CN110471451A - A kind of remote control underwater robot control system - Google Patents
A kind of remote control underwater robot control system Download PDFInfo
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- CN110471451A CN110471451A CN201910807916.0A CN201910807916A CN110471451A CN 110471451 A CN110471451 A CN 110471451A CN 201910807916 A CN201910807916 A CN 201910807916A CN 110471451 A CN110471451 A CN 110471451A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 74
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 24
- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 241001347978 Major minor Species 0.000 claims description 16
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- 238000012545 processing Methods 0.000 claims description 12
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- 238000003384 imaging method Methods 0.000 claims description 9
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- 239000011159 matrix material Substances 0.000 claims description 6
- 230000006798 recombination Effects 0.000 claims description 6
- 238000005215 recombination Methods 0.000 claims description 6
- 230000005622 photoelectricity Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
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- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
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- 230000003993 interaction Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
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- 230000008901 benefit Effects 0.000 description 6
- 230000010365 information processing Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
Simple, flexibility and reliability that the invention discloses a kind of structures, compatibility are high, manipulate strong real-time, is applied widely, realize function remote control underwater robot control system more abundant, including water surface control system and underwater operation system；The water surface control system includes programmable logic controller (PLC), host interactive system, monitoring network system and water surface photoelectric conversion unit；The underwater operation system includes environmental information equipment, autonomous device, underwater function device and underwater photoelectric conversion unit；The water surface control system is matched with the underwater photoelectric conversion unit by the water surface photoelectric conversion unit with the underwater operation system and is communicated；The host interactive system is matched with the programmable logic controller (PLC) handles the underwater environment information and the independent information；The monitoring network system is matched with the programmable logic controller (PLC) to be monitored according to operating status of the device status information to the underwater function device.
Description
Technical field
The present invention relates to remote control underwater robot control fields, particularly relate to a kind of remote control underwater robot behaviour
Control system.
Background technique
With deepening continuously for the development and exploration to marine field, various diving apparatuses start gradually to play more
Send out important role, wherein remote control underwater robot (ROV, Remote Operated Vehicle) is with it not by the energy
Advantage not available for other diving apparatuses such as limitation, work capacity be strong and have been widely used.
Remote control underwater robot ROV needs to be implemented sea as the important equipment for carrying out development and exploration to marine field
Foreign scientific investigation, the energy are explored, search for the various complex works such as salvaging, underwater operation and personnel's relief, key technique
It is the integrated and manipulation of overall system.Inventor is existing by finding to existing ROV is integrated with manipulation technical research
ROV control system often has the following problems:
ROV control core is embedded system, and essence is industry control processing system, realizes ROV underwater portion in order to balance
The function of the equipment such as multiple observation components of scattering device, instrument, control structure design often unavoidably become very multiple
Miscellaneous, the control flexibility ratio that this allows for ROV is low, poor reliability；The water surface manipulation part of ROV separates with underwater equipment part to be set
It sets, manipulation part waterborne is handled various system signals, substantive control is not carried out to underwater equipment part, or
Person adds underwater control unit to realize outside the quota to underwater equipment part, practical operator is logical to layer data is executed
Road increases, and manipulation real-time is poor；Message transmission capability between the water surface manipulation part of ROV and underwater equipment part is believed by data
Road limitation, the water surface manipulate data acquired in part and in contrast not enough enrich, is intuitive, and the design of corresponding control system is also past
Toward specific application scene is directed to, the structure of ROV control system is caused to fix, so that there are poor compatibility, narrow application ranges to ask
Topic；The control mode of existing ROV control system is single, and human-computer interaction degree is low, and manipulation function is limited.
Summary of the invention
In view of this, it is an object of the invention to propose that a kind of simple structure, flexibility and reliability, compatibility are high, manipulation is real-time
Property it is strong, applied widely, realize function remote control underwater robot control system more abundant.
