CN113156982A - Underwater robot control system and control method thereof - Google Patents
Underwater robot control system and control method thereof Download PDFInfo
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Abstract
The embodiment of the invention relates to an underwater robot control system and a control method thereof. This underwater robot control system adopts and increases communication interface conversion module and information interaction module between information acquisition module under water and main control module, the realization is converted different serial interface into unified net gape interface, through communication interface's unity, make underwater robot under-deck main control module only need a net twine can accomplish the collection to information acquisition module data information under water, make the space of arranging in the underwater robot under-deck obtain very big optimization, also provide very big facility to subsequent maintenance and upgrading, and the cost of manufacture has been reduced, the control system who has solved current underwater robot has the circuit to arrange complicacy, and communication interface is not unified, technical problem with high costs.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to an underwater robot control system and a control method thereof.
Background
China has a wide sea area, various rich resources are stored in the ocean, and the traditional manual exploration operation has the defects of long period, high working strength, high danger coefficient and the like. With the development of automatic control technology and sensor technology, the intelligent level of the underwater robot is greatly improved, and the application of the underwater robot in the aspect of ocean detection is also greatly concerned.
When the underwater robot performs a detection task, a safe and reliable control system is necessary. The control system of the existing underwater robot generally adopts a PC104 and the like as a main control board of the control system, although the PC104 main control board has abundant interfaces, the interfaces can meet the connection between electronic devices in a control cabin of the underwater robot, and therefore the control system can accurately control the movement of the underwater robot. However, the larger size of the PC104 main control board is not favorable for reasonable arrangement of space in the control cabin of the underwater robot, and the high price of the PC104 main control board increases the construction cost of the whole underwater robot; meanwhile, communication interfaces between a main control board and various sensors in the control cabin of the existing underwater robot are not uniform, so that the circuit arrangement in the cabin is complex, and the modularized manufacturing is not facilitated. Therefore, the control system of the existing underwater robot has the problems of complex circuit arrangement, narrow application and high cost.
Disclosure of Invention
The embodiment of the invention provides an underwater robot control system and a control method thereof, which are used for solving the technical problems of complex circuit arrangement, non-uniform communication interfaces and high cost of the existing underwater robot control system.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
an underwater robot control system comprises a shore-based monitoring module, an airborne communication module, an underwater information acquisition module, a communication interface conversion module, an information interaction module, a main control module and an execution module;
the shore-based monitoring module is used for monitoring the running state of the underwater robot in real time;
the airborne communication module is used for carrying out information interaction with the shore-based monitoring module;
the underwater information acquisition module is used for acquiring data information of the underwater robot and transmitting the data information to the communication interface conversion module;
the communication interface conversion module is used for being connected with the airborne communication module and the underwater information acquisition module and converting a serial interface into a uniform network interface;
the information interaction module is used for matching a unique IP address with the detection element connected with the communication interface conversion module;
the main control module is used for receiving the data information transmitted by the communication interface conversion module and the information interaction module, generating a control instruction according to the data information and transmitting the control instruction to the execution module;
and the execution module is used for generating a corresponding PWM signal according to the control instruction to control the operation of the execution element.
Preferably, the communication interface conversion module comprises a plurality of USR-K7 modules, a first end of each USR-K7 module is connected with the underwater information acquisition module or the onboard communication module, and a second end of each USR-K7 module is connected with the information interaction module.
Preferably, the information interaction module comprises a wireless communication sub-module and an exchange sub-module connected with the wireless communication sub-module; the wireless communication sub-module is used for selecting an unallocated IP address from the IP address pool according to the equipment IP request of the communication interface conversion module and transmitting the selected IP address to the switching sub-module; and the switching submodule allocates the selected IP address to the detection element corresponding to the equipment IP request.
Preferably, the shore-based monitoring module comprises a monitoring terminal, and a first communication sonar and a first RF sub-module which are connected with the monitoring terminal; the onboard communication module comprises a first communication sonar and a first RF sub-module, the first communication sonar and the first RF sub-module are respectively connected with the communication interface conversion module, and the onboard communication module comprises a second communication sonar connected with the first communication sonar and a second RF sub-module connected with the first RF sub-module.
