CN112429185A - Multistage-driving bionic underwater robot driving system and driving method - Google Patents
Multistage-driving bionic underwater robot driving system and driving method Download PDFInfo
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- CN112429185A CN112429185A CN202011210790.8A CN202011210790A CN112429185A CN 112429185 A CN112429185 A CN 112429185A CN 202011210790 A CN202011210790 A CN 202011210790A CN 112429185 A CN112429185 A CN 112429185A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multistage driving bionic underwater robot driving system which comprises a detection module, a GPS positioning module, a single chip microcomputer module, a vehicle speed adjusting module, an attitude changing module, a computer module, a driving motor module and a nitrogen accelerating module. The invention can identify the front object by combining the image sensor, the ultrasonic sensor and the laser radar sensor, and can accurately avoid the barrier by matching with the processor module, so that the invention is relatively more sensitive; the robot is provided with the attitude change module, the attitude change can be carried out according to different environments by utilizing dynamic balance, the robot can also imitate the action mode similar to the physiological structure of aquatic organisms such as fish and the like, and the robot is matched with the mechanical structure similar to the body shape of the fish, so that the robot is more flexible underwater; the invention can realize remote monitoring and control.
Description
Technical Field
The invention relates to a bionic underwater robot, in particular to a multi-stage driving bionic underwater robot driving system and a driving method, and belongs to the technical field of robots.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a crawling type on a seabed structure, and the bionic underwater robot adopts a mechanical structure and a motion mode similar to physiological structures of aquatic organisms such as fishes, but the existing bionic underwater robot has relatively poor driving power and inflexible posture change and cannot accurately avoid front obstacles in percentage.
Disclosure of Invention
The present invention is directed to a multi-stage driving bionic underwater robot driving system and a driving method thereof to solve the above problems.
The invention realizes the purpose through the following technical scheme, and the multistage driving bionic underwater robot driving system comprises a detection module, a GPS positioning module, a single chip microcomputer module, a vehicle speed adjusting module, an attitude changing module, a computer module, a driving motor module and a nitrogen accelerating module, wherein the detection module, the GPS positioning module, the vehicle speed adjusting module, the attitude changing module and the computer module are all electrically connected with the single chip microcomputer module, and the vehicle speed adjusting module is electrically connected with the driving motor module and the nitrogen accelerating module.
Preferably, the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor.
Preferably, the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor which are all electrically connected with the signal receiving module inside the single chip microcomputer module.
Preferably, the GPS module is electrically connected with the singlechip module through a processor module in the singlechip module.
Preferably, the single chip microcomputer module comprises a signal receiving module, a processor module, an a/D converter module, a first storage module, a control module and a zigbee module, the signal receiving module is electrically connected with the a/D converter module, and the a/D converter, the first storage module, the control module and the zigbee module are all electrically connected with the processor module.
Preferably, the speed regulating module comprises an encoder speed measuring module and a microprocessor module, and the encoder speed measuring module is electrically connected with the microprocessor module.
Preferably, the vehicle speed adjusting module is electrically connected with the driving motor module and the nitrogen accelerating module through the microprocessor module, and the vehicle speed adjusting module is electrically connected with the control module inside the single chip microcomputer module through the microprocessor module.
Preferably, the computer module comprises an information receiving module, a second storage module, a CPU module, a display module, a keyboard module and an information sending module, and the information receiving module, the second storage module, the display module, the keyboard module and the information sending module are all electrically connected with the CPU module.
Preferably, the single chip microcomputer module is connected with the information receiving module and the information sending module inside the computer module through the zigbee module, and the single chip microcomputer module is electrically connected with the posture change module through the control module.
