standby state, itself wakes up the defeated of WKUP pins to controller
Enter level for low level；When user trigger button when, WKUP pins from key circuit to controller export level signal
High level signal is converted by low level signal, controller enters wake-up states at this time；The controller of wake-up states detects
When the incoming level of WKUP pins is changed into high level by low level, controller detects high electricity by timer accurate timing
Flat input time reaches preset time, such as at 4 seconds, into power on mode.If controller in the wake mode, detects
When the input time of high level is less than preset time, then standby mode is reentered.
S602：When detecting that key circuit is triggered the time more than preset time, into power on mode.
When specific implementation, after microcontroller enters power on mode, system various pieces can work normally, 4G electricity
Source module, WiFi power modules and power carrier power module are activated, and can be respectively 4G modules, WiFi module and electricity
Power carrier module is powered.Base station obtains the data of underwater robot transmission by power line carrier module,
S603：Under power on mode, start 4G modules, WiFi module and power line carrier module work.
When specific implementation, after the startup of 4G modules, WiFi module and power line carrier module, pass through power carrier
Module obtains the job information transmitted by underwater robot, and passes through 4G modules or WiFi module, and work data is transferred to
Remote server；And pass through 4G modules or WiFi module, the control instruction transmitted by remote server is received, and pass through electric power
Control instruction is sent to underwater robot by carrier module.
Meanwhile controller can also obtain information about power, and detect electricity in real time when in awakening mode, power on mode
Whether information is less than preset power threshold；If detect that information about power is less than preset power threshold, no matter it is in
Awakening mode is under power on mode, can all enter suspend mode.Specifically, controller by bus interface in real time with electricity
Gauge communicates, and reads information about power in real time.
In addition, when controller detects charging, for standby mode still for power on mode, it can all enter and call out
Awake pattern, under this awakening mode, controller obtains information about power, and controls warning light corresponding with current battery charge bright
It rises；When detecting that charging wire disconnects, automatically into standby mode, until there is user's triggering.
Pass through above-mentioned control so that base station can work under different operating modes, save energy loss, improve base station
Cruise duration.
It is shown in Figure 5, the present invention also provides a kind of underwater robot system, including：Such as any one above-mentioned embodiment
Underwater robot base station 100, underwater robot 200, remote server 300 and the intelligent terminal 400；Wherein；
The underwater robot base station 100 is connect by communication cable 500 with the underwater robot 200；
The underwater robot base station 100 wirelessly connects respectively with the remote server 300 and the intelligent terminal 400
It connects.
The underwater robot system that the embodiment of the present invention is provided includes underwater robot base station, underwater robot base
Station includes：Base station body；Wireless communication apparatus is provided in the base station body；The wireless communication apparatus connects with controller
It connects；The base station body is used to connect with underwater robot by communication cable；The controller, for passing through the channel radio
It interrogates device and receives control instruction from the external world, and the control instruction is passed to by the underwater by the communication cable
People；Job information transmitted by underwater robot is obtained, and pass through the wireless communication apparatus by institute by the communication cable
Job information is stated outwardly to send.In communication process, underwater robot base station can pass through wireless communication apparatus and long-range clothes
Business device and intelligent terminal communicate wirelessly, and remote server is enabled to obtain the work of underwater robot from base station waterborne in real time
Make situation, and underwater robot is manipulated in real time.
The underwater robot and the computer program of underwater robot data inputting method that the embodiment of the present invention is provided
Product, the computer readable storage medium including storing program code, the instruction that said program code includes can be used for performing
Method described in previous methods embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment can be referred to, details are not described herein.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of underwater robot base station, which is characterized in that including：Base station body；
Wireless communication apparatus is provided in the base station body；
The wireless communication apparatus is connect with controller；
The base station body is used to connect with underwater robot by communication cable；
The controller for receiving control instruction from the external world by the wireless communication apparatus, and is based on the notification instruction,
The underwater robot operation is controlled by the communication cable；It is obtained transmitted by underwater robot by the communication cable
Job information, and outwardly sent the job information by the wireless communication apparatus.
2. underwater robot base station according to claim 1, which is characterized in that the wireless communication module includes：4th
For 4G communication modules；
The 4G communication modules include：4G power modules, 4G modules and 4G antennas；
The 4G power modules are electrically connected respectively with the controller and the 4G modules；
The 4G antennas are electrically connected with the 4G modules；
The controller, specifically for enter power on mode after, by the way that the 4G power modules is controlled to power on described in startup
4G modules, and after the 4G modules are started, the job information is passed into the 4G modules；The 4G modules are received to send
Control instruction, based on the control instruction to the underwater robot send operational order.