Based on above-mentioned purpose, the present invention provides a kind of remote control underwater robot control systems, which is characterized in that packet
Include water surface control system and underwater operation system；
The water surface control system includes programmable logic controller (PLC), host interactive system, monitoring network system and the water surface
Photoelectric conversion unit；
The underwater operation system includes environmental information equipment, autonomous device, underwater function device and underwater photoelectric conversion
Unit；
The water surface control system and the underwater operation system pass through the water surface photoelectric conversion unit and described underwater
Photoelectric conversion unit, which matches, to be communicated；
The host interactive system receives the water from the environmental information equipment by the water surface photoelectric conversion unit
Lower environmental information and the independent information from the autonomous device, the host interactive system by interaction manipulation network with it is described
Programmable logic controller (PLC) is connected, for being matched with the programmable logic controller (PLC) to the underwater environment information and
The independent information is handled；
The monitoring network system receives setting from the underwater function device by the water surface photoelectric conversion unit
Standby status information, the monitoring network system are connected with the programmable logic controller (PLC) by condition monitoring network, are used for
The operating status according to the device status information to the underwater function device is matched with the programmable logic controller (PLC)
It is monitored.
Optionally, the host interactive system includes host system, signal recombination switching system and display system；
The environmental information equipment includes underwater video capture apparatus, sonar contact equipment and positioning device, described underwater
Video capture equipment is used to obtain the video information of the underwater operation system local environment, and the sonar contact equipment is for obtaining
The Imaging sonar information of the underwater operation system local environment is taken, the positioning device is for obtaining the underwater operation system
Present position information, the underwater environment information include the video information, the Imaging sonar information and the location information；
The autonomous device includes scientific investigation detecting devices, and for obtaining target acquisition information, the independent information includes institute
State target acquisition information；
The host system receives the independent information, is monitored by the independent signal to the autonomous device,
Visualization processing is carried out to the independent information；
The signal recombination switching system receives the independent information after the underwater environment information and visualization processing,
The independent information after the underwater environment information and visualization processing is overlapped, is recombinated and hand-off process, and
It is shown by the display system.
Optionally, the host interactive system further includes that two fingers enable operation input system, for receiving local operation control
Instruction；
The host system includes main navigator's host and secondary navigator host, the two fingers enable operation input system respectively with institute
It states main navigator's host and the secondary navigator host is connected；
Main navigator's host, the secondary navigator host manipulate net with described interact of programmable logic controller (PLC) composition
Network.
Optionally, the host interactive system further includes remote monitoring system, and the remote monitoring system is used for will be described
Host system and the state of a control information of the programmable logic controller (PLC) are sent to distal end, and receive the long-range behaviour from distal end
Make control instruction.
Optionally, the monitoring network system include network converting system and major-minor navigator control system,
The network converting system and the programmable logic controller (PLC) and the major-minor navigator control system form institute
State condition monitoring network；
The network converting system receives the device status information, carries out conversion process simultaneously to the device status information
The device status information after conversion process is sent to the major-minor navigator control system and the Programmable logical controller
Device；
The programmable logic controller (PLC) is used to handle the device status information after conversion process, is
The system status information and is sent to the major-minor navigator manipulation at (operation of underwater portion system is loaded) by system status information
System；
The major-minor navigator control system cooperates the programmable logic controller (PLC) to institute according to the system status information
Underwater function device is stated to be manipulated.
Optionally, the monitoring network system further includes water surface power supply monitoring system；
The water surface power supply monitoring system is used to be powered the underwater function device, and according to the equipment state
Information is powered monitoring protection to the underwater function device.
Optionally, the underwater function device include navigation system devices, it is altimeter, depth gauge, light control device, hydraulic dynamic
Power equipment, detection sensing equipment and underwater I/O control unit:
The navigation system devices are used to obtain location information, velocity information and the heading device of the underwater operation system
Breath；
The altimeter separately provides the underwater operation system to the range information of sea bed；
The depth gauge separately provides the range information on underwater operation system sea level；
The light control device provides illumination for the underwater operation system, and according to the photograph from the water surface control system
Bright control instruction carries out brightness of illumination adjusting；
The hydraulic power unit provides motion-promotion force for the underwater control system, and controls according to from the water surface
The drive control instruction adjustment motion state of system；
The detection sensing equipment is monitored the hydraulic power unit running state information, when the operating status
Information makes warning when occurring abnormal, and the running state information includes the pressure information of the hydraulic power unit, oil liquid position
Confidence breath, operational temperature information and operating humidity information；
The underwater I/O control unit is instructed according to the power supply control from the water surface control system to the underwater behaviour
It is powered monitoring protection as system, the underwater I/O control unit is also to the navigation system devices, the altimeter, institute
State depth gauge, the detection sensing equipment carries out data acquisition, and collected data are sent to the water surface control system.