Preferably, the multistage driving bionic underwater robot driving method comprises the following steps:
(1) object recognition, namely detecting a light image and a relative distance of an object appearing in front through a laser radar sensor, an ultrasonic sensor and an image sensor, and obtaining a corresponding electric signal;
(2) environment detection, namely sensing the temperature and the hydraulic pressure of the environment through a hydraulic sensor and a temperature sensor to obtain corresponding analog signals;
(3) gesture recognition, namely detecting the three-dimensional gesture and the direction of the robot at the moment through a gesture sensor;
(4) positioning, namely obtaining the position information of the place where the robot is located through a GPS positioning module;
(5) the system comprises a laser radar sensor, an ultrasonic sensor, an image sensor, a hydraulic sensor, a temperature sensor and an attitude sensor, wherein the laser radar sensor, the ultrasonic sensor, the image sensor, the hydraulic sensor, the temperature sensor and the attitude sensor send detected signals to a signal receiving module in a single chip microcomputer module for synthesis, an A/D converter module is used for analog-to-digital conversion, and finally, the obtained digital signals are sent to a processor module for processing;
(6) the attitude change is controlled, when the obstacle exists at the front side, the processor module sends a control instruction through the control module, so that the attitude change module controls the mechanical structure of the robot to perform corresponding attitude changes such as steering, turning around and the like, and the obstacle in front is avoided;
(7) the intelligent vehicle speed control system comprises a speed control module, a speed regulation module, a processor module, a nitrogen acceleration module, a PID control algorithm and a controller, wherein the speed regulation module measures the speed of a vehicle in real time by using an encoder and calculates the speed of the vehicle by using the PID control algorithm, the processor module judges whether the vehicle needs to be accelerated or decelerated at the moment according to the posture condition of a robot, when the robot turns, the processor module sends a deceleration control instruction to the speed regulation module, the speed regulation module controls output pwm and further controls a driving motor module to decelerate, so that the intelligent vehicle can bend at the highest safe speed, when the robot needs to be high-speed, the processor module sends a corresponding instruction to the speed regulation module, and the speed regulation module controls the nitrogen acceleration module to spray nitrogen to further accelerate under the condition that the;
(8) the information is uploaded, the single chip microcomputer module packs and uploads the processed information to the computer module through the zigbee module, and the computer module receives a data packet through the information receiving module;
(9) the information display monitoring is carried out, the information receiving module analyzes and processes the data after receiving the corresponding data packet and sends the data to the CPU module, the CPU module analyzes and classifies the information, then sends the information to the second storage module for storage and sends the information to the display module for display, and therefore advanced users can conveniently monitor information such as underwater temperature, hydraulic pressure, obstacles, real-time postures of the robot, corresponding positions and the like;
(10) in remote control, a user of the computer module can send a control instruction through the keyboard module, the CPU module can process the control instruction to obtain corresponding control information, the information sending module sends the control information to the zigbee module of the single chip microcomputer module, the zigbee module sends the received control information to the processor module for processing, and finally the robot is controlled to change the speed or the posture according to the intention of the user.
The invention has the beneficial effects that:
1. the invention is designed with various sensors, can identify the front object by combining an image sensor, an ultrasonic sensor and a laser radar sensor, and can accurately judge the size, the moving speed and the relative distance of the front object by matching with a processor module, thereby ensuring that the robot can accurately avoid obstacles and is relatively sensitive;
2. the invention is designed with an attitude change module, can utilize dynamic balance to lead the robot to change the attitude according to different environments, can also imitate the action mode similar to the physiological structure of aquatic organisms such as fish and the like, and is matched with the mechanical structure similar to the body shape of the fish, so that the invention can be more flexible underwater and can not disturb other aquatic organisms;
3. the invention can realize remote monitoring and control, is provided with a zigbee module, can send all information of the robot to the computer module through a network, and a user of the computer module can remotely monitor the robot through the transmitted information and can reversely send a control instruction to the robot, thereby changing the posture, the speed and the driving track of the robot.
Drawings
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, and 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 these drawings without inventive exercise.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the steps of the method of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Referring to fig. 1-2, the multistage driving bionic underwater robot driving system comprises a detection module, a GPS positioning module, a single chip microcomputer module, a vehicle speed adjusting module, an attitude change module, a computer module, a driving motor module and a nitrogen accelerating module, wherein the detection module, the GPS positioning module, the vehicle speed adjusting module, the attitude change module and the computer module are all electrically connected with the single chip microcomputer module, and the vehicle speed adjusting module is electrically connected with the driving motor module and the nitrogen accelerating module.
Specifically, the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor.
Specifically, the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor which are all electrically connected with the signal receiving module inside the single chip microcomputer module.
Specifically, the GPS module is electrically connected with the single chip microcomputer module through a processor module inside the single chip microcomputer module.
Specifically, the single chip microcomputer module comprises a signal receiving module, a processor module, an A/D converter module, a first storage module, a control module and a zigbee module, the signal receiving module is electrically connected with the A/D converter module, and the A/D converter, the first storage module, the control module and the zigbee module are all electrically connected with the processor module.
Specifically, speed adjusting module includes encoder module and microprocessor module that tests the speed, encoder module and microprocessor module electric connection test the speed.
Specifically, the speed regulation module is electrically connected with the driving motor module and the nitrogen acceleration module through the microprocessor module, and the speed regulation module is electrically connected with the control module inside the single chip microcomputer module through the microprocessor module.
Specifically, the computer module comprises an information receiving module, a second storage module, a CPU module, a display module, a keyboard module and an information sending module, wherein the information receiving module, the second storage module, the display module, the keyboard module and the information sending module are all electrically connected with the CPU module.