Preferably, the detection element of the underwater information acquisition module comprises a GPS receiver, an inertial navigation system, a depth meter, a ranging sonar and a doppler log which are connected with the communication interface conversion module; the GPS receiver is used for detecting the position of the underwater robot on the water level of the water area; the inertial navigation is used for detecting the position and the speed of the underwater robot in the navigation coordinate system; the depth meter is used for detecting the depth of the underwater robot; the ranging sonar is used for acquiring the distance from the underwater robot to the obstacle in the advancing direction; the Doppler log is used for detecting the speed of the underwater robot relative to a water area and the running range of the underwater robot.
Preferably, the master control module comprises a processor of a 4 generation raspberry pi.
Preferably, the execution module comprises a slave control sub-module and a plurality of first, second and third execution elements connected with the slave control sub-module, and the slave control sub-module is connected with the master control module through a serial interface.
Preferably, the first executing element is a relay, the second executing element is a steering engine, and the third executing element is a motor.
The invention also provides a control method of the underwater robot control system, which comprises the following steps:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, a timer is started, and the main control module executes the task after waiting for a certain time;
the steps in the process of executing the task by the main control module comprise:
s21, the main control module obtains a running heading angle detected by the underwater robot through inertial navigation, a depth detected by a depth meter and data detected by the inertial navigation and the Doppler log through data fusion to obtain a forward speed;
s22, if the forward speed does not need to be controlled, when the underwater robot runs on a horizontal plane, the execution module controls the running of a third execution element according to a control instruction corresponding to the running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to the control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s23, if the forward speed needs to be controlled and is less than the maximum running speed of the execution parameters, when the underwater robot runs on a horizontal plane, the execution module controls the running of a third execution element according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to the control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s24, if the operation pose of the underwater robot reaches the expected pose of the execution parameters, the task is executed; if the operation pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
wherein the execution parameters comprise a maximum operating speed of the underwater robot, an expected pose, and the expected pose comprises a position and a heading angle of the underwater robot.
Preferably, in step S24, the reaching of the operational pose of the underwater robot to the desired pose of the execution parameter includes: setting error values between the position and the heading angle of the current running pose of the underwater robot and the position and the heading angle of the expected pose in a specified error range; and calculating the position of the operation pose of the underwater robot according to the forward velocity integral.
According to the technical scheme, the embodiment of the invention has the following advantages: the underwater robot control system and the control method thereof are characterized in that a communication interface conversion module and an information interaction module are additionally arranged between an underwater information acquisition module and a main control module, different serial interfaces are converted into unified network interface interfaces, and the communication interface is unified, so that the main control module in an underwater robot cabin can finish acquisition of data information of the underwater information acquisition module only through one network cable, the arrangement space in the underwater robot cabin is greatly optimized, great convenience is provided for subsequent maintenance and upgrading, the manufacturing cost is reduced, and the technical problems of complex circuit arrangement, non-unified communication interface and high cost of the existing underwater robot control system are solved.
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 block diagram of an underwater robot control system according to an embodiment of the present invention.
Fig. 2 is a further block diagram of an underwater robot control system according to an embodiment of the present invention.
Fig. 3 is a block diagram of an execution module of the underwater robot control system according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating steps of a control method of an underwater robot control system according to an embodiment 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 embodiment of the application provides an underwater robot control system and a control method thereof, a processor which is low in cost and small in size and is used for 4 generations of raspberry groups is used as a main control board to replace a traditional PC104 main control board, so that the cost of the control system of the underwater robot is reduced, and the installation space in a control cabin of the underwater robot is saved; and secondly, a communication interface conversion module is adopted to convert different communication interfaces into a unified network interface, so that the arrangement of circuits in the control cabin of the underwater robot is simplified, the integration level of the control system of the underwater robot is improved, and the technical problems of complex circuit arrangement, non-unified communication interfaces and high cost of the existing control system of the underwater robot are solved.