Optionally, the water surface control system further includes mechanical arm control unit；
The underwater operation system further includes electric-controlled mechanical arm；
The mechanical arm control unit is independent control unit, by the water surface photoelectric conversion unit and described underwater
Photoelectric conversion unit is connect with the electric-controlled mechanical arm, is directly controlled to the electric-controlled mechanical arm.
Optionally, the water surface control system further includes Dynamic matrix control unit；
The Dynamic matrix control unit is connect with the programmable logic controller (PLC), and Xiang Suoshu programmable logic controller (PLC) is sent
Intelligent control instruction.
From the above it can be seen that a kind of water surface control of remote control underwater robot control system provided by the invention
Carried out by the way of photoelectric conversion between system processed and underwater operation system data exchange and manipulation command transmission, have compared with
Strong data transmission capabilities can while realizing water surface control system and underwater operation inter-system data high-speed transfer
The data volume and data class of transmission are also more abundant, on this basis, using water surface control system to underwater operation system
Items of equipment progress reading data is shown and control, has the advantages that structure is simple, manipulates strong real-time, high reliablity, In
Using programmable logic controller (PLC) as master controller in water surface control system, using host interactive system, monitoring network system
The mode that control is matched with the programmable logic controller (PLC) carries out specific aim behaviour to the items of equipment in underwater operation system
Control has the advantages that compatible height, scalability are strong, and the scope of application is more wide in range；Distributing is used in host interactive system
Input system is manipulated, the control mode with multiple types can be greatly improved in conjunction with the visualization display to abundant data type
The human-computer interaction degree of ROV control, meets a variety of manipulation function demands.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of remote control underwater robot control system structural schematic diagram provided by the embodiment of the present invention；
Fig. 2 is a kind of remote control underwater robot control system structural schematic diagram provided by the embodiment of the present invention；
Fig. 3 is water surface control system in a kind of remote control underwater robot control system provided by the embodiment of the present invention
Partial structure diagram；
Fig. 4 is water surface control system in a kind of remote control underwater robot control system provided by the embodiment of the present invention
Partial structure diagram；
Fig. 5 is underwater operation system in a kind of remote control underwater robot control system provided by the embodiment of the present invention
Partial structure diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
The present invention provides a kind of remote control underwater robot control systems.
As shown in Figure 1, a kind of remote control underwater robot manipulation system provided by some alternative embodiments of the invention
System, including water surface control system 1 and underwater operation system 2；
The water surface control system 1 includes programmable logic controller (PLC) 4, host interactive system 3,5 and of monitoring network system
Water surface photoelectric conversion unit 6；
The underwater operation system 2 includes environmental information equipment 8, autonomous device 9, underwater function device 10 and underwater photoelectricity
Converting unit 7；
The water surface control system 1 passes through the water surface photoelectric conversion unit 6 and the water with the underwater operation system 2
Lower photoelectric conversion unit 7, which matches, to be communicated；
The host interactive system 3 is received by the water surface photoelectric conversion unit 6 from the environmental information equipment 8
Underwater environment information and the independent information from the autonomous device 9, the host interactive system 3 by interaction manipulation network with
The programmable logic controller (PLC) 4 is connected, and believes for matching with the programmable logic controller (PLC) 4 underwater environment
Breath and the independent information are handled；
The monitoring network system 5 is received by the water surface photoelectric conversion unit 6 and comes from the underwater function device 10
Device status information, the monitoring network system 5 is connected by condition monitoring network with the programmable logic controller (PLC) 4
It connects, for matching according to the device status information with the programmable logic controller (PLC) 4 to the underwater function device 10
Operating status be monitored.
The remote control underwater robot control system, including water surface control system 1 and underwater operation system 2, with institute
Programmable logic controller (PLC) (PLC) 4 is stated to constitute and control as control core, integrated host interactive system 3 and monitoring network system 5
Network, and control network is grouped, it is able to achieve the overall monitor to remote control underwater robot ROV.Water surface control system
System with pass through water surface photoelectric conversion unit 6 between underwater operation system and match and communicated with underwater photoelectric conversion unit 7, adopt
Signal transparent transmission is realized with the mode of photoelectric signal transformation, guarantees data height between water surface control system 1 and underwater operation system 2
While speed transmission, data volume and the data class that can cross transmission are also more abundant, based on this water surface control system 1 and
Underwater operation system 2 separates, and concentrates on water surface control system 1 to the control of ROV to realize, water surface control system 1 is to underwater
The various equipment progress reading data of operating system 2 is shown and control, operation strong real-time, reliability simple with structure
Strong advantage.With programmable logic controller (PLC) (PLC) 4 be master controller, using host interactive system 3, monitoring network system 5 with
The mode that programmable logic controller (PLC) (PLC) 4 matches control carries out specific aim behaviour to the items of equipment of underwater operation system 2
Control has the advantages that compatible height, scalability are strong, and the scope of application is broader.
