CN111625009B - Automatic motion control method and device for underwater robot in laying and recycling processes - Google Patents
Automatic motion control method and device for underwater robot in laying and recycling processes Download PDFInfo
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Abstract
The invention provides an automatic motion control method of an underwater robot in the process of laying and recovering, which comprises the following steps: constructing a terrestrial coordinate system, a ship coordinate system and an underwater robot coordinate system, and setting a vector of an expected position and an expected course deflection angle of the underwater robot in the ship coordinate system; acquiring a vector of an actual position of the underwater robot in the ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector in the ship coordinate system; calculating the actual course deflection angle of the underwater robot relative to the ship, and calculating a course deflection vector; calculating a transformation matrix projected from a ship coordinate system to an underwater robot coordinate system, and calculating a position offset vector under the underwater robot coordinate system; calculating automatic positioning control targets in X-axis and Y-axis directions of the underwater robot coordinate system according to the position offset vector; calculating an automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system according to the course deviation vector; and calculating the propelling force of the underwater robot propeller.
Description
Technical Field
The invention relates to the field of underwater robot control, in particular to an automatic motion control method and device for an underwater robot in a distribution and recovery process.
Background
The ROV is an important tool for developing ocean resource development, resource detection, equipment inspection and ocean scientific investigation at present. Because the ROV needs to be distributed and recovered from the ship deck through the distribution and recovery system, the ROV is easy to damage due to misoperation in the distribution and recovery process, for example, the ROV collides with a ship body, an umbilical cable is scratched with the distribution and recovery system to cause damage, and even the umbilical cable is twisted off by a ship pushing machine to cause the ROV to be lost and other accidents. In order to reduce the potential risks caused by the above problems, in the conventional practice, multiple persons, including an ROV operator, a ship operator, and a deck deployment and recovery system operator, respectively detect information of respective operated devices, collect all the information to a field operation commander, send an instruction by the commander, complete the operation by the ROV operator, and safely deploy or recover the ROV into or from water to a deck.
The traditional method is complex to operate, multiple operators with abundant experience are needed to cooperate in the whole process, and the underwater robot cannot be laid and recovered due to careless omission in any process. Moreover, if the underwater robot system encounters severe sea conditions, the current condition of the underwater robot system is often difficult to respond in time by the operation mode of cooperation of multiple persons, and the ROV is easily in an out-of-control state under the action of high-speed ocean currents and wind waves.
Therefore, a method for automatically controlling the automatic motion of the underwater robot during the deployment and recovery process is needed.
Disclosure of Invention
In view of the above, the present invention provides an automatic motion control method and device for an underwater robot during deployment and recovery, so as to solve the problems of the existing underwater robot during deployment and recovery.
Based on the above purpose, the present invention provides an automatic motion control method for an underwater robot in a deployment and recovery process, which is characterized in that the method comprises:
constructing a terrestrial coordinate system, a ship coordinate system and an underwater robot coordinate system, and setting a vector of an expected position of the underwater robot under the ship coordinate system and an expected course deflection angle of the underwater robot under the ship coordinate system relative to a ship;
acquiring a vector of an actual position of the underwater robot in a ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector in the ship coordinate system at the current moment according to the actual position and an expected position;
calculating an actual course deflection angle of the underwater robot relative to the ship in the underwater robot coordinate system at the current moment, and calculating a course deflection vector in the underwater robot coordinate system at the current moment according to the actual course deflection angle and the expected course deflection angle;
calculating a conversion matrix projected from a ship coordinate system to an underwater robot coordinate system according to the actual course deflection angle, and calculating a position offset vector under the underwater robot coordinate system at the current moment according to the conversion matrix and the position offset vector;
calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the underwater robot coordinate system according to the position offset vector in the underwater robot coordinate system;
calculating an automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system according to the course deviation vector under the underwater robot coordinate system;
and calculating the propelling force of the underwater robot propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system.
In one embodiment, the formula
Setting vector coordinates of a desired position of the underwater robot in the ship coordinate system, wherein,
and
as is the parameter of the ship or vessel,
is the vertical distance between the expected position and the ship board, and the expected course deflection angle is
In one embodiment, the formula
Calculating a position offset vector under a ship coordinate system at the current moment, wherein,
in the form of a position offset vector, the position offset vector,
is a vector of the actual position.