The first embodiment is as follows:
fig. 1 is a block diagram of an underwater robot control system according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an underwater robot control system, which includes a shore-based monitoring module 10, an onboard communication module 20, an underwater information acquisition module 30, a communication interface conversion module 40, an information interaction module 50, a main control module 60, and an execution module 70;
the shore-based monitoring module 10 is used for monitoring the running state of the underwater robot in real time;
the airborne communication module 20 is used for carrying out information interaction with the shore-based monitoring module 10;
the underwater information acquisition module 30 is used for acquiring data information of the underwater robot and transmitting the data information to the communication interface conversion module 40;
the communication interface conversion module 40 is used for being connected with the airborne communication module 20 and the underwater information acquisition module 30 and converting a serial interface into a uniform network interface;
an information interaction module 50 for matching a unique IP address with the detection element connected to the communication interface conversion module 40;
the main control module 60 is used for receiving the data information transmitted by the communication interface conversion module 40 and the information interaction module 50, generating a control instruction according to the data information and transmitting the control instruction to the execution module 70;
and the execution module 70 is used for generating a corresponding PWM signal according to the control instruction to control the operation of the execution element.
It should be noted that, the underwater robot control system can reduce the overall construction cost of the underwater robot, and meanwhile, the circuit arrangement in the underwater robot control cabin is highly integrated.
In the embodiment of the present invention, the main control module 60 is mainly configured to generate a control command according to the data information acquired by the underwater information acquisition module 30 and transmit the control command to the execution module 70.
It should be noted that the main control module 60 mainly adopts a processor in the raspberry group of 4 generations as the main control module, and the main control module 60 is small in size and low in price, and is configured to receive the data information of the underwater information acquisition module 30 transmitted via the communication interface conversion module 40 and the information interaction module 50, and generate a corresponding control instruction to the execution module 70, so as to implement the designated movement of the underwater robot. In the embodiment, the data information includes the depth, the operation data, the operation heading angle, the position of the underwater robot in the water, and the like. According to the underwater robot control system, the raspberry pies with low cost are used as the main control module to construct the control system of the underwater robot, the spatial arrangement of the control cabin of the underwater robot is optimized, and the manufacturing cost of the underwater robot is reduced.
Compared with the existing underwater robot adopting a PC104 control panel, the underwater robot control system adopts a processor of a 4-generation raspberry pi as a main control module, and the specific comparison information is shown in the following table 1.
TABLE 1 comparison table of data information of main control module and PC104 control board of 4 generation raspberry group
| Name (R) | PC104 embedded core module | Raspberry pi 4 |
| CPU main frequency | 1.46G～1.91GHz | 1.5GHz |
| Memory device | 4G DDR3L | 2/4/8G DDR4 |
| Bluetooth | Is free of | Bluetooth 5.0 |
| Image output | 1 VGA | Dual micro HDMI port |
| Wired network | 2 10/100/1000BaseT Ethernet ports | Gigabit ethernet |
| Wireless network | Is free of | 802.11ac(2.4/5GHz) |
| USB port | 4 USB2.0 | 2 USB2.0/2 USB3.0 |
| GPIO | 8-way | 40-way street |
| Overall dimension | 115.6mm*98mm | 85mm*56mm |
| Cost of | 2000RMB | 200RMB |
From the above table, in the underwater robot control cabin with extremely compact space, the processor of the raspberry pie of the 4 generations with smaller overall dimension can save more space; in terms of performance, the processor of the 4 generation raspberry pi supports the onboard RAM of 8G DDR4 at most, and is more capable of providing larger computing memory; meanwhile, the USB3.0 port has two ports, which is beneficial to high-speed transmission of data. In terms of cost, the processor purchase price of the 4 th generation raspberry pi is a great advantage over the PC104 core board.
In the embodiment of the present invention, the shore-based monitoring module 10 is mainly used for monitoring the real-time operation state of the underwater robot by a shore-side operator, and the airborne communication module 20 is mainly used for information interaction with the shore-based monitoring module 10. The underwater information acquisition module 30 is mainly used for sensing the external environment of the underwater robot during operation, and provides necessary data information for the main control module 60 through the communication interface conversion module 40 and the information interaction module 50.
In the embodiment of the present invention, the communication interface conversion module 40 is mainly used for converting serial interfaces RS232 or RS485 of the airborne communication module 20 and the underwater information acquisition module 30 into a uniform network interface, so as to facilitate the main control module 60 to acquire data information.
It should be noted that the serial interface conversion module 40 is mainly implemented by a module of model USR-K7, so as to convert the serial interface into a unified network interface. A corresponding number of USR-K7 modules are arranged in communication interface conversion module 40 according to the number of detection elements and onboard communication modules 20 in underwater information acquisition module 30.