As shown in Fig. 2, a kind of remote control underwater robot manipulation provided by some alternative embodiments of the invention
In system, the host interactive system 3 includes host system 301, signal recombination switching system 302 and display system 303；
The environmental information equipment 8 includes underwater video capture apparatus 801, sonar contact equipment 802 and positioning device
803；
The underwater video capture apparatus 801 is used to obtain the video information of the underwater operation system local environment, institute
Stating underwater video capture apparatus 801 includes multiple Underwater Cameras, and output meets vision signal or network video signal as view
Frequency information, multiple Underwater Cameras are independently arranged, and position can flexible setting according to actual needs.
The sonar contact equipment 802 is used to obtain the Imaging sonar information of the underwater operation system local environment, institute
It states sonar contact equipment 802 to be made of Forward-Looking Sonar, multibeam sonar etc., according to the Forward-Looking Sonar and the multibeam sonar
The return signal for issuing detection information, can be obtained the Imaging sonar information after processing.
The positioning device 803 is for obtaining underwater operation system present position information, the underwater environment information
Including the video information, the Imaging sonar information and the location information；
The autonomous device 9 includes scientific investigation detecting devices, and for obtaining target acquisition information, the independent information includes institute
State target acquisition information；
The host system 301 receives the independent information, has been independently arranged in the host system 301 and the scientific investigation
The corresponding target acquisition information processing computer of detecting devices, dedicated for being set to the scientific investigation detection in underwater operation system 2
Standby to be controlled, the remote control underwater robot ROV control system can be according to detection purpose in every task
Difference, flexibly different scientific investigation detecting devices is arranged in replacement, also flexibly carries different institutes in the corresponding host system 301
Target acquisition information processing computer is stated, in this way on the basis of the ROV control system overall architecture is constant, need to be only arranged not
Meet a variety of variety classes work requirements with the autonomous device 9, greatly improve the compatibility of the ROV control system and fits
Use range.
The host system 301 is monitored the autonomous device 9 by the independent signal, to the independent information
Carry out visualization processing, by the independent information after visualization processing be sent to target recombination switching system 302 with to
Display；
The signal recombination switching system 302, which has, meets video switcher, VGA video switcher, Video segmentation device, video
Signal adapter, video caption superimposer composition, after receiving the video information and the Imaging sonar information, to general
Vision signal realizes that free switching is shown in the display system 303 again after being superimposed, recombinating through the video caption superimposer, together
When also the video information received and the Imaging sonar information are stored, in addition, also to come from the host system
VGA corresponding with the independent information after the visualization processing view that target acquisition information processing computer in system 301 is sent
Frequency information carries out free switching and shows.
As shown in figure 3, a kind of remote control underwater robot manipulation provided by some alternative embodiments of the invention
In system, the host interactive system 3 further includes that two fingers enable operation input system 304, for receiving local operation control instruction；
It includes double mouse-keyboard input systems and dual touch screen input system that the two fingers, which enable operation input system 304,；
The host system 301 includes main navigator's host 3011 and secondary navigator host 3012, and the two fingers enable operation input
Double mouse-keyboard input systems and the dual touch screen input system are respectively led with the main navigator in system 304
Machine 3011 and the secondary navigator host 3012 are connected, and the two fingers enable operation input system 304 to receive setting parameter
And operational order, flexible man-machine interaction mode abundant is provided in conjunction with the display system 303, control mode is enriched, improves
Human-computer interaction degree enhances the manipulation function of ROV.
Main navigator's host 3011, the secondary navigator host 3012 and the programmable logic controller (PLC) 4 form described
Interaction manipulation network.
