CN108287555A - A kind of water surface console of autonomous type underwater robot - Google Patents
A kind of water surface console of autonomous type underwater robot Download PDFInfo
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- CN108287555A CN108287555A CN201810057270.4A CN201810057270A CN108287555A CN 108287555 A CN108287555 A CN 108287555A CN 201810057270 A CN201810057270 A CN 201810057270A CN 108287555 A CN108287555 A CN 108287555A
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- 230000011664 signaling Effects 0.000 claims description 8
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- 238000000034 method Methods 0.000 description 2
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- 238000004078 waterproofing Methods 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a kind of water surface consoles of autonomous type underwater robot, belong to underwater robot technical field.Include mainly case lid, display, AD acquisition modules, relay, radio module, WIFI module, power module, industrial personal computer.Underwater robot is in surface motions, water surface control system by radio obtain underwater robot the water surface movement position and posture, it is realized and is communicated by big dipper module and satellite, current console and robot location are obtained, and robot location is determined by the relative position of console present position.Meanwhile underwater robot is communicated by radio and water surface control system, realizes that underwater robot feeds back the both-way communication that its movable information and console control underwater robot to console.Hardware components are installed using modularization, i.e., various power modules, function module layering installation, internal structure simple and clear, easy to disassemble and repairing.
Description
Technical field
The invention belongs to underwater robot technical fields, and in particular to a kind of water surface control of autonomous type underwater robot
Platform.
Background technology
The 21 century mankind will face population expansion and the limited contradiction of living space, and land resources exhaustion and social production need
The contradiction to be increased and the contradiction of the deterioration of the ecological environment and human development this three challenges.Take up an area the sea of ball surface product 71%
Ocean is that one richly endowed and the treasure-house developed far away, its blue territory as the mankind, is living resources, the energy, water resource
It is the space for most having development potentiality, it is related to the survival and development of the mankind, to me with the strategic Development Base of metals resources
State's economy and society development plays huge supporting role.
Underwater robot explores and develops the tool of ocean as the mankind, this field in ocean is played important work
With.For making full use of the natural resources, developing national economy has highly important for the research and extensive use of underwater robot
Realistic meaning.The application field of underwater robot worldwide constantly expands, such as ocean research, scientific investigation, sea
Ocean exploitation and Underwater Engineering etc..At civilian aspect, underwater robot is mainly used in marine environmental monitoring, ocean geoscience number
According to acquisition and submarine resources survey etc..With technologies such as the energy, underwater sound communication, sensor, navigator fix, autonomous controls
It continues to develop, underwater robot in scientific research, (grind by sea floor surreying, oceanographic research, hydro_geography research, hydrographic
Study carefully, environmental monitoring) and business application (submarine resources survey, petroleum natural gas pipeline inspection, submarine cable optical cable inspection laying,
Underwater Engineering inspection) etc. will have more wide application prospect.It is flourishing by the west of representative of the U.S. in military aspect
Country increasingly emphasizes zero injures and deaths in war.This makes importance of the unmanned weapon system in future war improve rapidly,
And its potential fighting efficiency is more and more obvious.Intelligent Underwater Robot energy as unmanned weapon system important component
Enough using surface vessel or submarine as base, the hydrospace in hundreds of independently completes environment detection, target identification, information acquisition
And data communication, to greatly extend the battle space of surface vessel or submarine, it, which will become in the following undersea warfare, strives
Take Information Superiority by force, implement precision strike and one of the important means of special combat duty in intelligence attack, completion battlefield.
The technologies such as underwater robot is artificial intelligence, automatically control, pattern-recognition, information fusion and understanding, the system integration
Conglomerate, system itself has the characteristics that non-linear, close coupling, time-varying, uncertainty, adds the complexity of marine environment
Therefore changeable and unpredictability fully understands the characteristic of underwater robot system and design meets the control that different controls require
Device processed is come to ensure that it stablizes, safely and accurately works be vital with computer technology, artificial intelligence technology, micro- electricity
Sub- technology, table, command and control hardware, logical AND software technology are advanced by leaps and bounds, autonomous type underwater robot
It is greatly developed, has broken away from impeding for heaving pile, more flexible in terms of operation under water, which is increasingly subject to various countries ocean
The attention of engineering department.
Autonomous type underwater robot has many advantages, such as that scope of activities is big, mobility is good, safety, good concealment, at low cost, at
To complete the important tool of various subsea tasks.In civil field, it can be used for pipeline installation, seabed investigation, data collection, drilling well
It supports, subsea construction, underwater equipment is safeguarded and repaired etc.；It then can be used for scouting in military domain, mine-laying, clearance, help latent and rescue
It is raw etc..
