CN113282021A

CN113282021A - Multi-mode communication control system of underwater robot

Info

Publication number: CN113282021A
Application number: CN202011524210.2A
Authority: CN
Inventors: 李克秋; 李少南; 曲雯毓; 刘春凤; 赵昭
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-08-20

Abstract

The invention discloses a multi-mode communication control system of an underwater robot, which comprises the underwater robot, a robot module, a buoyancy device and a control module, wherein the control module comprises an MCU (microprogrammed control Unit) master control module, a wireless module, a remote controller and a video module; the robot module is embedded into the underwater robot to drive the underwater robot and mount different sensors and modules according to different requirements; the robot module comprises an MCU master control module, a network module, a camera module, a power module, a sensor module and a cable winding and unwinding and buoyancy sensing module; the network module is directly connected with the network module in the buoyancy device through a cable, so that data transmission from the underwater to the water surface is realized; the buoyancy device is embedded in the buoyancy shell, and the MCU master control, the network module and the wireless module are arranged in the buoyancy device; the network module is used for communicating with the underwater robot, and the wireless module of the buoyancy device is connected with the wireless module of the control module; the buoyancy device and the underwater robot carry out wired data transmission through a network cable or an optical fiber.

Description

Multi-mode communication control system of underwater robot

Technical Field

The invention relates to the field of underwater robots, in particular to a multi-mode communication control system of an underwater robot.

Background

In order to effectively defend the national sea area and develop ocean resources, the underwater remote sensing robot is indispensable. The underwater robot has irreplaceable functions in various aspects, such as marine oil resource detection, marine culture, regional environment monitoring, seabed fishing and the like. At present, because the complexity of environment under water and communication technology's restriction, most underwater robot can't realize radio communication, the mode that mostly adopts to have the cable carries out data transmission and control, along with the working distance of robot increases, the length of the cable that must increase constantly, the burden of transportation has been increased to the gross weight that has not only increased the cable like this, the extension of cable can make underwater robot's removal and data transmission's energy consumption increase simultaneously, be unfavorable for long-term continuation of the journey of robot. Another major drawback of the cabled robot is that the cable greatly limits the working range of the robot, and the control personnel must follow the robot within the range allowed by the cable. In addition, as the cable is lengthened, the cable is wound at a high probability in a complex underwater environment, and once the cable is wound and cannot be solved, the robot cannot move and work, and even a robot communication system is damaged.

Besides cable communication, a small number of robots adopt an acoustic communication mode to control and communicate. A great deal of scientific achievements and experiments at present prove that the acoustic communication is the most effective underwater communication mode at present. However, the acoustic communication also has its own problems, such as extremely low transmission rate, high transmission delay, high error rate, and the like. This results in that when the underwater robot uses the acoustic communication as a communication system of the underwater robot, only the control signal can be transmitted but the video and picture signals cannot be transmitted, and when an underwater robot without video information is used, a blind cannot adapt to many tasks in underwater work at all. Meanwhile, the acoustic communication delay is extremely large, and when one control signal is sent out, the action of a signal instruction possibly at the last moment when the robot receives the signal at the moment is not completed, so that the operation precision of the robot is greatly reduced.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a multi-mode communication control system of an underwater robot.

The purpose of the invention is realized by the following technical scheme:

an underwater robot multi-mode communication control system comprises an underwater robot; the robot comprises a robot module, a buoyancy device and a control module, wherein the control module comprises an MCU master control module, a wireless module, a remote controller and a video module; the underwater robot is provided with a cable collecting device and a buoyancy sensing device;

the robot module is embedded into the underwater robot to drive the underwater robot and mount different sensors and modules according to different requirements; the robot module comprises an MCU master control module, a network module, a camera module, a power module, a sensor module and a cable winding and unwinding and buoyancy sensing module; the network module is directly connected with the network module in the buoyancy device through a cable, so that data transmission from the underwater to the water surface is realized;

the buoyancy device is embedded in the buoyancy shell, and the MCU master control, the network module and the wireless module are arranged in the buoyancy device; the network module is used for communicating with the underwater robot, and the wireless module of the buoyancy device is connected with the wireless module of the control module and used for transmitting the data received by the buoyancy device to the control module in a radio frequency communication mode; the buoyancy device and the underwater robot are in wired data transmission through a network cable or an optical fiber, a TCP/IP protocol is adopted, and data transmission is performed with the control module through an 802.11g protocol.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the invention adopts a multi-mode communication mode, and integrates two communication technologies of wireless image transmission and cable transmission into an integrated communication control system. Because the communication control system of the current underwater robot is of a cable type, namely, a control module is directly connected with the robot through a cable, the length of the cable limits the working range of the underwater robot, and the weight of the cable can bring extra energy consumption to the robot. When the cable is wound under water, the operation of the robot can be greatly limited. The technical scheme of the invention can realize wireless control on the underwater robot, greatly improve the working range of the robot and simplify the control structure.

Drawings

Fig. 1 is a schematic diagram of the operation of the present invention.

FIG. 2 is a schematic diagram of the operation of the modules of the present invention.

Fig. 3 is a software architecture hosted by an MCU.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, an underwater robot multi-modal communication control system includes an underwater robot, a robot module, a buoyancy device, and a control module; the underwater robot is provided with a cable collecting device and a buoyancy sensing device.

The robot module is embedded in the robot to drive the robot and mount different sensors and modules according to different requirements. The robot module is controlled by the MCU and carries necessary modules, such as a network module, a camera module, a power module, a cable winding and unwinding module and a buoyancy sensing module, and other sensor modules can be selected at will. The network module is directly connected with the network module in the buoyancy device through a cable, so that data transmission from the underwater to the water surface is realized.

The buoyancy device is embedded into a waterproof shell with certain buoyancy, and a main control unit which is the same as the underwater robot and is provided with a network module and a wireless module is arranged inside the shell. The network module is responsible for communicating with the robot, and the wireless module is connected with the wireless module of the control module and transmits the data received by the buoyancy device to the control module in a radio frequency communication mode. The buoyancy device and the underwater robot are in wired data transmission through a network cable or an optical fiber, a TCP/IP protocol is adopted, and data transmission is performed with the control module through an 802.11g protocol. In the embodiment, the buoyancy device is provided with the water surface floating antenna for wireless data transmission.

The control module is based on the same MCU main control unit, and is used for mounting the wireless module, the remote control controller and the video module. The wireless module is responsible for data transmission, and the remote control ware is used for the control to underwater robot, and video module then exports the video signal of robot.

When the underwater robot works, the buoyancy device keeps floating on the water surface, the buoyancy sensing module senses the buoyancy borne by the buoyancy device and sets a buoyancy threshold value, and when the buoyancy threshold value is exceeded or lowered, the underwater robot carries out cable winding and unwinding operation. The buoyancy device is used as a relay base station to exchange data of the underwater robot and the control module. The control module is connected with the buoyancy device in a wireless transmission mode to obtain underwater robot videos and sensor data and control the robot. The control module can be used for video and information transmission (HDMI, VGA, TCP/IP, etc.) by being hung on different modules.

In this embodiment, three sets of logic control systems are adopted, which are respectively located in the robot module, the buoyancy device and the control module, and in order to enhance the expandability of the design, the three sets of logic control systems have the same kernel, processing unit and software architecture, such as the MCU main control unit in fig. 3.

The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An underwater robot multi-mode communication control system comprises an underwater robot; the robot is characterized by further comprising a robot module, a buoyancy device and a control module, wherein the control module comprises an MCU master control module, a wireless module, a remote control controller and a video module; the underwater robot is provided with a cable collecting device and a buoyancy sensing device;