In one embodiment, the calculating the actual heading deflection angle of the underwater robot relative to the ship under the underwater robot coordinate system at the current moment comprises:
respectively acquiring the course of the underwater robot and the course psi of the ship in the ship coordinate system at the moment before the detection of the navigation equipmentR,nAnd psiv,n；
Passing through type
Calculating the actual course deflection angle of the underwater robot relative to the ship in the underwater robot coordinate system at the current moment, wherein,
the actual course deflection angle is obtained.
In one embodiment, the formula
Calculating a course deviation vector under the coordinate system of the underwater robot at the current moment, wherein psiE,nIs a heading offset vector.
In one embodiment, by
Calculating a transformation matrix of the ship coordinate system to the underwater robot coordinate system projection, wherein MnIs a transformation matrix.
In one embodiment, the formula
Calculating a position offset vector under the current underwater robot coordinate system, wherein,
is a position offset vector.
In one embodiment, the calculation of the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system is calculated by a PID control algorithm respectively.
In one embodiment, the underwater robot propeller comprises a first horizontal propeller, a second horizontal propeller, a third horizontal propeller and a fourth horizontal propeller, wherein the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are different in propulsion direction and propulsion force, and the propulsion force of the four horizontal propellers is calculated by differently superposing an automatic positioning control vector in the X-axis direction, an automatic positioning control vector in the Y-axis direction and a control vector in the horizontal rotation direction.
The invention also provides an automatic motion control device of the underwater robot in the process of laying and recovering, which comprises:
the parameter setting module is used for constructing a terrestrial coordinate system, a ship coordinate system and an underwater robot coordinate system, and setting a vector of an expected position of the underwater robot under the ship coordinate system and an expected course deflection angle of the underwater robot relative to a ship under the ship coordinate system;
the system comprises a position offset vector calculation module under a ship coordinate system, a position offset vector calculation module and a data processing module, wherein the position offset vector calculation module is used for acquiring a vector of an actual position of the underwater robot under the ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position and an expected position;
the underwater robot comprises a course deviation vector calculation module under an underwater robot coordinate system, a navigation control module and a navigation control module, wherein the course deviation vector calculation module is used for calculating an actual course deviation angle of the underwater robot relative to a ship at the current moment under the underwater robot coordinate system, and calculating a course deviation vector under the underwater robot coordinate system at the current moment according to the actual course deviation angle and an expected course deviation angle;
the underwater robot system comprises a position offset vector calculation module under an underwater robot coordinate system, a position offset vector calculation module and a control module, wherein the position offset vector calculation module is used for calculating a conversion matrix projected from a ship coordinate system to the underwater robot coordinate system according to an actual course deflection angle, and calculating a position offset vector under the underwater robot coordinate system at the current moment according to the conversion matrix and the position offset vector;
the automatic positioning control target calculation module is used for calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the underwater robot coordinate system according to the position offset vector in the underwater robot coordinate system;
the automatic navigation-determining control target calculation module is used for calculating an automatic navigation-determining control target in the horizontal rotation direction of the underwater robot coordinate system according to the course deviation vector under the underwater robot coordinate system;
and the propelling force calculation module is used for calculating the propelling force of the underwater robot propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system.
From the above, the method and the device for controlling the automatic motion of the underwater robot in the laying and recovery process provided by the invention set the vector of the expected position of the underwater robot under the ship coordinate system and the expected course deflection angle by constructing different coordinate systems; and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position of the underwater robot under the ship coordinate system detected by the ultra-short baseline positioning equipment. And meanwhile, calculating the actual course deflection angle of the underwater robot relative to the ship under the underwater robot coordinate system at the current moment and the course deflection vector under the underwater robot coordinate system. And calculating a conversion matrix projected from the ship coordinate system to the underwater robot coordinate system according to the actual course deflection angle, and converting the position offset vector under the ship coordinate system into a position offset vector under the underwater robot coordinate system according to the conversion matrix. And finally, converting the obtained position offset vector and course offset vector under the underwater robot coordinate system into an automatic positioning control target in the X-axis direction, an automatic positioning control target in the Y-axis direction and an automatic navigation control target in the horizontal rotation direction, superposing the control targets in different directions, calculating the propelling force of a horizontal propeller, and automatically propelling the ROV, so that the ROV is automatically kept in a position and a state which are relatively safe to a ship and a distribution and recovery system, the risk of the ROV in distribution and recovery is reduced, the completely unmanned distribution and recovery operation is realized, the operation efficiency is improved, and the cost is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic illustration of an ROV deployment and recovery operation from a support vessel in accordance with an embodiment of the present invention;