Since the influence of wave and stream etc. leads to the complicated and changeable of offshore environment, there is many uncertain factors, therefore
It is critically important to realize that staff to water surface working robot accurately control and position.
Invention content
Present invention aims at offer can be used for showing small autonomous formula underwater robot in water real time kinematics posture with
And location information and the water surface console that a kind of autonomous type underwater robot controlled can be moved to it.
The purpose of the present invention is realized by following technical solution：
A kind of water surface console of autonomous type underwater robot, including case lid, display, electric source line interface, Big Dipper power supply
Interface, BEI-DOU position system interface, WIFI interface, external radio interface, USB interface, cable interface, extended serial port, power supply
Switch, radio switch, Big Dipper switch, WIFI switches, slave computer switch, disconnecting switch, fan mouth, industrial keyboard, cable are deposited
Put slot, AD acquisition modules, relay, radio module, WIFI module, power module, industrial personal computer, radio receiving antenna passes through
External radio interface is connected with console, is connect with radio module inside console, connects through serial ports and is connect with industrial personal computer；
External big dipper module is connected by Big Dipper power supply interface, Big Dipper signaling interface with console, passes through serial ports and work inside console
Control machine connects；WIFI reception antennas are connect by WIFI interface with console, are connect with WIFI module inside console, are passed through net
Network is connect with industrial personal computer.Slave computer switchs, and disconnecting switch is connect with AD acquisition modules, and is connect with industrial personal computer to control by serial ports
The power-on and power-off of slave computer and isolated power supply processed.
The composition of autonomous type underwater robot water surface console includes：Its hardware device mainly has a water surface industrial personal computer,
Radio transceiver chip, AD acquisition modules, WIFI module, big dipper module and power module；Water surface control system passes through radio
It is communicated with underwater robot, obtains the posture and location information of underwater robot, while console is realized with industrial personal computer and led to
News, control underwater robot.
Underwater robot in surface motions, water surface control system by radio obtain underwater robot the water surface fortune
Dynamic position and posture.Underwater robot and console, which are realized by itself equipment big dipper module with satellite, to be communicated, and is obtained current
Console and robot location, and robot location is determined by the relative position of console present position.Meanwhile underwater
People is communicated by radio and water surface control system, realizes that underwater robot feeds back its movable information and control to console
The both-way communication that platform processed controls underwater robot.
Water surface main control computer uses Windows XP operating systems, is programmed using VC++, establishes control platform, real
When show robot pose, position, battery capacity, information such as various sensing datas, and control instruction is issued to robot.
In robot and closer console distance, can be also connected to by WIFI network on robot PC104 control panels,
Controlling planning instruction is sent to robot or online modification controls program, the data of robot sensor can also be beaten
Packet downloads to console and carries out data analysis.
The beneficial effects of the present invention are：
The present invention is that the water surface control feature of motion control and feedback of status, the water surface are carried out to autonomous type underwater robot
Console motion control can be carried out to the robot of the water surface by radio and take current underwater human body posture and
Position, environment is then autonomous control to underwater robot under water.
The software interface simple and clear of the present invention, all the sensors data and robot posture information are intuitively embodied in
Software interface.When the water surface is debugged, online program adjustment can be carried out by WIFI communication and data are downloaded, need not be returned
Receipts are opened the cabin；Meanwhile also more flexible control can be carried out to robot by handle.It is soft by host computer under water when operation
Part interface can intuitively see distance of the barrier away from robot of surrounding, and robot can be carried out from master ga(u)ge when hypotelorism
It keeps away, prevents from bumping against barrier and cause danger.
Hardware components of the present invention are installed using modularization, i.e., various power modules, function module layering installation, internal structure
Simple and clear, easy to disassemble and repairing.Software section is combined using Windows with VC++, and not only program has versatility, for
Different submersibles only need to be changed simply and can easily transplant most of program code, both can with height-adjusting system reliability,
The development cycle of project can be shortened again.