In the embodiment of the present invention, the information interaction module 50 is mainly used to allocate a unique IP address to each detection element accessing the communication interface conversion module 40, so as to achieve the acquisition of the detection data information of the detection element by the main control module 60.
In the embodiment of the present invention, the execution module 70 is mainly configured to receive a control instruction from the main control module 60, and generate a corresponding PWM pulse signal to control the execution element.
According to the underwater robot control system, the communication interface conversion module and the information interaction module are additionally arranged between the underwater information acquisition module and the main control module, different serial interfaces are converted into uniform network interface interfaces, and the main control module in the underwater robot cabin can finish acquisition of data information of the underwater information acquisition module only through one network cable through unification of the communication interfaces, so that the arrangement space in the underwater robot cabin is greatly optimized, great convenience is provided for subsequent maintenance and upgrading, the manufacturing cost is reduced, and the technical problems of complex circuit arrangement, non-uniform communication interfaces and high cost of the existing underwater robot control system are solved.
Fig. 2 is a further block diagram of an underwater robot control system according to an embodiment of the present invention.
As shown in fig. 2, in one embodiment of the present invention, the shore-based monitoring module 10 includes a monitoring terminal 11, and a first communication sonar 12 and a first RF sub-module 13 connected to the monitoring terminal 11; corresponding to the first communication sonar 12 and the first RF sub-module 14, the onboard communication module 20 includes a second communication sonar 21 connected to the first communication sonar 12 and a second RF sub-module 22 connected to the first RF sub-module 13, and the second communication sonar 21 and the second RF sub-module 22 are respectively connected to the communication interface conversion module 40.
It should be noted that the first communication sonar 12 is placed in water near the shore-based monitoring module 10, and is connected with the monitoring terminal 11 through an RS232 serial interface, and when the underwater robot moves below the water surface, the underwater robot data sent by the second communication sonar 21 is transmitted to the monitoring terminal 11, so as to realize real-time acquisition and display of the operation state of the underwater robot; the first RF sub-module 13 is connected with the antenna frame and is elevated near the monitoring terminal 11, and is connected with the monitoring terminal 11 through an RS232 serial interface, when the underwater robot maneuvers on the water surface, the first RF sub-module 13 receives underwater robot operation data sent by the second RF sub-module 22, high-speed acquisition of real-time state data of the underwater robot is achieved, and task mission of the underwater robot can be updated timely. In this embodiment, the monitoring terminal 11 may be an industrial personal computer, a mobile phone, an iPad, a computer, or the like.
As shown in fig. 2, in one embodiment of the present invention, the detection elements of the underwater information acquisition module 30 include a GPS receiver 31, an inertial navigation system 32, a depth meter 33, a ranging sonar 34, and a doppler log 35 connected to a communication interface conversion module 40; the GPS receiver 31 is used to detect the position of the underwater robot on the water surface; the inertial navigation system 32 is used for detecting the position and the speed of the underwater robot in the navigation coordinate system; the depth meter 33 is used for detecting the depth of the underwater robot; the ranging sonar 34 is used for acquiring the distance from the underwater robot to the obstacle in the advancing direction; the doppler log 35 is used to detect the velocity of the underwater robot relative to the water and the course of travel of the underwater robot.
It should be noted that the GPS receiver 31 is mainly used for acquiring the position information of the underwater robot when the underwater robot moves on the water surface, and calibrating the self-positioning navigation data; mainly, according to data detected by the inertial navigation system 32 and the Doppler log 35, the speed, the course and the position of the underwater robot in the navigation coordinate system are calculated by adopting an accelerometer; the depth meter 33 is mainly used for detecting the depth data of the current underwater robot and transmitting the depth data to the main control module 60 through the communication interface conversion module 40 and the information interaction module 50; the ranging sonar 34 acquires distance information of the underwater robot from an obstacle in the advancing direction and transmits data to the main control module 60 for planning an obstacle avoidance path for the operation of the underwater robot.
As shown in FIG. 2, in one embodiment of the present invention, the communication interface conversion module 40 comprises a plurality of USR-K7 modules, wherein a first end of each USR-K7 module is connected to the underwater information acquisition module 30 or the onboard communication module 20, and a second end of each USR-K7 module is connected to the information interaction module 50.