fig. 2 is a schematic flow chart of an automatic motion control method of an underwater robot in a deployment and recovery process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating ROV control during deployment and recovery according to an embodiment of the present invention;
FIG. 4 is a schematic layout of an ROV with its own horizontal thruster according to an embodiment of the present invention;
fig. 5 is a detailed flowchart of an automatic motion control method of an underwater robot in a deployment and recovery process according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control frame according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It is to be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Fig. 1 is a schematic diagram of an operation process of laying and retrieving an ROV (Remote Operated Vehicle) from a support vessel. Wherein, deck operation personnel control the winch rotation, receive and release the operation to ROV through the umbilical cable. In order to protect the safety of the ROV and the umbilical during the retraction process, the ROV is generally required to be controlled to be close to the lower part of the a frame and to be kept at a certain distance from the ship. Wherein, the support vessel can be understood as a surface vessel system carrying an ROV cabled remote control diving system for underwater operation. The ROV remote control submersible with cable is one remote control system for remote operation and power supply of ROV by the operator in the deck or shore of ship via umbilical cable. An umbilical is typically a composite optical and electrical cable used to power and communicate with an ROV. The a-frame may be understood as a predetermined, relatively fixed position. The deployment and recovery system is composed of subsystems such as a winch, an A frame and a power driving device, is usually arranged on the side of a ship board or at the stern of the ship deck and is used for launching the ROV from the deck into water or recovering the ROV from the water to the deck.
The inventor of the present invention has noted in long-term research work on the deployment and retrieval of an ROV, that the existing procedures for deploying and retrieving an ROV from a deck usually require manually operated ROV to move to a suitable area, a suitable position to facilitate the deployment of the ROV from the deck to the water or the retrieval from the water to the deck, and whether the suitable area and the suitable position are reached is usually an intuitive feeling for the operator to observe by eyes. Therefore, the inventor finds that the existing ROV carries out the laying and recovery operation process from the deck and has the following problems: 1) the automatic function is basically not provided, and the laying and recovery effect completely depends on operators; 2) the requirement on the positioning performance of the ship is high, and if the ship displaces or shakes in the laying and recovery process, the operation of the ROV is challenged, and the damage risk of the ROV is increased; 3) has high requirements on sea conditions. Under severe sea conditions, the ROV is difficult to arrange and recover, and has high risk, so that the offshore operation window period of the ROV is limited, and the offshore construction cost is increased; 4) due to the cooperation of a plurality of professionals, the corresponding personnel cost can also increase the offshore construction cost.
The invention provides an automatic ROV control method for deploying and retrieving operation, which is characterized in that sensors such as a GPS (global positioning system) and a USBL (universal serial bus) are arranged on a ship, the propelling force of an ROV propeller is automatically calculated according to position and course parameters detected by the sensors, the ROV is automatically propelled, the ROV is automatically kept at a position and a state which are relatively safe to the ship and a deploying and retrieving system, the risk of deploying and retrieving the ROV is reduced, the dependence of the operation of deploying and retrieving the ROV on personnel participation is reduced, and finally the completely unmanned deploying and retrieving operation is realized. Meanwhile, the ability of the ROV to cope with severe sea conditions and ship motion states can be improved, the operation efficiency is improved, and the construction operation cost of the ROV is saved.
Referring to fig. 2, a method for controlling automatic movement of an ROV during a deployment and recovery process according to an embodiment of the present invention includes:
s100, constructing a terrestrial coordinate system, a ship coordinate system and an ROV coordinate system, and setting a vector of an expected position of the ROV under the ship coordinate system and an expected course deflection angle of the ROV relative to a ship under the ship coordinate system;
s200, obtaining a vector of an actual position of the ROV under the ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position and the expected position;
s300, calculating an actual course deflection angle of the ROV relative to the ship under the current ROV coordinate system, and calculating a course deflection vector under the current ROV coordinate system according to the actual course deflection angle and the expected course deflection angle;
s400, calculating a conversion matrix projected from a ship coordinate system to an ROV coordinate system according to an actual course deflection angle, and calculating a position offset vector under the ROV coordinate system at the current moment according to the conversion matrix and the position offset vector;
s500, calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the ROV coordinate system according to the position offset vector in the ROV coordinate system;
s600, calculating an automatic navigation control target in the horizontal rotation direction of the ROV coordinate system according to the course offset vector under the ROV coordinate system;
and S700, calculating the propelling force of the ROV propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the ROV coordinate system.
