CN113156981A - Intelligent underwater obstacle avoidance system and autonomous obstacle avoidance method based on same - Google Patents
Intelligent underwater obstacle avoidance system and autonomous obstacle avoidance method based on same Download PDFInfo
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- CN113156981A CN113156981A CN202011339441.6A CN202011339441A CN113156981A CN 113156981 A CN113156981 A CN 113156981A CN 202011339441 A CN202011339441 A CN 202011339441A CN 113156981 A CN113156981 A CN 113156981A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention provides an intelligent underwater obstacle avoidance system and an autonomous obstacle avoidance method based on the system. The intelligent system for underwater obstacle avoidance and the autonomous obstacle avoidance method based on the system adopt an optical fiber transmission technology, can realize the remote acquisition of high-quality real-time high-definition video and telemetering data, and have higher control flexibility; cooperate through foresight sonar and range finding sonar, can better accomplish underwater operation, according to image and the distance data that foresight sonar and range finding sonar surveyed simultaneously, judge the obstacle distribution of the surrounding environment when underwater operation of underwater robot, thereby output motion control instruction, have the ability of realizing independently keeping away the barrier, adopt rotatory cloud platform to rotate the camera, be convenient for carry out remote control to the camera, furthest enlarges the observation position of camera, avoid the shortcoming of traditional fixed mounting or integrated cloud platform, can enlarge under water observation visual angle range greatly.
Description
Technical Field
The invention relates to the technical field of electronic communication, in particular to an intelligent underwater obstacle avoidance system and an autonomous obstacle avoidance method based on the system.
Background
The intelligent underwater robot has wide application prospect in the aspects of marine scientific research, marine development, underwater engineering, military and the like. Underwater robots are playing an increasingly important role in the field of marine engineering, particularly in the engineering fields of submarine cable laying, submarine search and rescue, submarine military facility maintenance and the like. The underwater robot can comprehensively investigate and research at a depth which cannot be reached by a diver, can complete various operation tasks, and plays an extremely important role in ocean development. The intelligent underwater robot generally works in a complex marine environment, and in order to better complete various operation missions and self life safety, the intelligent underwater robot needs to have the capability of automatically avoiding obstacles, can sense and respond to collision danger possibly caused by surrounding environment obstacles.
There are many autonomous obstacle avoidance methods for underwater robots, such as a potential field method, a fuzzy collision avoidance method, and the like. However, the unknown and variable marine environment is much more complex than the land environment, and the underwater robot has strong coupling, nonlinearity, under-actuation and model uncertainty, so that effective control becomes a technical difficulty. The method is divided into a remote control underwater robot ROV and an autonomous underwater robot AUV according to a control mode. By means of the low cost, the simple control and the good real-time information interaction of the remote control underwater robot and the capability of meeting the power requirements of the operation manipulator and the complex underwater detection equipment, the remote control underwater robot is still the most widely used and important underwater exploration and detection equipment at present on decision-making and operation levels. The design of the underwater robot body device, which is an important component of the underwater robot, is particularly important. The underwater robot body device is an underwater vehicle body of the underwater robot, is responsible for executing specific tasks during underwater operation of the underwater robot, is mainly used for executing manual operation of water surface operators, and uploads local information of an underwater environment and all state information of the underwater environment to the water surface. At present, the underwater robot body devices at foreign countries and domestic countries mostly adopt twisted-pair transmission for communication, the communication quality is not high, and particularly for high-definition underwater videos, a good effect cannot be achieved.
Disclosure of Invention
The invention aims to execute obstacle avoidance control, combine the local obstacle avoidance planning and control of the underwater robot with hydrodynamic performance, and make an obstacle avoidance strategy which can reflect the dynamic obstacle avoidance capability of the intelligent underwater robot, thereby improving the survival capability of the underwater robot;
the utility model provides an intelligent system of keeping away barrier under water, includes the control center of robot body and the surface of water under water, and the robot body includes:
the main control module is connected with the control center through a photoelectric composite cable signal, receives a remote control instruction of the water surface and uploads underwater video information and sensing data;
the rotating cloud platform comprises a video receiving module, the input end of the rotating cloud platform is connected with the main control module through signals, and the main control module controls the rotating cloud platform to drive the video receiving module to rotate according to a remote control instruction;
the sensor module comprises a sonar unit, the sonar unit detects the underwater environment in real time and transmits underwater environment information to the main control module, and the main control module outputs motion control instructions to the motion module of the robot body according to the underwater environment information.