Description of the drawings
Fig. 1 is the hardware device figure of the water surface console of the present invention；
Fig. 2 is the circuit trace schematic diagram of the present invention；
Fig. 3 is the information communication schematic diagram of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
Embodiment one：
A kind of water surface console of autonomous type underwater robot, including case lid 1, display 2, electric source line interface 3, the Big Dipper supply
Electrical interface 4, Big Dipper signaling interface 5, WIFI interface 6, external radio interface 7, USB interface 8, cable interface 9, extended serial port
10, power switch 11, radio switch 12, Big Dipper switch 13, WIFI switches 14, slave computer switch 15, disconnecting switch 16, fan
Mouth 17, industrial keyboard 18, cable storage groove 19, AD acquisition modules 20, relay 21, radio module 22, WIFI module 23, electricity
Source module 24, industrial personal computer 25；
Case lid 1, display 2 are located at the top of water surface console；Electric source line interface 3, Big Dipper power supply interface 4, Big Dipper signal
Interface 5, WIFI interface 6, external radio interface 7, USB interface 8, cable interface 9, extended serial port 10 are arranged in a row installation successively
In water surface console side；Power switch 11, radio switch 12, Big Dipper switch 13, WIFI switches 14, slave computer switch 15,
Disconnecting switch 16 is arranged in a row mounted on water surface console side；There are two fan mouths 17, is symmetrically distributed in panel both sides；Work
Industry keyboard 18, cable storage groove 19 are mounted on water surface console flanking central position；AD acquisition modules 20, relay 21, wirelessly
Electric module 22, WIFI module 23, power module 24,25 forming control system of industrial personal computer are located at the inside of water surface console.
The radio receiving antenna is connected by external radio interface 7 with console, inside console and wireless
Electric module 22 connects, and is connect with industrial personal computer through serial ports；External big dipper module by Big Dipper power supply interface 4, Big Dipper signaling interface 5 with
Console is connected, and is connect with industrial personal computer by serial ports inside console；WIFI reception antennas are connected by WIFI interface 6 and console
It connects, connect with WIFI module 23 inside console, connect with industrial personal computer by network；Slave computer switch 15, disconnecting switch 16 with
AD acquisition modules 20 connect.
The Big Dipper power supply interface 4 is powered by being connect with power cord for power module 24, power switch 11 and power supply
Line connects, and controls the break-make of power cord；Radio switch 12 is connect with radio module 22, controls the break-make of its power supply；WIFI
Switch 14 is connect with WIFI module 23, controls the break-make of its power supply.
The industrial personal computer includes big dipper module serial ports, radio serial ports, A/D module serial ports and cable；Big Dipper signaling interface
The external big dipper module of 5 connections and big dipper module serial ports；WIFI interface 6 connects external WIFI antennas and cable；Radio module 22
It is connected with radio serial ports, external radio interface connects external wireless aerial and radio module 22；AD acquisition modules 20
It is connected with A/D module serial ports, slave computer switch 15, disconnecting switch 16 is connected with AD acquisition modules 20.
In conjunction with Fig. 1, the hardware of water surface console is mainly by display, babinet, radio module, AD acquisition modules, industry control
Machine, WIFI module, big dipper module and power module composition, are specifically distributed and composition have case lid 1, display 2, power cord connects
Mouth 3, Big Dipper power supply interface 4, BEI-DOU position system interface 5, WIFI interface 6, external radio interface 7, USB interface 8, cable connects
Mouth 9, extended serial port 10, power switch 11, radio switch 12, Big Dipper switch 13, WIFI switches 14, slave computer switch 15, every
Leave pass 16, fan mouth 17, industrial keyboard 18, cable storage groove 19, AD acquisition modules 20, relay 21, radio module 22,
WIFI module 23, power module 24, industrial personal computer 25.
In conjunction with Fig. 2, radio receiving antenna is connected by external radio interface 7 with console, console inside and nothing
Line electricity module 22 connects, and connects through serial ports and is connect with industrial personal computer；External big dipper module passes through Big Dipper power supply interface 4, Big Dipper signal
Interface 5 is connected with console, is connect with industrial personal computer by serial ports inside console；WIFI reception antennas by WIFI interface 6 with
Console connects, and connect with WIFI module 23 inside console, is connect with industrial personal computer by network.Slave computer switch 15, isolation
Switch 16 is connect with AD acquisition modules 20, and connect with industrial personal computer by serial ports with control slave computer and isolated power supply up and down
Electricity.
Console babinet uses back panel wiring mode, interface in box house, need not do water-proofing treatment entirely.And there is storage
The storage trough of cable and other items is effectively utilized the space of babinet.
Display is located in box cover, is programmed using VC++, real-time display robotary information, and to machine
Human hair send control instruction.It can be realized by industrial keyboard and trace ball or external key mouse and underwater robot publication is referred to
It enables.
In conjunction with Fig. 3, when underwater robot is when the water surface works, radio can be passed through and carry out water surface console and underwater machine
The communication of device people.After water surface console starts, control software is opened, power on buttons is pressed, powered to the PC104 in robot,
PC104 bootings at this time, which are hung up, starts transmitting-receiving task, that is, receives software is given on console control and planning procedure, and feed back machine
The status information of device people.