The automatic motion control method of the ROV in the process of laying and recovering provided by the invention sets the vector of the expected position of the ROV under a ship coordinate system and the expected course deflection angle by constructing different coordinate systems; and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position of the ROV under the ship coordinate system detected by the ultra-short baseline positioning equipment. And simultaneously calculating the actual course deflection angle of the ROV relative to the ship under the ROV coordinate system at the current moment and the course deflection vector under the ROV coordinate system. And calculating a conversion matrix projected from the ship coordinate system to the ROV coordinate system according to the actual course deflection angle, and converting the position offset vector under the ship coordinate system into a position offset vector under the ROV coordinate system according to the conversion matrix. And finally, converting the obtained position offset vector and course offset vector under the ROV coordinate system into an automatic positioning control target in the X-axis direction, an automatic positioning control target in the Y-axis direction and an automatic navigation control target in the horizontal rotation direction, superposing the control targets in different directions, calculating the propelling force of a horizontal propeller, and automatically propelling the ROV, so that the ROV is automatically kept in a position and a state which are relatively safe to a ship and a distribution and recovery system, the ROV distribution and recovery risk is reduced, completely unmanned distribution and recovery operation is realized, the operation efficiency is improved, and the cost is reduced.
As shown in fig. 3, in step S100, the origin of coordinates, the X-axis direction, and the Y-axis direction of the terrestrial coordinate system, the ship coordinate system, and the ROV coordinate system are different. Wherein the origin of coordinates O of the terrestrial coordinate systemeAt any point in the horizontal plane, XeThe axis being a unit vector pointing in the north direction, YeThe axis is a unit vector pointing in the east direction; origin of coordinates O of hull coordinate systemvFor vessel GPS mounting position, XvThe axis represents the unit vector in the straight ahead of the ship in the horizontal plane, YvThe axis represents a unit vector pointing to the starboard direction in the horizontal plane; origin of coordinates O of ROV coordinate systemRFor the installation position, X, of the ROV navigation device in the horizontal planeRThe axis representing a unit vector pointing in the horizontal plane in the direction of travel of the ROV, YRThe axis represents a unit vector pointing to the right side of the ROV in the horizontal plane.
By constructing different coordinate systems, the navigation equipment of the ship and the navigation equipment of the ROV can be used for respectively realizing the accurate measurement of the course and the position of the ship and the ROV, and the ship coordinate system can be accurately converted into the ROV coordinate system by the reference of the terrestrial coordinate system, so that the accuracy and the efficiency of the calculation of the control target are improved.
It will be appreciated that after the vessel navigation device and the a-frame are installed, the parameters of the vessel can be determined, i.e. the parameters of the vessel
And
are all fixed values. Wherein the content of the first and second substances,
is the origin of coordinates of the vessel, i.e. X in the vessel coordinate systemvThe distance from the installation position of the ship navigation device to the center point of the A frame in the axial direction.
Is YvThe distance from the installation position of the ship navigation device to the starboard of the ship in the axial direction. The desired position of the ROV in the vessel coordinate system, which is empirically set, is generally set near the a-frame, as shown in the dashed line portion of the figure, i.e. after the a-frame is installed, the desired position is determined accordingly. When the ROV is underwater, the desired position does not change within the vessel coordinate system,
is YvThe distance of the position in the axial direction to the side of the ship.
Setting a vector of the desired position of the ROV in the vessel coordinate system to
The coordinates are
The vector is a constant vector, and the calculation formula is shown as (2). Setting the expected course deflection angle of the ROV relative to the ship under the ship coordinate system
In step S200, a vector of the actual position of the ROV in the ship coordinate system at the current time
The position of the ROV can be sensed on line through reading parameters detected by an ultra-short baseline positioning device (USBL) installed on the ship, namely, the USBL device. The ultra-short baseline positioning equipment is respectively arranged on the ship and the ROV, wherein the transmitting transducer and the receiving array are arranged on the ship, and the transponder is fixed on the ROV. The transmitting transducer sends out an acoustic pulse, the transponder sends back the acoustic pulse after receiving the acoustic pulse, the receiving array measures X, Y the phase difference in two directions after receiving the acoustic pulse, and calculates the distance from the ROV to the array according to the arrival time of the acoustic wave, thereby calculating the vector of the actual position of the ROV.
