CN109941409A - A kind of sized underwater observation robot and control method - Google Patents
A kind of sized underwater observation robot and control method Download PDFInfo
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- CN109941409A CN109941409A CN201910315927.7A CN201910315927A CN109941409A CN 109941409 A CN109941409 A CN 109941409A CN 201910315927 A CN201910315927 A CN 201910315927A CN 109941409 A CN109941409 A CN 109941409A
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Abstract
The invention discloses a kind of sized underwater observation robot and control methods, the robot includes main platform body, observation device, transmitting device and control device, main platform body includes sealed compartment, multiple underwater propellers and driving motor, driving motor drives underwater propeller rotation, and observation device includes camera and lighting module；Control device establishes signal transmission passage through transmitting device, and the image/video information that observation device obtains is transferred to user terminal through transmitting device；Control device includes the gyro sensor and controller for detecting robot deflection angle, and controller receives user terminal and instructs and control driving motor；This method is that data are set according to user terminal, and controller control robot is mobile and obtains underwater video image, controls underwater propeller adjustment balance according to gyroscope sensor data.The configuration of the present invention is simple, energy ground keep the stabilization of camera in turbulent water, carry out underwater photograph technical according to the path of setting, fast and effeciently transmitting video image data to user terminal.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of sized underwater observation robot and control method.
Background technique
For the survival and development, people start to pour in the exploration of marine resources, however, subsea pressure is huge, it is a piece of
Pitch-dark, environment is extremely severe.This all sets raising of a wreck, sea rescue, optical cable laying or resource exploration and exploitation to general
It is standby to cause great difficulty.Then underwater robot comes into being, the required sized underwater observation robot in military and industrial production
Technology is more mature, and then structure is complicated, body volume is big, price is also sufficiently expensive, to push civilian underwater robot
Development, open up the market of civilian underwater robot, need a kind of cheap product to reduce production cost, need one kind
Structure is simple, is convenient for carrying, observes reliable underwater robot；On the other hand in order to enrich children life, develop more by all kinds of means
Children thought, it is ornamental for underwater environment, for entertainment for children, even serve the early stage science and technology education of children, due to existing
Structure is complicated for some sized underwater observation robots, and test and operating process are cumbersome, can not be directly used in early stage science and technology education
Teaching.
Summary of the invention
In order to overcome the shortcomings of the prior art, the present invention provides a kind of sized underwater observation robot and control method, lead to
It crosses the movement of propeller control robot and the work such as is observed, detects in underwater environment to realize, the configuration of the present invention is simple is set
Meter rationally, uses modularized design, so that it is all non-to carry out dismounting maintenance, replacement or installation functional module to sized underwater observation robot
It is often convenient, and compression processing is carried out to the video image obtained within a certain period of time, in the premise for guaranteeing video image quality
Under, improve transmission rate.
In order to achieve the above object, the invention adopts the following technical scheme:
The present invention provides a kind of sized underwater observation robot, including main platform body, observation device, transmitting device and control dress
It sets,
The main platform body includes sealed compartment, multiple underwater propellers and driving motor, and the driving motor driving is underwater
Propeller rotation, the underwater propeller includes horizontal propeller and vertical pusher；The observation device include camera and
Lighting module；The control device establishes signal transmission passage, the image/video information that observation device obtains by transmitting device
It is transferred to user terminal through transmitting device, the observation device is set in sealed compartment；
The control device includes gyro sensor and controller, and the gyro sensor is inclined for detecting robot
Gyration, the controller receive user terminal default control signal and control driving motor.
The transmitting device includes RS485 signal cable, raspberry pie and electric force carrier transmission as a preferred technical solution,
Module,
The control device is connect by RS485 signal cable with user terminal, and signal transmission passage, the raspberry pie are established
Data processing is carried out to the image/video information that observation device obtains, image regards the electric force carrier transmission module by treated
Frequency information is transferred to user terminal.
The depth data measured is passed to use by transmitting device by the depth detection apparatus as a preferred technical solution,
Family end.