Specifically, the single chip microcomputer module is connected with an information receiving module and an information sending module inside the computer module through the zigbee module, and the single chip microcomputer module is electrically connected with the posture change module through the control module.
Specifically, the method for driving the multi-stage driving bionic underwater robot comprises the following steps:
(1) object recognition, namely detecting a light image and a relative distance of an object appearing in front through a laser radar sensor, an ultrasonic sensor and an image sensor, and obtaining a corresponding electric signal;
(2) environment detection, namely sensing the temperature and the hydraulic pressure of the environment through a hydraulic sensor and a temperature sensor to obtain corresponding analog signals;
(3) gesture recognition, namely detecting the three-dimensional gesture and the direction of the robot at the moment through a gesture sensor;
(4) positioning, namely obtaining the position information of the place where the robot is located through a GPS positioning module;
(5) the system comprises a laser radar sensor, an ultrasonic sensor, an image sensor, a hydraulic sensor, a temperature sensor and an attitude sensor, wherein the laser radar sensor, the ultrasonic sensor, the image sensor, the hydraulic sensor, the temperature sensor and the attitude sensor send detected signals to a signal receiving module in a single chip microcomputer module for synthesis, an A/D converter module is used for analog-to-digital conversion, and finally, the obtained digital signals are sent to a processor module for processing;
(6) the attitude change is controlled, when the obstacle exists at the front side, the processor module sends a control instruction through the control module, so that the attitude change module controls the mechanical structure of the robot to perform corresponding attitude changes such as steering, turning around and the like, and the obstacle in front is avoided;
(7) the intelligent vehicle speed control system comprises a speed control module, a speed regulation module, a processor module, a nitrogen acceleration module, a PID control algorithm and a controller, wherein the speed regulation module measures the speed of a vehicle in real time by using an encoder and calculates the speed of the vehicle by using the PID control algorithm, the processor module judges whether the vehicle needs to be accelerated or decelerated at the moment according to the posture condition of a robot, when the robot turns, the processor module sends a deceleration control instruction to the speed regulation module, the speed regulation module controls output pwm and further controls a driving motor module to decelerate, so that the intelligent vehicle can bend at the highest safe speed, when the robot needs to be high-speed, the processor module sends a corresponding instruction to the speed regulation module, and the speed regulation module controls the nitrogen acceleration module to spray nitrogen to further accelerate under the condition that the;
(8) the information is uploaded, the single chip microcomputer module packs and uploads the processed information to the computer module through the zigbee module, and the computer module receives a data packet through the information receiving module;
(9) the information display monitoring is carried out, the information receiving module analyzes and processes the data after receiving the corresponding data packet and sends the data to the CPU module, the CPU module analyzes and classifies the information, then sends the information to the second storage module for storage and sends the information to the display module for display, and therefore advanced users can conveniently monitor information such as underwater temperature, hydraulic pressure, obstacles, real-time postures of the robot, corresponding positions and the like;
(10) in remote control, a user of the computer module can send a control instruction through the keyboard module, the CPU module can process the control instruction to obtain corresponding control information, the information sending module sends the control information to the zigbee module of the single chip microcomputer module, the zigbee module sends the received control information to the processor module for processing, and finally the robot is controlled to change the speed or the posture according to the intention of the user.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a bionical underwater robot actuating system of multistage drive, includes detection module, GPS orientation module, single chip module, speed of a motor vehicle adjusting module, gesture change module, computer module, driving motor module and nitrogen gas acceleration module, detection module, GPS orientation module, speed of a motor vehicle adjusting module, gesture change module and computer module all with single chip module electric connection, speed of a motor vehicle adjusting module electric connection has driving motor module and nitrogen gas acceleration module.
2. The multi-stage driving bionic underwater robot driving system as claimed in claim 1, wherein the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor.
3. The multistage-drive bionic underwater robot driving system as claimed in claim 1, wherein the detection module comprises a laser radar sensor, an ultrasonic sensor, an attitude sensor, an image sensor, a hydraulic sensor and a temperature sensor which are electrically connected with a signal receiving module inside the single chip microcomputer module.
4. The multi-stage driving bionic underwater robot driving system as claimed in claim 1, wherein the GPS module is electrically connected with the single chip microcomputer module through a processor module inside the single chip microcomputer module.
5. The multi-stage driving bionic underwater robot driving system as claimed in claim 1, wherein the single chip microcomputer module comprises a signal receiving module, a processor module, an A/D converter module, a first storage module, a control module and a zigbee module, the signal receiving module is electrically connected with the A/D converter module, and the A/D converter, the first storage module, the control module and the zigbee module are electrically connected with the processor module.