Specifically, the calculating a position offset vector in a ship coordinate system at the current time according to the actual position and the expected position includes: calculating a position offset vector under a ship coordinate system at the current moment by the formula (1)
And substituting the formula (2) into the formula (3), namely finally calculating a deviation vector between the actual position and the expected position in the ship coordinate system at the current moment by using the formula (3).
In step S300, obtaining the actual course deflection angle of the ROV relative to the ship in the ROV coordinate system at the current time includes:
respectively acquiring ship course psi under a current-time ship coordinate system detected by navigation equipment installed on a shipv,nDetected by a navigation device mounted on an ROVROV course psi under ship coordinate system at previous momentR,n. The navigation equipment can be GPS navigation equipment and also can be Beidou navigation equipment.
Passing through type
Calculating the actual course deflection angle of the ROV relative to the ship under the ROV coordinate system at the current moment, wherein,
the actual course deflection angle of the ROV relative to the ship under the ROV coordinate system at the current moment is shown.
And after the actual course deflection angle is obtained through calculation, calculating a course deflection vector under the current ROV coordinate system according to the actual course deflection angle and the expected course deflection angle. Specifically, a heading offset vector is calculated by calculating a difference between a desired heading deflection angle and an actual heading deflection angle, i.e., by calculating a difference between the desired heading deflection angle and the actual heading deflection angle
And calculating a heading offset vector. Substituting a calculation formula of the expected course deflection angle and a calculation formula of the actual course deflection angle into the calculation formula to obtain a formula (4), and finally calculating a course deflection vector under the ROV coordinate system at the current moment through the formula (4), wherein psiE,nAnd the vector is a course deviation vector under the ROV coordinate system at the current moment.
In step S400, the transformation matrix of the ship coordinate system to the ROV coordinate system projection may be represented by formula (5), where MnA transformation matrix for the ship coordinate system to ROV coordinate system projection.
The calculating a position offset vector in the ROV coordinate system at the current time according to the transformation matrix and the position offset vector may include:
calculating a position offset vector in an ROV coordinate system by equation (6),
the position offset vector in the ROV coordinate system at the current moment is shown. Namely, the position offset vector in the ROV coordinate system is the projection of the position offset vector in the ship coordinate system to the ROV coordinate system at the current moment.
In steps S500 and S600, the calculation of the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction, and the automatic navigation control target in the horizontal rotation direction of the ROV coordinate system may be calculated by control algorithms, such as a PID control algorithm and a fuzzy control algorithm, a sliding touch control algorithm, a predictive control algorithm, and the like.
When the calculation is performed by the PID control algorithm, in step S500, the calculation of the automatic positioning control target in the X-axis direction and the automatic positioning control target in the Y-axis direction of the ROV coordinate system is as shown in equation (7). Wherein u isx,nFor automatic positioning of the control target in the X-axis direction, uy,nFor the automatic positioning of the control target in the Y-axis direction,
automatically positioning the P parameter corresponding to the PID controller in the x-axis direction,
automatically positioning the I parameter corresponding to the PID controller in the x-axis direction,
automatically positioning the D parameter corresponding to the PID controller in the x-axis direction,
for automatically positioning PID controllers in the y-axis directionThe parameters of the P are set according to the standard,
automatically positioning the I parameter corresponding to the PID controller in the y-axis direction,
and automatically positioning the D parameter corresponding to the PID controller in the y-axis direction.
When the calculation is performed by the PID control algorithm, in step S600, the calculating of the automatic navigation control target in the horizontal rotation direction of the ROV coordinate system according to the course offset vector in the ROV coordinate system includes:
calculating the horizontal rotation direction automatic navigation control target of the ROV coordinate system by the formula (8),
automatically fixing a navigation control target for the horizontal rotation direction of an ROV coordinate system,
automatically positioning the P parameter corresponding to the PID controller in the x-axis direction,
automatically positioning the I parameter corresponding to the PID controller in the x-axis direction,
and automatically positioning the D parameter corresponding to the PID controller in the x-axis direction.
As shown in fig. 4, in step S700, the thruster may be a thruster carried by the ROV, and the type of the thruster may be a horizontal thruster. The quantity of horizontal propeller can set up to 4, first horizontal propeller promptly, second horizontal propeller, third horizontal propeller and fourth horizontal propeller, and wherein, four horizontal propeller's propulsion direction and propulsive force all are all diverse.