The main platform body further includes propeller bearing plate, vertical change-over panel, the first side as a preferred technical solution,
Plate, the second side plate, the first mounting plate and the second mounting plate,
Second mounting plate side is connect with the first side plate, and the other side is connect with the second side plate, the vertical change-over panel
Side is connect with the first side plate, and the other side is connect with the second side plate, and the sealed compartment is mounted on the second mounting plate, the first installation
Plate and the second mounting plate, which cooperate, to be installed, and propeller bearing plate side is connect with the second mounting plate, the other side with it is vertical
Change-over panel connection, horizontal propeller are mounted on propeller bearing plate, and vertical pusher is mounted on the second mounting plate.
The vertical change-over panel is equipped with permeable slot as a preferred technical solution, on first side plate, the second side plate
It is equipped with hollow slots.
It is equipped with dowel hole on first mounting plate and the second mounting plate as a preferred technical solution, described
Side plate and the second side plate are equipped with weight bearing mounting hole.
First mounting plate and the second mounting plate pass through corner brace and connect with vertical change-over panel as a preferred technical solution,
It connects, the propeller bearing plate is all made of wedge-shaped connection with the second mounting plate, vertical change-over panel.
The sealed compartment includes transparent cap, seal washer, column, first flange as a preferred technical solution, and second
Flange, fixed plate, partition and sealing acrylic board,
The transparent cap is set at the top of sealed compartment, is connected between the transparent cap and first flange by seal washer
It connects, is connected between the first flange and second flange by multiple columns, the column passes through fixed plate and partition.
The present invention also provides a kind of control methods of sized underwater observation robot, include the following steps:
S1, user terminal send the data of default movement routine, and controller is according to the deflection angle of user's end signal and robot
Situation of change is spent, control signal is issued to underwater propeller；
S2, controller obtain the angle-data of sized underwater observation robot by gyro sensor, to fuselage equilibrium state
It is assessed；
S3, data are assessed by equilibrium state, controller cooks up the water that can restore sized underwater observation robot equilibrium state
Lower propeller operation conditions, control underwater propeller are balanced adjustment；
S4, sized underwater observation robot are moved according to default movement routine, while being shot to immersed body；
S5, the underwater video image that camera obtains is filtered, compression processing, treated, and video image information passes
It is defeated to arrive user terminal, while the depth data monitored, control signal, robot deflection angle are transferred to user terminal；
S6, judge whether to observe image, if image can not be observed, execute step S7 and held if having been observed that image
Row step S8；
S7, lighting module progress supplementary observation is opened；
S8, the balance for keeping sized underwater observation robot wait user terminal to issue new expectation movement routine.
Step S3 controls underwater propeller and is balanced adjustment specific step is as follows as a preferred technical solution:
Gyro sensor obtains current deflection angle data, including deflection angle, yaw rate and deflection angle add
Speed；
The current yaw angle degree evidence that controller is obtained according to historical movement data and gyro sensor, assesses current shape
State, including stabilization, left-leaning, Right deviation state；
Controller controls driving motor operating, is equipped with six-freedom degree in space, different freedom degrees corresponds to different
Driving motor drive manner, driving motor correspondingly drive underwater propeller to be balanced adjustment.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) present invention enables sized underwater observation robot in turbulent water using the structure of multi-thruster, sets according to user terminal
Fixed motion path carries out underwater photograph technical, and the stabilization of camera relative position is kept in vortex, guarantees video image information
High quality.
(2) present invention detects depth under water, robot deflection angle, video image data by sensor, and passes through transmission
Device carries out long distance transmission, the situation for keeping user terminal real-time monitoring underwater；And to the video obtained within a certain period of time
Image carries out compression processing, under the premise of guaranteeing video image quality, improves transmission rate.
(3) present invention optimizes the control and regulation to buoyancy in such a way that main platform body can increase and decrease weight bearing, makes underwater
Observation robot realizes under circumstances by changing gravity to change buoyancy size.