The host system 301 enables operation input system 304 combine with the two fingers, is built into two sets of man-machine friendships of major-minor
Inter-operation system, then combined respectively with the programmable logic controller (PLC) (PLC) 4, PLC obtains main navigator's host 3011
The received setting parameter of operation input system 304 and operational order are enabled by the two fingers with the secondary navigator host 3012, and
Itself information after obtaining data processing in the interaction manipulation network is fed back, is realized to institute in the underwater control system 2
State the manipulation of autonomous device 9.
Wherein, main navigator's host 3011 and the secondary navigator host 3012 are before carrying out information exchange with PLC, and two
A meeting completes data interaction by the interaction manipulation network first, guarantees that main navigator's host 3011 is led with secondary navigate
The setting parameter of machine 3012 is consistent with operational order data, can be at any time in any one failure of two navigator's hosts, separately
Outer one continues to the normal operation of the ROV control system as redundant host.In some optional embodiments, the master
Machine system 301 further includes maintenance host, any one failure in aforementioned two navigators host occurs, another is as redundancy
While host continues to ROV control system normal operation, the maintenance host is to the navigator broken down
Host is safeguarded, and records Breakdown Maintenance log.Such redundancy protecting mechanism can guarantee the ROV control system work
Reliability and stability.
It is described in a kind of remote control underwater robot control system provided by some alternative embodiments of the invention
Host interactive system 3 further includes remote monitoring system, the remote monitoring system be used for by the host system 301 with it is described can
The state of a control information of programmed logic controller 4 is sent to distal end, and receives the remote operation control instruction from distal end.In this way
Control structure make the control to the ROV control system no longer by locating spatial position limit to, pass through remote monitoring system
The remote operation control instruction from distal end is received, it is more flexible to the control mode of ROV；Furthermore, it is possible to realize remote control
Long-range control of the center to multiple ROV control systems, multiple remote control underwater robot ROV associated working carry out ocean
The tasks such as scientific investigation, energy exploration, have more efficient task execution efficiency, realize that function is explored in more powerful scientific investigation.
As shown in figure 4, a kind of remote control underwater robot manipulation provided by some alternative embodiments of the invention
In system, the monitoring network system 5 includes network converting system 501 and major-minor navigator control system 502；
The network converting system 501 and the programmable logic controller (PLC) 4 and the major-minor navigator control system 502
Form the condition monitoring network；
The network converting system 501 is mainly made of interchanger and arbitrary signal converting unit, from the water surface photoelectricity
Converting unit 6 receives the device status information of the various function devices from the underwater operation system 2, by the equipment shape
The device status information is carried out conversion by the condition monitoring network and is sent to the major-minor by state information access interchanger
Navigator's control system 502 and the programmable logic controller (PLC) 4；
The major-minor navigator control system 502 includes main navigator's operation panel, secondary navigator operation panel, operation I/O signal
Acquisition unit and power module.Major and minor navigator's operation panel all includes operation button, rocking bar and position adjuster etc..The operation I/O
Signal acquisition unit handles the operation instruction information inputted by major and minor navigator's operation panel collection well, using network structure
The condition monitoring network is accessed, the programmable logic controller (PLC) PLC is sent to.
The programmable logic controller (PLC) 4 is obtained for handling the device status information after conversion process
System status information, and the system status information is sent to the major-minor by the operation I/O signal acquisition unit and is led
Navigate control system 502, goes the instruction information for controlling major and minor navigator's operation panel；
Using aforesaid way, the major-minor navigator control system 502 can be compiled according to system status information cooperation
Journey logic controller 4 manipulates the underwater function device.
As shown in figure 4, a kind of remote control underwater robot manipulation provided by some alternative embodiments of the invention
In system, the monitoring network system 5 further includes water surface power supply monitoring system 503；
The water surface power supply monitoring system 503 is by power supply unit hardware, power detecting sensor and power supply I/O signal acquisition
Unit composition, the power detecting sensor obtain the electricity consumption condition information of underwater function device, the power supply I/O signal acquisition
Unit acquires the electricity consumption condition information, is handled it and is sent to the programmable logic controller (PLC) PLC, PLC passes through
The power supply I/O signal acquisition unit sends corresponding power supply control instruction, controls contactor in said supply unit hardware
The reset and status display of divide-shut brake, equipment are powered the underwater function device to realize, and according to the equipment
Status information is powered monitoring protection to the underwater function device.