Meanwhile after PC104 start-up operations, the Beidou positioning module in robot is started to work, and big dipper module is mainly
Positioned and realized communication to underwater robot by dipper system, underwater robot by the big dipper module itself equipped with
Satellite communication, the big dipper module of water surface console receive the signal that satellite is sent out, realize underwater robot and water surface console it
Between message communication, to realize to robot localization and send the purpose that is controlled of instruction.
Embodiment two：
The composition of autonomous type underwater robot water surface console includes：Its hardware device mainly has a water surface industrial personal computer,
Radio transceiver chip, AD acquisition modules, WIFI module, big dipper module and power module；Water surface control system passes through radio
It is communicated with underwater robot, obtains the posture and location information of underwater robot, while console is realized with industrial personal computer and led to
News, control underwater robot.
Underwater robot in surface motions, water surface control system by radio obtain underwater robot the water surface fortune
Dynamic position and posture.Underwater robot and console, which are realized by itself equipment big dipper module with satellite, to be communicated, and is obtained current
Console and robot location, and robot location is determined by the relative position of console present position.Meanwhile underwater
People is communicated by radio and water surface control system, realizes that underwater robot feeds back its movable information and control to console
The both-way communication that platform processed controls underwater robot.
Water surface main control computer uses Windows XP operating systems, is programmed using VC++, establishes control platform, real
When show robot pose, position, battery capacity, information such as various sensing datas, and control instruction is issued to robot.
The workflow of console is：First, 11 startup Windows XP operating systems are turned on the power switch, are opened by VC
++ the control program write presses the radio switch 12 on console, Big Dipper switch 13 and WIFI switches 14, under then opening
Position machine switch 15 opens button, and slave computer powers on, and software screen display goes out the posture information of current robot, the letters such as battery capacity
Breath, open for protect the disconnecting switch 16 of sensor circuit open button after, can send instruction by software make each biography
Sensor is started to work, and receives ADCP, and DVL, the data informations such as sonar are simultaneously shown on screen, meanwhile, can by WIFI into
The online data of row are downloaded and modification of program, avoid the tedious steps for modification program of opening the cabin.
Console safety box selects Wan Defu board safety protective boxes.Babinet can tow, is light-weight, and intensity is high, waterproof, anticollision
It hits, is dust-proof；It is designed using double opening lock button, easily upon opening closure babinet, waterproof durable.
In conjunction with Fig. 1, the hardware of water surface console is mainly by display, babinet, radio module, AD acquisition modules, industry control
Machine, WIFI module, big dipper module and power module composition, are specifically distributed and composition have case lid 1, display 2, power cord connects
Mouth 3, Big Dipper power supply interface 4, BEI-DOU position system interface 5, WIFI interface 6, external radio interface 7, USB interface 8, cable connects
Mouth 9, extended serial port 10, power switch 11, radio switch 12, Big Dipper switch 13, WIFI switches 14, slave computer switch 15, every
Leave pass 16, fan mouth 17, industrial keyboard 18, cable storage groove 19, AD acquisition modules 20, relay 21, radio module 22,
WIFI module 23, power module 24, industrial personal computer 25.
In conjunction with Fig. 2, radio receiving antenna is connected by external radio interface 7 with console, console inside and nothing
Line electricity module 22 connects, and connects through serial ports and is connect with industrial personal computer；External big dipper module passes through Big Dipper power supply interface 4, Big Dipper signal
Interface 5 is connected with console, is connect with industrial personal computer by serial ports inside console；WIFI reception antennas by WIFI interface 6 with
Console connects, and connect with WIFI module 23 inside console, is connect with industrial personal computer by network.Slave computer switch 15, isolation
Switch 16 is connect with AD acquisition modules 20, and connect with industrial personal computer by serial ports with control slave computer and isolated power supply up and down
Electricity.
Console babinet uses back panel wiring mode, interface in box house, need not do water-proofing treatment entirely.And there is storage
The storage trough of cable and other items is effectively utilized the space of babinet.
Display is located in box cover, is programmed using VC++, real-time display robotary information, and to machine
Human hair send control instruction.It can be realized by industrial keyboard and trace ball or external key mouse and underwater robot publication is referred to
It enables.
In conjunction with Fig. 3, when underwater robot is when the water surface works, radio can be passed through and carry out water surface console and underwater machine
The communication of device people.After water surface console starts, control software is opened, power on buttons is pressed, powered to the PC104 in robot,
PC104 bootings at this time, which are hung up, starts transmitting-receiving task, that is, receives software is given on console control and planning procedure, and feed back machine
The status information of device people.