(4) present invention is by modularized design, and change main platform body internal structure is connected and fixed mode, so that entirely
Sized underwater observation robot is more convenient in terms of plant maintenance, also greatly reduces space, is convenient for carrying.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present embodiment sized underwater observation robot；
Fig. 2 is the present embodiment sized underwater observation robot top view；
Fig. 3 is the present embodiment sized underwater observation robot bottom view；
Fig. 4 is the present embodiment sized underwater observation robot side view；
Fig. 5 is the present embodiment sized underwater observation robot bottom partial structural diagram；
Fig. 6 is the present embodiment sized underwater observation robot sealing structure schematic diagram；
Fig. 7 is the control flow schematic diagram of the present embodiment sized underwater observation robot.
Wherein, 1, horizontal propeller；2, vertical pusher；3, propeller bearing plate；4, transparent cap；5, first vertical turn
Change plate；6, the second vertical change-over panel；7, the second mounting plate；8, sealed compartment；9, fixed ring；10, the first side plate；11, the second side plate；
12, permeable slot；13, seal washer；14, acrylic board is sealed；15, the first mounting plate；16, wedge-shaped connecting hole；17, driving electricity
Machine；18, pedestal fixinig plate；19, bear a heavy burden mounting hole；20, hollow slots；21, fixed plate；22, first flange；23, observation device；
24, column；25, partition；26, second flange.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment
Present embodiments provide a kind of sized underwater observation robot, including main platform body, observation device, transmitting device and control
Device, described transmitting device one end are connected with user terminal, and the other end is connected with observation device, control device respectively, the control
Device is connected with main platform body,
In the present embodiment, main platform body includes sealed compartment, multiple underwater propellers and driving motor, and the sealed compartment is set
It sets in main platform body, the driving motor driving underwater propeller rotation, propeller pushes sized underwater observation robot mobile, also
Including depth detection apparatus, the depth data measured is passed to user terminal by transmitting device by the depth detection apparatus.Observation
Device includes camera and lighting module, and the observation device is set in sealed compartment.
In the present embodiment, transmitting device includes signal cable, processor and transmission module；The control device passes through letter
Number cable is connect with user terminal, establishes signal transmission passage, the image/video information that the processor obtains observation device into
Row data processing, by treated, image/video information is transferred to user terminal to the transmission module；The control device includes top
Spiral shell instrument sensor and controller；The gyro sensor receives user for detecting robot deflection angle, the controller
End instructs and controls driving motor.
In the present embodiment, the signal cable of transmitting device uses RS485 cable, and the processor uses raspberry pie, institute
Transmission module is stated using electric force carrier transmission module.Raspberry pie carries out as simple the underwater video image information that camera obtains
Filtering, the short-term processing such as compression improve transmission quality to shorten the transmission time of video image information.What camera obtained
Underwater video image information passes through the user terminal of electric force carrier transmission module transfer ashore after raspberry pie is handled.
As shown in Figure 1 and Figure 2, underwater propeller includes horizontal propeller 1 and vertical pusher 2, and horizontal propeller 1 is arranged
In main platform body two sides, position is arranged among main platform body in vertical pusher 2.In the present embodiment, preferred levels propeller and
Vertical pusher each 4, wherein vertical pusher is located at immediately below chassis, and horizontal propeller is located at the front and back among chassis
Side has the six-freedom degree for all around promoting and rolling up and down around XYZ axis.
As shown in Figure 1 and Figure 2, main platform body includes propeller bearing plate 3, vertical change-over panel, the first side plate 10, second side
Plate 11, the first mounting plate 15 and the second mounting plate 7；
In the present embodiment, 7 side of the second mounting plate is connect with the first side plate 10, and the other side is connect with the second side plate 11,
The vertical change-over panel side is connect with the first side plate 10, and the other side is connect with the second side plate 11, second mounting plate 7 with hang down
Straight change-over panel is oppositely arranged, and the sealed compartment 8 is mounted on 7 on the second mounting plate, and sealed compartment 8 is equipped with transparent cap 4, sealed compartment
8 are fixed on the second mounting plate 7 by fixed ring 9, and the vertical change-over panel includes the first vertical change-over panel 5 and the second vertical conversion
Plate 6 is separately positioned on main platform body bottom；In the present embodiment, 3 side of propeller bearing plate is connect with the second mounting plate 7, separately
Side is connect with vertical change-over panel, and propeller bearing plate 3 is equipped with horizontal propeller 1, and second mounting plate 7 is equipped with vertical
Propeller 2, vertical change-over panel are equipped with permeable slot 12.