The second communication sonar 21, the second RF sub-module 22, the GPS receiver 31, the inertial navigation unit 32, the depth gauge 33, the distance measuring sonar 34, and the doppler log 35 are each connected to one USR-K7 module. In this embodiment, the interfaces of the second communication sonar 21, the second RF sub-module 22, the GPS receiver 31, the inertial navigation unit 32, the depth meter 33, the ranging sonar 34, and the doppler log 35 are all serial RS232 interfaces, and the serial RS232 interfaces are converted into uniform network interface interfaces through the USR-K7 module, so that the main control module 60 can obtain data information of various detection elements through the information interaction module 50, simplify the wiring between the detection elements and the main control module 60, and the uniform network interface is convenient for the programming design of the main control module 60.
Compared with the existing underwater robot control system in which the communication interfaces of the detection elements are directly connected with the PC104 main control board, the underwater robot control system of the invention also connects the uniform network interface with the exchange sub-modules in the information interaction module 50 one by one through network cables, thereby achieving the purpose of optimizing the circuit arrangement. The underwater robot control system improves the integration level of the structure in the underwater robot cabin through the designed communication interface conversion module, and the integrated control system is not only beneficial to the subsequent maintenance of the control cabin, but also simplifies the program design flow of the main control module.
As shown in fig. 2, in an embodiment of the present invention, the information interaction module 50 includes a wireless communication sub-module 51 and a switching sub-module 52 connected to the wireless communication sub-module 51; the wireless communication sub-module 51 is configured to select an unassigned IP address from the IP address pool according to the device IP request of the communication interface conversion module 40, and transmit the selected IP address to the switching sub-module 52; the switching sub-module 52 assigns the selected IP address to the sensing element corresponding to the device IP request.
It should be noted that the wireless communication sub-module 51 may be a WiFi router, and the switch sub-module 52 may be a switch. The working principle of the information interaction module 50 is as follows: the WiFi router distributes IP addresses through the internal DHCP function, an address pool is arranged in the DHCP, and the WiFi router sends the unallocated IP addresses to the equipment requesting the IP addresses from the WiFi router from the address pool allowed to be distributed. Since the number of LAN ports of the WiFi router is limited, the number of LAN ports is expanded by the switch, so that more IP address requesting devices can be accessed. Taking the depth meter 33 as an example, after the serial port of the RS232 is converted into a network port by the communication interface conversion module 40, an IP address is requested to be allocated to the information interaction module 50, and the WiFi router in the information interaction module 50 selects an unallocated IP address from the IP address pool and allocates the unallocated IP address to the depth meter 33, because each allocated IP address is unique, the main control module 60 can acquire data measured by the depth meter 33 through the address.
Fig. 3 is a block diagram of an execution module of the underwater robot control system according to an embodiment of the present invention.
As shown in fig. 3, in one embodiment of the present invention, the execution module 70 includes a slave control sub-module 71 and a plurality of first, second and third execution elements 72, 73 and 74 connected to the slave control sub-module 71, and the slave control sub-module 71 is connected to the master control module 61 through a serial interface. The first actuator 72 is a relay, the second actuator 73 is a steering engine, and the third actuator 74 is a motor.
It should be noted that the slave control sub-module 71 is connected with the master control module 60 through an RS232 serial port; the third actuator 74 includes a first motor and a second motor disposed at the left and right sides of the tail of the underwater robot, and the first motor and the second motor are respectively connected to the slave control sub-module 71 through a corresponding first motor driver and a corresponding second motor driver. The second executing element 73 comprises a first steering engine and a second steering engine which are arranged on the left side and the right side of the underwater robot, and the first steering engine and the second steering engine are respectively connected with the slave control sub-module 71 through corresponding steering engine controllers.
Example two:
fig. 4 is a flowchart illustrating steps of a control method of an underwater robot control system according to an embodiment of the present invention.