Meanwhile after PC104 start-up operations, the Beidou positioning module in robot is started to work, and big dipper module is mainly
Positioned and realized communication to underwater robot by dipper system, underwater robot by the big dipper module itself equipped with
Satellite communication, the big dipper module of water surface console receive the signal that satellite is sent out, realize underwater robot and water surface console it
Between message communication, to realize to robot localization and send the purpose that is controlled of instruction.
In robot and closer console distance, can be also connected to by WIFI network on robot PC104 control panels,
Controlling planning instruction is sent to robot or online modification controls program, the data of robot sensor can also be beaten
Packet downloads to console and carries out data analysis.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of water surface console of autonomous type underwater robot, it is characterised in that：Including case lid (1), display (2), power supply
Line interface (3), Big Dipper power supply interface (4), Big Dipper signaling interface (5), WIFI interface (6), external radio interface (7), USB connects
Mouth (8), cable interface (9), extended serial port (10), power switch (11), radio switch (12), the Big Dipper switch (13), WIFI
It switching (14), slave computer switchs (15), disconnecting switch (16), fan mouth (17), industrial keyboard (18), cable storage groove (19),
AD acquisition modules (20), relay (21), radio module (22), WIFI module (23), power module (24), industrial personal computer
(25)；
Case lid (1), display (2) are located at the top of water surface console；Electric source line interface (3), Big Dipper power supply interface (4), the Big Dipper
Signaling interface (5), WIFI interface (6), external radio interface (7), USB interface (8), cable interface (9), extended serial port (10)
It is arranged in a row successively mounted on water surface console side；Power switch (11), radio switch (12), the Big Dipper switch (13),
WIFI switchs (14), and slave computer switchs (15), and disconnecting switch (16) is arranged in a row mounted on water surface console side；Fan mouth
(17) there are two, panel both sides are symmetrically distributed in；Industrial keyboard (18), cable storage groove (19) are mounted on water surface console side
Face middle position；AD acquisition modules (20), relay (21), radio module (22), WIFI module (23), power module
(24), industrial personal computer (25) forming control system is located at the inside of water surface console.
2. a kind of water surface console of autonomous type underwater robot according to claim 1, it is characterised in that：The nothing
Line electricity reception antenna is connected by external radio interface (7) with console, is connect with radio module (22) inside console,
It is connect with industrial personal computer through serial ports；External big dipper module passes through Big Dipper power supply interface (4), Big Dipper signaling interface (5) and console phase
Even, it is connect with industrial personal computer by serial ports inside console；WIFI reception antennas are connect by WIFI interface (6) with console, control
It connect with WIFI module (23) inside platform processed, is connect with industrial personal computer by network；Slave computer switch (15), disconnecting switch (16) with
AD acquisition modules (20) connect.
3. a kind of water surface console of autonomous type underwater robot according to claim 1, it is characterised in that：The north
Bucket power supply interface (4) is powered by being connect with power cord for power module (24), and power switch (11) is connect with power cord, is controlled
The break-make of power cord processed；Radio switch (12) is connect with radio module (22), controls the break-make of its power supply；WIFI is switched
(14) it is connect with WIFI module (23), controls the break-make of its power supply.
4. according to claim 1, a kind of water surface console of autonomous type underwater robot described in 2, it is characterised in that：Described
Industrial personal computer includes big dipper module serial ports, radio serial ports, A/D module serial ports and cable；Big Dipper signaling interface (5) connects external north
The module that struggles against and big dipper module serial ports；WIFI interface (6) connects external WIFI antennas and cable；Radio module (22) and radio
Serial ports is connected, and external radio interface connects external wireless aerial and radio module (22)；AD acquisition modules (20) and AD
Module serial ports is connected, and slave computer switchs (15), and disconnecting switch (16) is connected with AD acquisition modules (20).
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| CN201810057270.4A CN108287555A (en) | 2018-01-22 | 2018-01-22 | A kind of water surface console of autonomous type underwater robot |
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| CN201810057270.4A CN108287555A (en) | 2018-01-22 | 2018-01-22 | A kind of water surface console of autonomous type underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
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| CN104933897A (en) * | 2014-03-17 | 2015-09-23 | 林兴志 | Internet of ships intelligent shore-based interaction device based on Beidou |
| CN103970144A (en) * | 2014-03-28 | 2014-08-06 | 哈尔滨工程大学 | Autonomous underwater robot water-surface control system |
| CN103901893A (en) * | 2014-04-02 | 2014-07-02 | 哈尔滨工程大学 | Water surface control system of autonomous underwater robot |
| CN104199447A (en) * | 2014-08-18 | 2014-12-10 | 江苏科技大学 | Underwater structure detection robot control system and motion control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
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