As shown in figure 5, a kind of remote control underwater robot manipulation provided by some alternative embodiments of the invention
In system, the underwater function device 10 includes navigation system devices 1001, altimeter 1002, depth gauge 1003, light control device
1004, hydraulic power unit 1005, detection sensing equipment 1006 and underwater I/O control unit 1007:
The navigation system devices 1001 are by one or more in height sensor, Doppler anemometer, USBL, compass list
A group is combined into, for obtaining location information, velocity information and the course information of the underwater operation system；
The altimeter 1002 separately provides the underwater operation system to the range information of sea bed；
The depth gauge 1003 separately provides the range information on underwater operation system sea level；
The light control device 1004 provides illumination for the underwater operation system, and according to from the water surface control system
Lighting control instruction carry out brightness of illumination adjusting；
The hydraulic power unit 1005 provides motion-promotion force for the underwater control system, and according to from the water surface
The drive control instruction adjustment motion state of control system；
The detection sensing equipment 1006 is monitored the hydraulic power unit running state information, when the operation
Status information makes warning when occurring abnormal, and the running state information includes the pressure information of the hydraulic power unit, oil
Liquid location information, operational temperature information and operating humidity information；
The underwater I/O control unit 1007 is instructed according to the power supply control from the water surface control system to the water
Lower operating system is powered monitoring protection, and the underwater I/O control unit is also to the navigation system devices, the height
Meter, the depth gauge, the detection sensing equipment carry out data acquisition, and collected data are sent to the water surface and are controlled
System.
It is described in a kind of remote control underwater robot control system provided by some alternative embodiments of the invention
Water surface control system 1 further includes mechanical arm control unit；
The underwater operation system 2 further includes electric-controlled mechanical arm, set up with the ROV control system, for complete crawl,
The compound movements operation such as mobile；
The mechanical arm control unit is independent control unit, by the water surface photoelectric conversion unit and described underwater
Photoelectric conversion unit is connect with the electric-controlled mechanical arm, is directly controlled to the electric-controlled mechanical arm.
In some alternative embodiments, the underwater operation system is also preset with expansible unit, can be according to real work
Application demand utilizes the expansible unit addition configuration more multifunction module.
It is described in a kind of remote control underwater robot control system provided by some alternative embodiments of the invention
Water surface control system further includes Dynamic matrix control unit；
The Dynamic matrix control unit is connect with the programmable logic controller (PLC), and Xiang Suoshu programmable logic controller (PLC) is sent
Intelligent control instruction, realizes the Intelligent control to ROV.
The device of above-described embodiment for realizing method corresponding in previous embodiment there is corresponding method to implement
The beneficial effect of example, details are not described herein.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.
In addition, to simplify explanation and discussing, and in order not to obscure the invention, it can in provided attached drawing
It is connect with showing or can not show with the well known power ground of integrated circuit (IC) chip and other components.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this has also contemplated following facts, i.e., about this
The details of the embodiment of a little block diagram arrangements be height depend on will implementing platform of the invention (that is, these details should
It is completely within the scope of the understanding of those skilled in the art).Elaborating that detail (for example, circuit) is of the invention to describe
In the case where exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case where or implement the present invention in the case that these details change.Therefore, these descriptions should be considered as explanation
Property rather than it is restrictive.
Although having been incorporated with specific embodiments of the present invention, invention has been described, according to retouching for front
It states, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, discussed embodiment can be used in other memory architectures (for example, dynamic ram (DRAM)).
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of remote control underwater robot control system, which is characterized in that including water surface control system and underwater operation system
System；
The water surface control system includes programmable logic controller (PLC), host interactive system, monitoring network system and water surface photoelectricity
Converting unit；
The underwater operation system includes environmental information equipment, autonomous device, underwater function device and underwater photoelectric conversion unit；
The water surface control system and the underwater operation system pass through the water surface photoelectric conversion unit and the underwater photoelectricity
Converting unit, which matches, to be communicated；
The host interactive system receives the underwater ring from the environmental information equipment by the water surface photoelectric conversion unit
Border information and the independent information from the autonomous device, the host interactive system and the programmable logic controller (PLC) match
Conjunction handles the underwater environment information and the independent information；
The monitoring network system receives the equipment shape from the underwater function device by the water surface photoelectric conversion unit
State information, the monitoring network system are matched according to the device status information with the programmable logic controller (PLC) to described
The operating status of underwater function device is monitored.