In embodiment, the second mounting plate 7, which serves, is auxiliarily fixed, 7 phase interworking of the first mounting plate 15 and the second mounting plate
Installation is closed, it is higher that the strength degree of two-ply compare a laminate with yield limit, play the role of increase structural strength, in addition one
Aspect has dowel hole on the second mounting plate 7, cooperates with the dowel hole on the first mounting plate 15, can achieve location and installation
The effect of side plate.
As shown in figure 3, and passing through corner brace and vertical conversion in conjunction with Fig. 1, Fig. 2, the first mounting plate 15 and the second mounting plate 7
Plate connects, and is respectively provided with multiple mounting holes and multiple wire inserting slots on the first mounting plate 15 and the second mounting plate 7.The vertical change-over panel
Multiple wedge-shaped connecting holes 16 are equipped with, the propeller bearing plate is all made of wedge shape with the second mounting plate, vertical change-over panel and connect
As shown in figure 4, and combine Fig. 1, Fig. 2 and Fig. 3, horizontal propeller 1 connect with driving motor 17, the first side plate or the
It is equipped with multiple pedestal fixinig plates 18, hollow slots 20 and weight bearing mounting hole 19 on two side plates, keeps gravity for increasing and decreasing weight bearing
Balance.The pedestal fixinig plate 18 is used for fixing the first vertical change-over panel 5, the second vertical change-over panel 6 and the second mounting plate 7
In the first side plate and the second side plate that fixed joggle is cooperatively connected, it is correspondingly connected with for the fixed and pedestal fixinig plate laterally sub-
Gram force plate, different pedestal fixinig plates are possibly used for the different side plates and lateral acrylic board of connection.First vertical change-over panel
5, lateral acrylic board can be used in the second vertical change-over panel 6 and the second mounting plate 7 in the present embodiment,
In the present embodiment, control device, observation device, depth detection apparatus and transmitting device are fixed in sealed compartment.
In the present embodiment, control device includes lithium battery, the gyro sensor for controlling balance, controller.With
Control instruction is transferred in the processor of sized underwater observation robot by RS485 cable by family end, processor to control instruction into
Row parsing, according to user instructions controls propeller with the deflection angle situation of change of sized underwater observation robot, reaches expectation
Movement effects.
In the present embodiment, the actual deflection for the sized underwater observation robot that gyro sensor detects, propeller push away
Into power size, depth locating for sized underwater observation robot can pass through the user terminal of RS485 cable ashore, for user terminal
Real-time monitoring uses.The electric force carrier transmission module can carry out long range biography to the biggish video image information of data volume
It is defeated, enable users to the underwater environment of real-time detection and situation.
As shown in Figure 5, Figure 6, and Fig. 1, Fig. 2 are combined, sealed compartment includes transparent cap 4, seal washer 13, column 24, the
One flange 22, second flange 26, fixed plate 21, partition 25 and sealing acrylic board 14, the transparent cap 4 are set to sealed compartment 8
Top is connected between the transparent cap 4 and first flange 22 by seal washer 13, the first flange 22 and second flange
It is connected between 26 by multiple columns 24, the column 24 passes through fixed plate 21 and partition 25, and the partition 25 is for placing electricity
Road plate device, first flange 22 and second flange 26 are connect by column 24 with end cap, while being connect by corner brace with partition 25,
Play fixed function.Fixed plate 21 plays fixed function, and parts of electrical components (such as circuit board) can also be solid by fixed plate 21
It is scheduled in sealed compartment.
The fixed plate 21 of sealed compartment 8 opens up through-hole, electric wire can be allowed to pass through, and the metals such as copper post can be used in the column of the present embodiment
Material or the high nonmetallic materials of lightweight intensity can also realize the function of the present embodiment.