As shown in fig. 4, an embodiment of the present invention further provides a control method for an underwater robot control system, where the control method based on the underwater robot control system includes the following steps:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, the timer is started, and the main control module executes the task after waiting for a certain time;
the steps in the process of executing the task by the main control module comprise:
s21, acquiring a running heading angle detected by the underwater robot through inertial navigation, a depth detected through a depth meter and data detected through the inertial navigation and a Doppler log by a main control module, and obtaining a forward speed through data fusion;
s22, if the forward speed does not need to be controlled, when the underwater robot runs on a horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to a running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s23, if the forward speed needs to be controlled and is less than the maximum running speed of the execution parameters, when the underwater robot runs on a horizontal plane, the execution module controls the third execution element to run according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to a control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s24, if the operation pose of the underwater robot reaches the expected pose of the execution parameters, the task is executed; if the operation pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
the execution parameters comprise the maximum running speed and the expected pose of the underwater robot, and the expected pose comprises the position and the heading angle of the underwater robot.
It should be noted that, in the first embodiment, the contents of the underwater robot control system have been described in detail, and are not described in this embodiment one by one.
In step S21 of the embodiment of the present invention, the master control module performs fusion processing on the speed detected by the inertial navigation and the speed detected by the doppler log to obtain the forward speed of the underwater robot, and the slave control submodule in the execution module controls the first execution element, the second execution element, and the third execution element to operate according to the forward speed.
It should be noted that the main control module obtains the forward speed of the underwater robot by comprehensively considering the actual performance of the third actuator and the limit of the obstacle to the speed value in the movement process. The forward speed of the underwater robot is obtained by data fusion of the speed measured by inertial navigation and the speed measured by a Doppler log. In the embodiment, a Kalman filtering algorithm is adopted to realize data fusion, so that the forward speed of the underwater robot is obtained by fusing data detected by an inertial navigation meter and a Doppler log, and the error of data detection by a single detection element is avoided, so that the forward speed of the underwater robot is inaccurate, and the accuracy of the data is improved. The kalman filter algorithm is a well-established algorithm, belongs to the prior art, and is not described in detail in this embodiment.
In step S22 and step S23 of the embodiment of the present invention, when the underwater robot is in a horizontal plane, the slave control submodule in the execution module generates two PWM pulse signals for controlling the rotation speed of two third execution elements according to the control command; when the underwater robot runs on a vertical plane, the control command received from the control submodule in the execution module generates a PWM pulse signal for controlling the two second execution elements to rotate.
It should be noted that the rotation of the third actuator completes the control of the underwater robot. And the rotation of the second execution element completes the depth adjustment control of the underwater robot.
In the embodiment of the present invention, in step S24, the reaching of the operating pose of the underwater robot to the desired pose of the execution parameter includes: setting error values between the position and the heading angle of the current running pose of the underwater robot and the position and the heading angle of the expected pose in a specified error range; and the heading angle of the running pose of the underwater robot is obtained by adopting inertial navigation detection, and the position of the running pose of the underwater robot is obtained by integral calculation of a main control module according to the forward speed.
It should be noted that an error value between the current position of the operation pose of the underwater robot and the expected position of the pose is within a specified error range, and a heading angle between the current position of the operation pose of the underwater robot and the expected position of the pose is within a specified error range. The error range is set according to the requirements of the underwater robot. The heading angle is measured by a gyroscope in inertial navigation. The position integral calculation involves subject fusion knowledge of sensor principle, signal processing, high-number calculus and the like, and the technology is mature in the field and is not elaborated herein.
The control method of the underwater robot control system provided by the invention realizes the operation of the underwater robot based on the underwater robot control system, and improves the operation efficiency of the underwater robot.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
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. An underwater robot control system is characterized by comprising a shore-based monitoring module, an airborne communication module, an underwater information acquisition module, a communication interface conversion module, an information interaction module, a main control module and an execution module;
the shore-based monitoring module is used for monitoring the running state of the underwater robot in real time;
the airborne communication module is used for carrying out information interaction with the shore-based monitoring module;
the underwater information acquisition module is used for acquiring data information of the underwater robot and transmitting the data information to the communication interface conversion module;
the communication interface conversion module is used for being connected with the airborne communication module and the underwater information acquisition module and converting a serial interface into a uniform network interface;
the information interaction module is used for matching a unique IP address with the detection element connected with the communication interface conversion module;
the main control module is used for receiving the data information transmitted by the communication interface conversion module and the information interaction module, generating a control instruction according to the data information and transmitting the control instruction to the execution module;
and the execution module is used for generating a corresponding PWM signal according to the control instruction to control the operation of the execution element.