The propulsion of the four horizontal thrusters can be calculated separately by a superimposed distribution algorithm and other distribution algorithms. The superposition distribution algorithm may calculate the four horizontal thruster-type thrusts by differently superposing the X-axis direction automatic positioning control vector, the Y-axis direction automatic positioning control vector, and the horizontal rotation direction control vector, respectively. The specific calculation of the overlap-add distribution can be shown as formula (9).
Example 1
Fig. 5 is a flowchart illustrating an automatic movement control method of an ROV during a deployment and recovery process according to an embodiment of the present invention. The program sequentially carries out 1) starting; 2) to pair
And PID controller parameters are assigned; 3) calculating formula (2) to obtain the vector coordinates of the expected position of the ROV in the ship coordinate system
4) Detecting whether a user starts an automatic motion control function or not, and quitting when detecting no; when yes is detected, entering the next flow; 5) respectively reading current information of the USBL, the shipborne navigation equipment and the ROV navigation equipment sensor to obtain a vector of the actual position of the ROV under a ship coordinate system
Course psi of shipv,nAnd ROV heading psiR,n(ii) a 6) Calculating formula (3) to obtain the position offset vector under the ship coordinate system at the current moment
7) Calculating a formula (4) to obtain a course offset vector psi under the ROV coordinate system at the current momentE,n(ii) a 8) Calculating a formula (5) to obtain a transformation matrix of the ship coordinate system to the ROV coordinate system projection; 9) calculating a formula (6) to obtain a position offset vector under an ROV coordinate system; 9) calculating a formula (7) to obtain a propeller instruction in the X-axis direction and a propeller instruction in the Y-axis direction in the ROV coordinate system; 9) calculating a formula (8) to obtain a propeller instruction in the horizontal rotation direction in the ROV coordinate system; 9) and (5) calculating a formula (9) to obtain the propelling force of each horizontal propeller of the ROV.
It should be noted that the method of the embodiment of the present invention may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In the case of such a distributed scenario, one of the multiple devices may only perform one or more steps of the method according to the embodiment of the present invention, and the multiple devices interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiment of the invention also provides an automatic motion control device for the ROV in the distribution and recovery process, which comprises:
the parameter setting module is used for constructing a terrestrial coordinate system, a ship coordinate system and an ROV coordinate system, and setting a vector of an expected position of the ROV under the ship coordinate system and an expected course deflection angle of the ROV relative to a ship under the ship coordinate system;
the system comprises a position offset vector calculation module under a ship coordinate system, a position offset vector calculation module and a processing module, wherein the position offset vector calculation module is used for acquiring a vector of an actual position of an ROV (remote operated vehicle) under the ship coordinate system at the current moment detected by an ultra-short baseline positioning device, and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position and an expected position;
the course offset vector calculation module under the ROV coordinate system is used for calculating an actual course deflection angle of the ROV relative to the ship under the ROV coordinate system at the current moment, and calculating a course offset vector under the ROV coordinate system at the current moment according to the actual course deflection angle and the expected course deflection angle;
the position offset vector calculation module under the ROV coordinate system is used for calculating a conversion matrix projected from the ship coordinate system to the ROV coordinate system according to the actual course deflection angle and calculating a position offset vector under the ROV coordinate system at the current moment according to the conversion matrix and the position offset vector;
the automatic positioning control target calculation module is used for calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the ROV coordinate system according to the position offset vector in the ROV coordinate system;
the automatic navigation-determining control target calculation module is used for calculating an automatic navigation-determining control target in the horizontal rotation direction of the ROV coordinate system according to the course deviation vector under the ROV coordinate system;
and the propelling force calculation module is used for calculating the propelling force of the ROV propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the ROV coordinate system.
Parameter setting module for passing through
Setting vector coordinates of a desired position of the ROV in the vessel coordinate system, wherein,
and
as is the parameter of the ship or vessel,
setting a desired course deflection angle as the vertical distance between the desired position and the ship board
The position offset vector calculation module under the ship coordinate system is also used for a pass-through mode
Calculating a position offset vector under a ship coordinate system at the current moment, wherein,
in the form of a position offset vector, the position offset vector,
is a vector of the actual position.
The course deviation vector calculation module under the ROV coordinate system comprises an actual course deviation angle calculation submodule and a course deviation vector calculation submodule.
The actual course deflection angle calculation submodule is used for calculating the actual course deflection angle of the ROV relative to the ship under the current ROV coordinate system
Respectively acquiring the ROV course and the ship course psi under the ship coordinate system at the previous moment detected by the navigation equipmentR,nAnd psiv,n；
And a passing type
Calculating the actual course deflection angle of the ROV relative to the ship under the ROV coordinate system at the current moment, wherein,
the actual course deflection angle is obtained.