In the present embodiment, observation device 23 include camera and lighting module, be set in sealed compartment 8, and the two it
Between there are gap and be set on partition 25.Horizontal propeller, vertical pusher, sealed compartment, camera, between lighting module
It being connected by cable and underwater electrical connector, underwater dedicated LED illumination lamp can be used in lighting apparatus, play the role of waterproof,
It is mounted on outside sized underwater observation robot, camera shoots immersed body by the transparent part of transparent cap.
As shown in fig. 7, the present embodiment also provides a kind of control method of sized underwater observation robot, following step is specifically included
It is rapid:
S1, user terminal send the data of default movement routine, and controller is according to the deflection angle of user's end signal and robot
Situation of change is spent, control signal is issued to underwater propeller；
S2, controller obtain the angle-data of sized underwater observation robot by gyro sensor, to fuselage equilibrium state
It is assessed；
S3, data are assessed by equilibrium state, controller cooks up the water that can restore sized underwater observation robot equilibrium state
Lower propeller operation conditions, control underwater propeller are balanced adjustment；
S4, sized underwater observation robot are moved according to default movement routine, while being shot to immersed body；
S5, the underwater video image that camera obtains is filtered, compression processing, treated, and video image information passes
It is defeated to arrive user terminal, while the depth data monitored, control signal, robot deflection angle are transferred to user terminal；
S6, judge whether to observe image, artificial observation can be carried out, if image can not be observed, step S7 is executed, if
It observes image, thens follow the steps S8；
S7, lighting module progress supplementary observation is opened；
S8, the balance for keeping sized underwater observation robot wait user terminal to issue new expectation movement routine；
In the present embodiment, the concrete mode assessed fuselage equilibrium state is: gyro sensor can obtain X,
Y, thus the deflection angle of Z axis with respect to the horizontal plane currently obtains the current degree of deflection of underwater robot.In addition, gyroscope
Sensor can also obtain X, and Y, Z axis current yaw rate and angular acceleration, yaw rate and angular acceleration mean to work as
Preceding underwater robot can just record number since underwater robot carries out operation in the trend of a certain axial rotation, controller
According to, the deflection angle that controller is obtained according to historical data and currently, yaw rate and angular acceleration assess current state:
Stablize, left-leaning, Right deviation etc..
In the present embodiment, it is according to the specific function mode of angle-data and user control signal control robot: connects
The move of person on shore's sending is received, the desired shift position of underwater robot and desired motion profile are obtained；In conjunction with
The deflection angle that current gyro obtains moves to person on shore's phase under conditions of keeping underwater robot to keep stable state
The spatial position of prestige；For the control target for being able to achieve above-mentioned holding organism balance He being moved to desired spatial position, under water
Robot has a six-freedom degree in space, and different freedom degrees corresponds to different driving motor drive manners (including difference
The rotation direction of combined driving motor, running power), then, controller is to can provide the underwater electricity of corresponding freedom degree at this time
Machine is controlled, and realizes two control targets.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of sized underwater observation robot, which is characterized in that including main platform body, observation device, transmitting device and control device,
The main platform body includes sealed compartment, multiple underwater propellers and driving motor, and the driving motor drives underwater propulsion
Device rotation, the underwater propeller includes horizontal propeller and vertical pusher；The observation device includes camera and illumination
Module；The control device establishes signal transmission passage by transmitting device, and the image/video information that observation device obtains is through passing
Defeated device is transferred to user terminal, and the observation device is set in sealed compartment；
The control device includes gyro sensor and controller, and the gyro sensor is for detecting robot deflection angle
Degree, the controller receive user terminal default control signal and control driving motor.
2. sized underwater observation robot according to claim 1, which is characterized in that the transmitting device includes RS485 signal
Cable, raspberry pie and electric force carrier transmission module,
The control device is connect by RS485 signal cable with user terminal, establishes signal transmission passage, the raspberry pie is to sight
It surveys the image/video information that device obtains and carries out data processing, the electric force carrier transmission module by treated believe by image/video
Breath is transferred to user terminal.
3. sized underwater observation robot according to claim 1, which is characterized in that it further include depth detection apparatus, the depth
The depth data measured is passed to user terminal by transmitting device by degree detection device.