Foretell intelligent system who keeps away barrier under water, host system includes:
the control module uploads the sensing data of the sensor module to a control center, receives a remote control instruction of the water surface, analyzes the remote control instruction and outputs a motion control instruction of the robot body;
the data acquisition module is in signal connection with the control module, receives digital and analog sensing data of the sensor module, transmits the digital and analog sensing data to the control module, and outputs a motion control instruction to the motion module of the robot body;
the data conversion module is in signal connection with the control module, receives the sensing data of the RS485 and RS232 of the sensor module and transmits the sensing data to the control module; and the control module is connected with the control center through a data conversion module signal.
According to the intelligent system for avoiding the obstacle underwater, the main control module is connected with the optical cable conversion module through the video optical transmitter and receiver, and is connected with the photoelectric composite cable through the optical cable conversion module and is connected with the control center through the photoelectric composite cable.
According to the intelligent system for avoiding the obstacle underwater, the robot body further comprises a power driving module for receiving the motion control instruction output by the main control module and driving the robot body to move underwater.
Foretell intelligent system who keeps away barrier under water, power drive module includes:
the vertical thruster is arranged at the fore-aft end of the longitudinal section of the robot body and controls the robot body to perform submerging, floating and pitching motions;
and the stern thrusters are arranged on the left side and the right side of the stern of the robot body and are used for controlling the robot body to advance and retreat and move in a heading direction.
The robot body of the intelligent system for avoiding the obstacle underwater further comprises a power distribution module, wherein the input end circuit of the power distribution module is connected with the optical cable conversion module and receives a power supply output by the optical cable conversion module.
Foretell intelligent system who keeps away barrier under water, the sonar unit includes:
the distance measuring sonar is arranged above the front end of the robot body, measures the distance of a front target or an obstacle during underwater operation, and transmits the obtained distance data to the main control module and the control center for processing;
the forward-looking sonar is arranged above the front end of the robot body, measures the conditions of targets or obstacles around the same horizontal plane during underwater operation, and transmits the obtained image data to the main control module and the control center for processing.
Foretell intelligent system who keeps away barrier under water, sensor module still contains:
the camera is arranged in front of the robot body and connected with the rotating tripod head, and the rotating tripod head drives the camera to rotate and is used for receiving videos and acquiring image data and uploading the image data to the control center through the main control module;
the pressure sensor is arranged below the rear end of the robot body, detects the depth of the robot body and uploads depth data to the control center through the main control module;
the depth meter is used for measuring the depth of the robot body in real time and uploading depth data to the control center through the main control module;
the gyroscope is arranged in the cabin of the robot body, measures the heading angular velocity of the robot body, and uploads the obtained angular velocity data to the control center through the main control module;
the electronic compass is arranged in the cabin of the robot body, measures the heading angle, the pitch angle and the roll angle of the robot body, and uploads the obtained azimuth data to the control center through the main control module;
and the voltage and current sensor is arranged in the cabin of the robot body, measures the voltage and current information of the work of each part of the robot body in real time and uploads the information to the control center through the main control module.
The invention also aims to provide an autonomous obstacle avoidance method based on an underwater obstacle avoidance intelligent system, which has four-degree-of-freedom motion, can perform autonomous obstacle avoidance, has high-quality real-time high-definition video, telemetering data and control flexibility, and solves the technical problems.
The technical problem solved by the invention can be realized by adopting the following technical scheme: an autonomous obstacle avoidance method based on an underwater obstacle avoidance intelligent system comprises the following steps:
step A, scanning the environment around the robot body by a forward-looking sonar and a distance measuring sonar in real time to form an image and distance data, and transmitting the image and the distance data to a main control module;
b, processing images and distance data of the forward-looking sonar and the ranging sonar by the main control module to obtain the relation between the direction and the distance of the robot body and surrounding obstacles;
step C, the main control module judges whether an obstacle exists according to the relation between the orientation and the distance between the robot body and the surrounding obstacles;
and D, if so, adjusting the motion parameters, outputting a motion control command to the power driving module, and driving the robot body to avoid the obstacle by the power driving module.