6. The multi-stage driving bionic underwater robot driving system according to claim 1, wherein the vehicle speed adjusting module comprises an encoder speed measuring module and a microprocessor module, and the encoder speed measuring module is electrically connected with the microprocessor module.
7. The multi-stage driving bionic underwater robot driving system according to claim 1, wherein the vehicle speed adjusting module is electrically connected with the driving motor module and the nitrogen accelerating module through the microprocessor module, and the vehicle speed adjusting module is electrically connected with the control module inside the single chip microcomputer module through the microprocessor module.
8. The multi-stage driving bionic underwater robot driving system according to claim 1, wherein the computer module comprises an information receiving module, a second storage module, a CPU module, a display module, a keyboard module and an information sending module, and the information receiving module, the second storage module, the display module, the keyboard module and the information sending module are electrically connected with the CPU module.
9. The multi-stage driving bionic underwater robot driving system as claimed in claim 1, wherein the single chip microcomputer module is connected with an information receiving module and an information sending module inside the computer module through a zigbee module, and is electrically connected with the attitude change module through a control module.
10. The multi-stage driving bionic underwater robot driving system according to any one of claims 1 to 9, so as to obtain a multi-stage driving bionic underwater robot driving method, wherein the multi-stage driving bionic underwater robot driving method comprises the following steps:
(1) object recognition, namely detecting a light image and a relative distance of an object appearing in front through a laser radar sensor, an ultrasonic sensor and an image sensor, and obtaining a corresponding electric signal;
(2) environment detection, namely sensing the temperature and the hydraulic pressure of the environment through a hydraulic sensor and a temperature sensor to obtain corresponding analog signals;
(3) gesture recognition, namely detecting the three-dimensional gesture and the direction of the robot at the moment through a gesture sensor;
(4) positioning, namely obtaining the position information of the place where the robot is located through a GPS positioning module;
(5) the system comprises a laser radar sensor, an ultrasonic sensor, an image sensor, a hydraulic sensor, a temperature sensor and an attitude sensor, wherein the laser radar sensor, the ultrasonic sensor, the image sensor, the hydraulic sensor, the temperature sensor and the attitude sensor send detected signals to a signal receiving module in a single chip microcomputer module for synthesis, an A/D converter module is used for analog-to-digital conversion, and finally, the obtained digital signals are sent to a processor module for processing;
(6) the attitude change is controlled, when the obstacle exists at the front side, the processor module sends a control instruction through the control module, so that the attitude change module controls the mechanical structure of the robot to perform corresponding attitude changes such as steering, turning around and the like, and the obstacle in front is avoided;
(7) the intelligent vehicle speed control system comprises a speed control module, a speed regulation module, a processor module, a nitrogen acceleration module, a PID control algorithm and a controller, wherein the speed regulation module measures the speed of a vehicle in real time by using an encoder and calculates the speed of the vehicle by using the PID control algorithm, the processor module judges whether the vehicle needs to be accelerated or decelerated at the moment according to the posture condition of a robot, when the robot turns, the processor module sends a deceleration control instruction to the speed regulation module, the speed regulation module controls output pwm and further controls a driving motor module to decelerate, so that the intelligent vehicle can bend at the highest safe speed, when the robot needs to be high-speed, the processor module sends a corresponding instruction to the speed regulation module, and the speed regulation module controls the nitrogen acceleration module to spray nitrogen to further accelerate under the condition that the;
(8) the information is uploaded, the single chip microcomputer module packs and uploads the processed information to the computer module through the zigbee module, and the computer module receives a data packet through the information receiving module;
(9) the information display monitoring is carried out, the information receiving module analyzes and processes the data after receiving the corresponding data packet and sends the data to the CPU module, the CPU module analyzes and classifies the information, then sends the information to the second storage module for storage and sends the information to the display module for display, and therefore advanced users can conveniently monitor information such as underwater temperature, hydraulic pressure, obstacles, real-time postures of the robot, corresponding positions and the like;
(10) in remote control, a user of the computer module can send a control instruction through the keyboard module, the CPU module can process the control instruction to obtain corresponding control information, the information sending module sends the control information to the zigbee module of the single chip microcomputer module, the zigbee module sends the received control information to the processor module for processing, and finally the robot is controlled to change the speed or the posture according to the intention of the user.
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| CN113567989A (en) * | 2021-06-18 | 2021-10-29 | 广州鸿海海洋技术服务有限公司 | Marine environment monitoring system based on underwater robot |
| CN113721635A (en) * | 2021-09-14 | 2021-11-30 | 江苏理工学院 | Photoelectrochemistry chlorine salt removing underwater robot |
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Application publication date: 20210302 |