2. system according to claim 1, which is characterized in that the host interactive system includes host system, signal weight
Group switching system and display system；
The environmental information equipment includes underwater video capture apparatus, sonar contact equipment and positioning device, the underwater video
Capture apparatus is used to obtain the video information of the underwater operation system local environment, and the sonar contact equipment is for obtaining institute
The Imaging sonar information of underwater operation system local environment is stated, the positioning device is for obtaining locating for the underwater operation system
Location information, the underwater environment information include the video information, the Imaging sonar information and the location information；
The autonomous device includes scientific investigation detecting devices, and for obtaining target acquisition information, the independent information includes the mesh
Mark detection information；
The host system receives the independent information, is monitored by the independent signal to the autonomous device, to institute
It states independent information and carries out visualization processing；
The signal recombination switching system receives the independent information after the underwater environment information and visualization processing, to institute
The independent information after stating underwater environment information and visualization processing is overlapped, recombinates and hand-off process, and passes through
The display system is shown.
3. system according to claim 2, which is characterized in that the host interactive system further includes that two fingers enable operation input
System, for receiving local operation control instruction；
The host system includes main navigator's host and secondary navigator host, the two fingers enable operation input system respectively with the master
Navigator's host and the secondary navigator host are connected；
Main navigator's host, the secondary navigator host manipulate network with described interact of programmable logic controller (PLC) composition.
4. according to claim 3, which is characterized in that the host interactive system further includes remote monitoring system, described
Remote monitoring system is used to the state of a control information of the host system and the programmable logic controller (PLC) being sent to distal end,
And receive the remote operation control instruction from distal end.
5. system according to claim 1, which is characterized in that the monitoring network system includes network converting system and master
Secondary navigator control system,
The network converting system and the programmable logic controller (PLC) and the major-minor navigator control system form the shape
State monitors network；
The network converting system receives the device status information, carries out conversion process to the device status information and will turn
Changing treated, the device status information is sent to the major-minor navigator control system and the programmable logic controller (PLC)；
The programmable logic controller (PLC) obtains system shape for handling the device status information after conversion process
The system status information and is sent to the major-minor navigator manipulation system at (operation of underwater portion system is loaded) by state information
System；
The major-minor navigator control system cooperates the programmable logic controller (PLC) to the water according to the system status information
Lower function device is manipulated.
6. system according to claim 5, which is characterized in that the monitoring network system further includes water surface power supply monitoring system
System；
The water surface power supply monitoring system is used to be powered the underwater function device, and according to the device status information
Monitoring protection is powered to the underwater function device.
7. system according to claim 1, which is characterized in that the underwater function device includes navigation system devices, height
Spend meter, depth gauge, light control device, hydraulic power unit, detection sensing equipment and underwater I/O control unit:
The navigation system devices are used to obtain location information, velocity information and the course information of the underwater operation system；
The altimeter separately provides the underwater operation system to the range information of sea bed；
The depth gauge separately provides the range information on underwater operation system sea level；
The light control device provides illumination for the underwater operation system, and according to the illumination control from the water surface control system
System instruction carries out brightness of illumination adjusting；
The hydraulic power unit provides motion-promotion force for the underwater control system, and according to from the water surface control system
Drive control instruction adjustment motion state；
The detection sensing equipment is monitored the hydraulic power unit running state information, when the running state information
Warning is made when occurring abnormal, the running state information includes the pressure information of the hydraulic power unit, oil liquid position letter
Breath, operational temperature information and operating humidity information；
The underwater I/O control unit is instructed according to the power supply control from the water surface control system to the underwater operation system
System is powered monitoring protection, and the underwater I/O control unit is also to the navigation system devices, the altimeter, the depth
Degree meter, the detection sensing equipment carry out data acquisition, and collected data are sent to the water surface control system.
8. system according to claim 1, which is characterized in that the water surface control system further includes that mechanical arm control is single
Member；
The underwater operation system further includes electric-controlled mechanical arm；
The mechanical arm control unit is independent control unit, passes through the water surface photoelectric conversion unit and the underwater photoelectricity
Converting unit is connect with the electric-controlled mechanical arm, is directly controlled to the electric-controlled mechanical arm.
9. system according to claim 1, which is characterized in that the water surface control system further includes Dynamic matrix control unit；
The Dynamic matrix control unit is connect with the programmable logic controller (PLC), and Xiang Suoshu programmable logic controller (PLC) sends intelligence
Manipulation instruction.
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