In the autonomous obstacle avoidance method based on the underwater obstacle avoidance intelligent system, the step D comprises a step D1, if not, the step A is returned, and autonomous obstacle avoidance is performed in a circulating mode.
Due to the adoption of the technical scheme, the intelligent system for underwater obstacle avoidance and the autonomous obstacle avoidance method based on the system are in communication connection with the control center of the water surface through the photoelectric composite cable, the optical fiber transmission technology is adopted, high-quality real-time high-definition video and remote measurement data can be obtained remotely, and the control flexibility is high; cooperate through foresight sonar and range finding sonar, can better accomplish underwater operation, according to image and the distance data that foresight sonar and range finding sonar surveyed simultaneously, judge the obstacle distribution of the surrounding environment when underwater operation of underwater robot, thereby output motion control instruction, have the ability of realizing independently keeping away the barrier, adopt rotatory cloud platform to rotate the camera, be convenient for carry out remote control to the camera, furthest enlarges the observation position of camera, avoid the shortcoming of traditional fixed mounting or integrated cloud platform, can enlarge under water observation visual angle range greatly.
Detailed Description
The technical solutions of the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.
The invention provides an intelligent underwater obstacle avoidance system, which comprises an underwater robot body and a control center on the water surface, wherein the robot body comprises:
the main control module is connected with the control center through a photoelectric composite cable signal, receives a remote control instruction of the water surface and uploads underwater video information and sensing data;
the rotating cloud platform comprises a video receiving module, the input end of the rotating cloud platform is connected with the main control module through signals, and the main control module controls the rotating cloud platform to drive the video receiving module to rotate according to a remote control instruction;
the sensor module comprises a sonar unit, the sonar unit detects the underwater environment in real time and transmits underwater environment information to the main control module, and the main control module outputs motion control instructions to the motion module of the robot body according to the underwater environment information.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the main control module 1 includes:
the control module uploads the sensing data of the sensor module to a control center, receives a remote control instruction of the water surface, analyzes the remote control instruction and outputs a motion control instruction of the robot body;
the data acquisition module is in signal connection with the control module, receives digital and analog sensing data of the sensor module, transmits the digital and analog sensing data to the control module, and outputs a motion control instruction to the motion module of the robot body;
the data conversion module is in signal connection with the control module, receives the sensing data of the RS485 and RS232 of the sensor module and transmits the sensing data to the control module; and the control module is connected with the control center through a data conversion module signal.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the main control module is connected to the optical cable conversion module through a video optical transceiver, and is connected to the photoelectric composite cable through the optical cable conversion module, so as to be connected to the control center through the photoelectric composite cable.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the robot body further includes a power driving module, which receives the motion control command output by the main control module, and drives the robot body to perform underwater motion.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the power driving module includes:
the vertical thruster is arranged at the fore-aft end of the longitudinal section of the robot body and controls the robot body to perform submerging, floating and pitching motions;
and the stern thrusters are arranged on the left side and the right side of the stern of the robot body and are used for controlling the robot body to advance and retreat and move in a heading direction.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the robot body further includes a power distribution module, an input end circuit of the power distribution module is connected to the optical cable conversion module, and receives a power output by the optical cable conversion module.
The output end of the optical cable conversion module is in communication connection with the video optical transceiver and the input end of the power distribution module 3, and the input end of the optical cable conversion module is in communication connection with the output end of the control center through an optical-electrical composite cable. The input end of the video optical transceiver is in communication connection with the output end of the main control module, and the output end of the video optical transceiver is in signal connection with the input end of the optical cable conversion module. Therefore, the main control module is in signal connection with the control center through the video optical transceiver and the optical cable conversion module and the photoelectric composite cable, receives a remote control instruction of the water surface, and uploads underwater video information and sensing data. In addition, the optical cable conversion module provides power for the robot body through the photoelectric composite cable and transmits the power to the power distribution module.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the sonar unit includes:
the distance measuring sonar is arranged above the front end of the robot body, measures the distance of a front target or an obstacle during underwater operation, and transmits the obtained distance data to the main control module and the control center for processing;
the forward-looking sonar is arranged above the front end of the robot body, measures the conditions of targets or obstacles around the same horizontal plane during underwater operation, and transmits the obtained image data to the main control module and the control center for processing.