Course offset vector calculation submodule for passing through
Calculating a course offset vector under an ROV coordinate system at the current moment, wherein psiE,nIs a heading offset vector.
The position offset vector calculation module under the ROV coordinate system comprises a conversion matrix calculation submodule and a position offset vector calculation submodule.
A conversion matrix calculation submodule for calculating a conversion matrix of the ship coordinate system to the ROV coordinate system projection according to the actual course deflection angle
Calculating a transformation matrix of the ship coordinate system to the ROV coordinate system projection, wherein MnIs a transformation matrix.
A position offset vector calculation submodule for calculating a position offset vector in the current time ROV coordinate system according to the conversion matrix and the position offset vector, specifically a pass-through equation
Calculating a position offset vector in the current time ROV coordinate system, wherein,
is a position offset vector.
And the automatic positioning control target calculation module and the automatic navigation control target calculation module are used for respectively calculating an automatic positioning control target in the X-axis direction, an automatic positioning control target in the Y-axis direction and an automatic navigation control target in the horizontal rotation direction of the ROV coordinate system through a PID control algorithm.
The propelling force calculation module is used for calculating the propelling force of the ROV propeller by respectively carrying out different superposition on the automatic positioning control vector in the X-axis direction, the automatic positioning control vector in the Y-axis direction and the horizontal rotation direction control vector, and the propeller comprises a first horizontal propeller u with different propelling directions and propelling forcesPF,nSecond horizontal propeller uSF,nThird horizontal thruster uPR,nAnd a fourth horizontal thruster uSP,n。
Example 2
Referring to fig. 6, a vector of an actual position of the ROV detected by the ultra-short baseline positioning device is transmitted to an automatic motion control device of the ROV during the distribution and recovery process, a position offset vector of the ROV in the ship coordinate system is obtained through calculation of formulas 1, 2, and 3, a position offset vector of the ROV in the ROV coordinate system is obtained through calculation of formula 5 and formula 6, and an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the ROV coordinate system are obtained through calculation of formula 7.
And the ROV course and the ship course under the ship coordinate system detected by the ship-borne and ROV navigation equipment are transmitted to an automatic motion control device of the ROV in the distribution and recovery process, the course offset vector under the ROV coordinate system is calculated by a formula 4, and the automatic navigation control target in the horizontal rotation direction of the ROV coordinate system is obtained by calculation of a formula 8.
And the automatic motion control device of the ROV in the distribution and recovery process superposes the results obtained by the formula 7 and the formula 8 through the formula 9 to obtain the propelling force of the ROV propeller, and transmits the calculation result to the horizontal propeller in the ROV.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An automatic motion control method of an underwater robot in a laying and recovery process is characterized by comprising the following steps:
constructing a terrestrial coordinate system, a ship coordinate system and an underwater robot coordinate system, and setting a vector of an expected position of the underwater robot under the ship coordinate system and an expected course deflection angle of the underwater robot under the ship coordinate system relative to a ship;
acquiring a vector of an actual position of the underwater robot in a ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector in the ship coordinate system at the current moment according to the actual position and an expected position;
calculating an actual course deflection angle of the underwater robot relative to the ship in the underwater robot coordinate system at the current moment, and calculating a course deflection vector in the underwater robot coordinate system at the current moment according to the actual course deflection angle and the expected course deflection angle;
calculating a conversion matrix projected from a ship coordinate system to an underwater robot coordinate system according to the actual course deflection angle, and calculating a position offset vector under the underwater robot coordinate system at the current moment according to the conversion matrix and the position offset vector;
calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the underwater robot coordinate system according to the position offset vector in the underwater robot coordinate system;
calculating an automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system according to the course deviation vector under the underwater robot coordinate system;
calculating the propelling force of the underwater robot propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system;
wherein, the formula of passing
Setting vector coordinates of a desired position of the underwater robot in the ship coordinate system, wherein,
and
as is the parameter of the ship or vessel,
is the vertical distance between the expected position and the ship board, and the expected course deflection angle is
Passing through type
Calculating a position offset vector under a ship coordinate system at the current moment, wherein,
in the form of a position offset vector, the position offset vector,
is a vector of the actual position.