4. sized underwater observation robot according to claim 1, which is characterized in that the main platform body further includes that propeller is held
Fishplate bar, vertical change-over panel, the first side plate, the second side plate, the first mounting plate and the second mounting plate,
Second mounting plate side is connect with the first side plate, and the other side is connect with the second side plate, the vertical change-over panel side
Connect with the first side plate, the other side is connect with the second side plate, and the sealed compartment is mounted on the second mounting plate, the first mounting plate with
Second mounting plate, which cooperates, to be installed, and propeller bearing plate side is connect with the second mounting plate, and the other side is converted with vertical
Plate connection, horizontal propeller are mounted on propeller bearing plate, and vertical pusher is mounted on the second mounting plate.
5. sized underwater observation robot according to claim 4, which is characterized in that the vertical change-over panel is equipped with permeable
Slot is equipped with hollow slots on first side plate, the second side plate.
6. sized underwater observation robot according to claim 4, which is characterized in that first mounting plate and the second mounting plate
On be equipped with dowel hole, first side plate and the second side plate are equipped with weight bearing mounting hole.
7. sized underwater observation robot according to claim 4, which is characterized in that first mounting plate and the second mounting plate
It is connect by corner brace with vertical change-over panel, the propeller bearing plate is all made of wedge shape with the second mounting plate, vertical change-over panel
Connection.
8. sized underwater observation robot according to claim 1, which is characterized in that the sealed compartment includes transparent cap, close
Seal washer, column, first flange, second flange, fixed plate, partition and sealing acrylic board,
The transparent cap is set at the top of sealed compartment, is connected between the transparent cap and first flange by seal washer, institute
It states and is connected between first flange and second flange by multiple columns, the column passes through fixed plate and partition.
9. a kind of control method of sized underwater observation robot, which is characterized in that include the following steps:
S1, user terminal send the data of default movement routine, and controller becomes according to the deflection angle of user's end signal and robot
Change situation, control signal is issued to underwater propeller；
S2, controller obtain the angle-data of sized underwater observation robot by gyro sensor, carry out to fuselage equilibrium state
Assessment；
S3, data are assessed by equilibrium state, controller, which is cooked up, can restore pushing away under water for sized underwater observation robot equilibrium state
Into device operation conditions, controls underwater propeller and be balanced adjustment；
S4, sized underwater observation robot are moved according to default movement routine, while being shot to immersed body；
S5, the underwater video image that camera obtains is filtered, compression processing, treated, and video image information is transferred to
User terminal, while the depth data monitored, control signal, robot deflection angle are transferred to user terminal；
S6, judge whether to observe image, if image can not be observed, execute step S7 if having been observed that image and execute step
Rapid S8；
S7, lighting module progress supplementary observation is opened；
S8, the balance for keeping sized underwater observation robot wait user terminal to issue new expectation movement routine.
10. the control method of sized underwater observation robot according to claim 9, which is characterized in that step S3 control is underwater
Propeller is balanced adjustment, and specific step is as follows:
Gyro sensor obtains current deflection angle data, including deflection angle, yaw rate and deflection angular acceleration；
The current yaw angle degree evidence that controller is obtained according to historical movement data and gyro sensor, assesses current state,
It is left-leaning including stabilization, Right deviation state；
Controller controls driving motor operating, is equipped with six-freedom degree in space, and different freedom degrees corresponds to different drivings
Motor drive manner, driving motor correspondingly drive underwater propeller to be balanced adjustment.
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| CN201910315927.7A CN109941409A (en) | 2019-04-19 | 2019-04-19 | A kind of sized underwater observation robot and control method |
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| CN112937806B (en) * | 2021-02-19 | 2024-01-02 | 上海海洋大学 | Shooting type underwater robot |
| CN113753206A (en) * | 2021-09-24 | 2021-12-07 | 广州大学 | Underwater robot based on variable-volume auxiliary drive and control method |
| CN114084318A (en) * | 2021-12-30 | 2022-02-25 | 国家海洋局北海海洋环境监测中心站 | Diving equipment for ocean observation and working method thereof |
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Application publication date: 20190628 |