Further, in a preferred embodiment of the intelligent system for underwater obstacle avoidance of the present invention, the sensor module further includes:
the camera is arranged in front of the robot body and connected with the rotating tripod head, the rotating tripod head drives the camera to rotate, the camera is used for receiving videos and acquiring image data and uploading the image data to the control center through the main control module, the observation direction of the camera is expanded to the maximum extent, the finally acquired image data of the camera is processed through the main control module and is uploaded to the control center through the video optical transceiver, the optical cable conversion module and the photoelectric composite cable for processing and displaying;
the pressure sensor is arranged below the rear end of the robot body, detects the depth of the robot body and uploads depth data to the control center through the main control module;
the depth meter is used for measuring the depth of the robot body in real time and uploading depth data to the control center through the main control module;
the gyroscope is arranged in the cabin of the robot body, measures the heading angular velocity of the robot body, and uploads the obtained angular velocity data to the control center through the main control module;
the electronic compass is arranged in the cabin of the robot body, measures the heading angle, the pitch angle and the roll angle of the robot body, and uploads the obtained azimuth data to the control center through the main control module;
and the voltage and current sensor is arranged in the cabin of the robot body, measures the voltage and current information of the work of each part of the robot body in real time and uploads the information to the control center through the main control module.
An autonomous obstacle avoidance method based on an underwater obstacle avoidance intelligent system comprises the following steps:
step A, scanning the environment around the robot body by a forward-looking sonar and a distance measuring sonar in real time to form an image and distance data, and transmitting the image and the distance data to a main control module;
b, processing images and distance data of the forward-looking sonar and the ranging sonar by the main control module to obtain the relation between the direction and the distance of the robot body and surrounding obstacles;
step C, the main control module judges whether an obstacle exists according to the relation between the orientation and the distance between the robot body and the surrounding obstacles;
and D, if so, adjusting the motion parameters, outputting a motion control command to the power driving module, and driving the robot body to avoid the obstacle by the power driving module.
Further, in a preferred embodiment of the autonomous obstacle avoidance method based on the underwater obstacle avoidance intelligent system, the step D includes a step D1, and if not, the step a is returned to, and autonomous obstacle avoidance is performed in a circulating manner.
The intelligent system for underwater obstacle avoidance and the autonomous obstacle avoidance method based on the system adopt an optical fiber transmission technology, can realize the remote acquisition of high-quality real-time high-definition video and telemetering data, and have higher control flexibility; the underwater operation can be better completed, meanwhile, according to images and distance data detected by the forward-looking sonar and the ranging sonar, the obstacle distribution of the surrounding environment of the underwater robot during the underwater operation is judged, so that a motion control instruction is output, the capability of realizing autonomous obstacle avoidance is realized, the camera is rotated by adopting the rotary tripod head, the camera is convenient to remotely control, the observation direction of the camera is enlarged to the maximum extent, the defects of the traditional fixed installation or the integrated tripod head are avoided, and the underwater observation visual angle range can be greatly enlarged.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides an intelligent system of keeping away barrier under water, includes the control center of pipeline robot body and the surface of water under water, its characterized in that, the robot body includes:
the main control module is connected with the control center through a photoelectric composite cable signal, receives a remote control instruction of the water surface and uploads underwater video information and sensing data;
the rotating holder comprises a video receiving module, the input end of the rotating holder is in signal connection with the main control module, and the main control module controls the rotating holder to drive the video receiving module to rotate according to a remote control instruction;
the sensor module comprises a sonar unit, the sonar unit detects an underwater environment in real time and transmits underwater environment information to the main control module, and the main control module outputs a motion control instruction to the motion module of the robot body according to the underwater environment information.
2. The intelligent system for underwater obstacle avoidance according to claim 1, wherein the main control module comprises:
the control module uploads the sensing data of the sensor module to the control center, receives a remote control instruction of the water surface, analyzes the remote control instruction and outputs a motion control instruction of the robot body;
the data acquisition module is in signal connection with the control module, receives digital and analog sensing data of the sensor module, transmits the digital and analog sensing data to the control module, and outputs a motion control instruction to the motion module of the robot body;
the data conversion module is in signal connection with the control module, receives sensing data of the RS485 and RS232 of the sensor module and transmits the sensing data to the control module; and the control module is connected with the control center through a data conversion module in a signal mode.