The 4G modules, for after the job information that the controller is sent is received, the job information to be led to according to 4G
Letter agreement is packaged, and the job information after packing is sent to remote server by 4G antennas；It receives described long-range
The control instruction being packaged according to 4G communication protocols that server is sent is parsed the control instruction and by the control
System instruction passes to the underwater robot.
3. underwater robot base station according to claim 2, which is characterized in that the 4G power modules specifically include：Electricity
Pressure converter；
The pin 1 and pin 11 of the electric pressure converter are grounded；Pin 9 is grounded after connecting capacitance C37；Pin 6 is inputted for signal
End, for connecting controller；Pin 7 and pin 8 are all connected with ferrite bean FB6；The other end of ferrite bean FB6 is voltage
Input terminal, for connecting power supply；And pin 7 and pin 8 are also associated with capacitance C35 in parallel and capacitance C36；Capacitance C35 and electricity
Hold C36 to be grounded far from one end of pin 7 and pin 8；Pin 2 connects one end of inductance L3；The other end of inductance L3 connects with pin 3
It connects, and as the voltage output end of 4G power modules, for connecting the power input of 4G modules.
4. underwater robot base station according to claim 1, which is characterized in that
The wireless communication module includes：Wireless Fidelity WiFi wireless communication modules
The WiFi wireless communication modules include：WiFi power modules, WiFi module and WiFi antennas；
The WiFi power modules are electrically connected respectively with the controller and the WiFi module；
The WiFi antennas are electrically connected with the WiFi module；
The controller, specifically for enter power on mode after, by the way that the WiFi power modules is controlled to power on to start
WiFi module is stated, and after the WiFi module is started, the job information is passed into the WiFi module；Described in reception
The control instruction that WiFi module is sent sends operational order based on the control instruction to the underwater robot.
The WiFi module, for after the job information that the controller is sent is received, by the job information according to
WiFi communication agreement is packaged, and the job information after packing is sent to remote server by 4G antennas；Receive institute
The control instruction being packaged according to WiFi communication agreement of remote server transmission is stated, the control instruction is parsed simultaneously
The control instruction is passed into the underwater robot.
5. underwater robot base station according to claim 4, which is characterized in that the WiFi power modules include：Voltage
Converter；
The pin 1 and pin 2 of the electric pressure converter are connect, and connect with ferrite bean FB7 by inductance L4 with pin 10；
Voltage input end of the other end of ferrite bean FB7 as WiFi power modules, for connecting power supply；Pin 10 is also associated with
Capacitance C39；The other end ground connection of capacitance C39；Signal input part of the pin 9 as WiFi power modules, for connecting controller；
Pin 11 is grounded；Pin 6 connects inductance C40；The other end ground connection of inductance C40；Pin 3 and pin 4 are connected with each other, and connect electricity
Hinder R20；The other end connection pin 7 of resistance R20, and as the voltage output end of WiFi power modules, for connecting WiFi's
Voltage input end；Voltage output end is also associated with resistance R11 in parallel, capacitance C41, capacitance C42, capacitance C43, capacitance C44, electricity
Resistance R11, capacitance C41, capacitance C42, capacitance C43, capacitance C44 the other end be grounded.
6. according to the underwater robot base station described in claim 1-5 any one, which is characterized in that the controller is also connected with
There is power carrier communication module；
The power carrier communication module includes：Power carrier power module and power line carrier module；
Wherein, controller and the power carrier power module；The power carrier power module connects the power carrier mould
Block；
The controller, specifically for being communicated by the power carrier communication module with the underwater robot.
7. according to the underwater robot base station described in claim 1-5 any one, which is characterized in that
The controller is connected with：Charge management circuit；
The charge management circuit is used to connect charge power supply；
The controller is additionally operable to carry out charge control to charge power supply by the charge management circuit.
8. according to the underwater robot base station described in claim 1-5 any one, which is characterized in that the controller is also connected with
There is indicator light circuit；
Light of the controller for controlling indicator light different under different wireless communication modes lights.
9. according to the underwater robot base station described in claim 1-5 any one, which is characterized in that the controller is also used
In：
Job Summary information is generated, and the Job Summary information is passed through the wireless communication module according to the job information
It is sent to the remote server；
The Job Summary information includes：Image hashing and with the corresponding description information of described image abstract.
10. a kind of underwater robot system, which is characterized in that including：Underwater as described in any one of claims 1-9
People base station, underwater robot, remote server and intelligent terminal；Wherein；
The underwater robot base station is connect by communication cable with the underwater robot；
The underwater robot base station respectively with the remote server and the intelligent terminal wireless connection.
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| CN201711297796.1A CN108171948A (en) | 2017-12-08 | 2017-12-08 | A kind of underwater robot base station and underwater robot system |
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