2. The automatic motion control method of the underwater robot in the laying and recovery process according to claim 1, wherein the calculating of the actual course deflection angle of the underwater robot relative to the ship under the underwater robot coordinate system at the current moment comprises:
respectively acquiring the course of the underwater robot and the course psi of the ship in the ship coordinate system at the moment before the detection of the navigation equipmentR,nAnd psiv,n；
Passing through type
Calculating the actual course deflection angle of the underwater robot relative to the ship in the underwater robot coordinate system at the current moment, wherein,
the actual course deflection angle is obtained.
3. The automatic motion control method for the underwater robot in the laying and recovering process according to claim 2, characterized in that the method is a pass-through type
Calculating a course deviation vector under the coordinate system of the underwater robot at the current moment, wherein psiE,nIs a heading offset vector.
4. The automatic motion control method of the underwater robot in the laying and recovering process according to claim 3, characterized by comprising the following steps
Calculating a transformation matrix of the ship coordinate system to the underwater robot coordinate system projection, wherein MnIs a transformation matrix.
5. The automatic motion control method of underwater robot in the laying and recovering process according to claim 4, characterized by passing through
Calculating a position offset vector under the current underwater robot coordinate system, wherein,
is a position offset vector.
6. The automatic motion control method of the underwater robot in the laying and recovering process according to claim 5, wherein the calculation of the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system is calculated by a PID control algorithm, respectively.
7. The automatic motion control method of the underwater robot during the deployment and recovery process of claim 6, wherein the underwater robot propeller comprises a first horizontal propeller, a second horizontal propeller, a third horizontal propeller and a fourth horizontal propeller, which have different propulsion directions and propulsion forces, and the propulsion forces of the four horizontal propellers are calculated by differently superposing the automatic positioning control vector in the X-axis direction, the automatic positioning control vector in the Y-axis direction and the horizontal rotation direction control vector.
8. An automatic motion control device of an underwater robot in the process of deployment and recovery, which is characterized by comprising:
the parameter setting module is used for constructing a terrestrial coordinate system, a ship coordinate system and an underwater robot coordinate system, and setting a vector of an expected position of the underwater robot under the ship coordinate system and an expected course deflection angle of the underwater robot relative to a ship under the ship coordinate system;
the system comprises a position offset vector calculation module under a ship coordinate system, a position offset vector calculation module and a data processing module, wherein the position offset vector calculation module is used for acquiring a vector of an actual position of the underwater robot under the ship coordinate system at the current moment detected by the ultra-short baseline positioning equipment, and calculating a position offset vector under the ship coordinate system at the current moment according to the actual position and an expected position;
the underwater robot comprises a course deviation vector calculation module under an underwater robot coordinate system, a navigation control module and a navigation control module, wherein the course deviation vector calculation module is used for calculating an actual course deviation angle of the underwater robot relative to a ship at the current moment under the underwater robot coordinate system, and calculating a course deviation vector under the underwater robot coordinate system at the current moment according to the actual course deviation angle and an expected course deviation angle;
the underwater robot system comprises a position offset vector calculation module under an underwater robot coordinate system, a position offset vector calculation module and a control module, wherein the position offset vector calculation module is used for calculating a conversion matrix projected from a ship coordinate system to the underwater robot coordinate system according to an actual course deflection angle, and calculating a position offset vector under the underwater robot coordinate system at the current moment according to the conversion matrix and the position offset vector;
the automatic positioning control target calculation module is used for calculating an automatic positioning control target in the X-axis direction and an automatic positioning control target in the Y-axis direction of the underwater robot coordinate system according to the position offset vector in the underwater robot coordinate system;
the automatic navigation-determining control target calculation module is used for calculating an automatic navigation-determining control target in the horizontal rotation direction of the underwater robot coordinate system according to the course deviation vector under the underwater robot coordinate system;
the propelling force calculation module is used for calculating the propelling force of the underwater robot propeller according to the automatic positioning control target in the X-axis direction, the automatic positioning control target in the Y-axis direction and the automatic navigation control target in the horizontal rotation direction of the underwater robot coordinate system;
parameter setting module for passing through
Setting vector coordinates of a desired position of the ROV in the vessel coordinate system, wherein,
and
as is the parameter of the ship or vessel,
setting a desired course deflection angle as the vertical distance between the desired position and the ship board
The position offset vector calculation module under the ship coordinate system is also used for a pass-through mode
Calculating a position offset vector under a ship coordinate system at the current moment, wherein,
in the form of a position offset vector, the position offset vector,
is a vector of the actual position.
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