3. The intelligent system for underwater obstacle avoidance according to claim 1, wherein the main control module is in signal connection with the optical cable conversion module through a video optical transmitter and receiver, and is in signal connection with the photoelectric composite cable through the optical cable conversion module, so as to be in signal connection with the control center through the photoelectric composite cable.
4. The intelligent system for underwater obstacle avoidance according to claim 1, wherein the robot body further comprises a power driving module for receiving the motion control command outputted from the main control module and driving the robot body to perform underwater motion.
5. The intelligent system for underwater obstacle avoidance according to claim 4, wherein the power driving module comprises:
the vertical propeller is arranged at the fore-aft end of the longitudinal section of the robot body and controls the robot body to perform submerging, floating and pitching motions;
and the stern thrusters are arranged on the left side and the right side of the stern of the robot body and control the robot body to advance and retreat and move in a heading direction.
6. The intelligent system for underwater obstacle avoidance according to claim 1, wherein the robot body further comprises a power distribution module, and an input end circuit of the power distribution module is connected with the optical cable conversion module and receives power output by the optical cable conversion module.
7. An intelligent system for underwater obstacle avoidance according to claim 1, wherein said sonar unit includes:
the distance measuring sonar is arranged above the front end of the robot body, measures the distance of a front target or an obstacle during underwater operation, and transmits the obtained distance data to the main control module and the control center for processing;
and the forward-looking sonar is arranged above the front end of the robot body, measures the conditions of targets or obstacles around the same horizontal plane during underwater operation, and transmits the obtained image data to the main control module and the control center for processing.
8. The intelligent system for underwater obstacle avoidance of claim 1, wherein the sensor module further comprises:
the camera is arranged in front of the robot body and connected with the rotating tripod head, and the rotating tripod head drives the camera to rotate and is used for receiving videos and acquiring image data and uploading the image data to the control center through the main control module;
the pressure sensor is arranged below the rear end of the robot body, detects the depth of the robot body and uploads depth data to the control center through the main control module;
the depth meter is used for measuring the depth of the robot body in real time and uploading depth data to the control center through the main control module;
the gyroscope is arranged in the cabin of the robot body, measures the heading angular velocity of the robot body, and uploads the obtained angular velocity data to the control center through the main control module;
the electronic compass is arranged in the cabin of the robot body, measures the heading angle, the pitch angle and the roll angle of the robot body, and uploads the obtained azimuth data to the control center through the main control module;
and the voltage and current sensor is arranged in the cabin of the robot body, measures the voltage and current information of the work of each part of the robot body in real time, and uploads the voltage and current information to the control center through the main control module.
9. An autonomous obstacle avoidance method based on an underwater obstacle avoidance intelligent system is characterized by comprising the following steps:
step A, scanning the environment around the robot body by a forward-looking sonar and a distance measuring sonar in real time to form an image and distance data, and transmitting the image and the distance data to a main control module;
b, the main control module processes images and distance data of the forward-looking sonar and the distance-measuring sonar to obtain the relation between the direction and the distance of the robot body and surrounding obstacles;
step C, the main control module judges whether an obstacle exists according to the relation between the orientation and the distance between the robot body and the surrounding obstacles;
and D, if so, adjusting the motion parameters, outputting a motion control command to the power driving module, and driving the robot body to avoid the obstacle by the power driving module.
10. The autonomous obstacle avoidance method based on the underwater obstacle avoidance intelligent system according to claim 9, wherein the step D includes a step D1, if not, the step a is returned to, and autonomous obstacle avoidance is performed in a loop.
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| CN102999050A (en) * | 2012-12-13 | 2013-03-27 | 哈尔滨工程大学 | Automatic obstacle avoidance method for intelligent underwater robots |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN206155756U (en) * | 2016-10-28 | 2017-05-10 | 重庆交通大学 | Keep away barrier formula underwater robot |
| CN109240315A (en) * | 2018-08-27 | 2019-01-18 | 西北工业大学 | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method |
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2020
- 2020-11-25 CN CN202011339441.6A patent/CN113156981A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102999050A (en) * | 2012-12-13 | 2013-03-27 | 哈尔滨工程大学 | Automatic obstacle avoidance method for intelligent underwater robots |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN206155756U (en) * | 2016-10-28 | 2017-05-10 | 重庆交通大学 | Keep away barrier formula underwater robot |
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