2. The underwater robot control system of claim 1, wherein the communication interface conversion module comprises a plurality of USR-K7 modules, a first end of each USR-K7 module is connected to the underwater information acquisition module or the onboard communication module, and a second end of each USR-K7 module is connected to the information interaction module.
3. The underwater robot control system of claim 1, wherein the information interaction module comprises a wireless communication sub-module and an exchange sub-module connected with the wireless communication sub-module; the wireless communication sub-module is used for selecting an unallocated IP address from the IP address pool according to the equipment IP request of the communication interface conversion module and transmitting the selected IP address to the switching sub-module; and the switching submodule allocates the selected IP address to the detection element corresponding to the equipment IP request.
4. The underwater robot control system according to claim 1, wherein the shore-based monitoring module comprises a monitoring terminal and a first communication sonar and a first RF sub-module connected with the monitoring terminal; the onboard communication module comprises a first communication sonar and a first RF sub-module, the first communication sonar and the first RF sub-module are respectively connected with the communication interface conversion module, and the onboard communication module comprises a second communication sonar connected with the first communication sonar and a second RF sub-module connected with the first RF sub-module.
5. The underwater robot control system according to claim 1, wherein the detection elements of the underwater information acquisition module include a GPS receiver, inertial navigation, a depth meter, a ranging sonar, and a doppler log connected to the communication interface conversion module; the GPS receiver is used for detecting the position of the underwater robot on the water level of the water area; the inertial navigation is used for detecting the position and the speed of the underwater robot in the navigation coordinate system; the depth meter is used for detecting the depth of the underwater robot; the ranging sonar is used for acquiring the distance from the underwater robot to the obstacle in the advancing direction; the Doppler log is used for detecting the speed of the underwater robot relative to a water area and the running range of the underwater robot.
6. An underwater robotic control system as claimed in claim 1 wherein the master control module includes a processor of a 4 generation raspberry pi.
7. The underwater robot control system of claim 1, wherein the execution module includes a slave control sub-module and a plurality of first, second and third execution elements connected to the slave control sub-module, the slave control sub-module being connected to the master control module via a serial interface.
8. The underwater robot control system of claim 7, wherein the first actuator is a relay, the second actuator is a steering engine, and the third actuator is a motor.
9. A control method of an underwater robot control system, characterized in that the control method based on the underwater robot control system according to any one of claims 1 to 8 comprises the steps of:
s1, a shore-based monitoring module issues tasks and execution parameters to an underwater robot;
s2, the main control module receives the task, a timer is started, and the main control module executes the task after waiting for a certain time;
the steps in the process of executing the task by the main control module comprise:
s21, the main control module obtains a running heading angle detected by the underwater robot through inertial navigation, a depth detected by a depth meter and data detected by the inertial navigation and the Doppler log through data fusion to obtain a forward speed;
s22, if the forward speed does not need to be controlled, when the underwater robot runs on a horizontal plane, the execution module controls the running of a third execution element according to a control instruction corresponding to the running heading angle in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to the control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s23, if the forward speed needs to be controlled and is less than the maximum running speed of the execution parameters, when the underwater robot runs on a horizontal plane, the execution module controls the running of a third execution element according to a control instruction corresponding to the forward speed in the main control module; when the underwater robot runs on a vertical plane, the execution module also controls the running of the second execution element according to the control instruction corresponding to the depth in the main control module, and the main control module acquires the running pose of the underwater robot after running;
s24, if the operation pose of the underwater robot reaches the expected pose of the execution parameters, the task is executed; if the operation pose of the underwater robot does not reach the expected pose of the execution parameters, executing the step S2 again;
wherein the execution parameters comprise a maximum operating speed of the underwater robot, an expected pose, and the expected pose comprises a position and a heading angle of the underwater robot.
10. The control method of the underwater robot control system according to claim 9, wherein in step S24, the operation pose of the underwater robot reaching the desired pose of the execution parameter includes: setting error values between the position and the heading angle of the current running pose of the underwater robot and the position and the heading angle of the expected pose in a specified error range; and calculating the position of the operation pose of the underwater robot according to the forward velocity integral.
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