CN113625729A - Underwater robot teleoperation device with large time delay and implementation method - Google Patents
Underwater robot teleoperation device with large time delay and implementation method Download PDFInfo
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Abstract
The invention discloses a teleoperation device of an underwater robot under large time delay and an implementation method, comprising the following steps: the system comprises an acquisition module, a model construction module, a teleoperation module, an underwater robot, a simulation display, a first communication device and a second communication device; the acquisition module is used for acquiring an underwater scene image; the model building module is used for building a virtual underwater task scene model and a virtual underwater robot; the teleoperation module is used for outputting a control instruction, acquiring a future motion state of the virtual underwater robot and updating a virtual underwater task scene model; the underwater robot is used for acting to acquire a real motion state; the simulation display is used for displaying the virtual underwater task scene model, the virtual underwater robot, the future motion state and the real motion state; the first communication device is used for delaying the transmission of the control instruction; the second communication device is used for transmitting the real motion state in a time delay way. The method can overcome the time delay influence through multi-step prediction and solve the problem of underwater robot state prediction under large time delay.
Description
Technical Field
The invention relates to the technical field of teleoperation of robots, in particular to a teleoperation device of an underwater robot with large time delay and an implementation method.
Background
With the continuous exploration of the ocean by human beings, the underwater robot is more and more widely applied and has more and more obvious effects. In some severe underwater environments and underwater operations which are difficult to finish by human beings, such as deep sea exploration, aquatic organism fishing, underwater search and rescue and the like, the operation performed by the underwater robot can not only prevent the human beings from threatening the dangerous environment, but also improve the operation efficiency.
Due to the limitation of the technical level, the underwater robot still has great difficulty in realizing the completely autonomous operation, and many fine operation tasks still need to be completed by means of remote control of the robot by operators. The communication between the teleoperation equipment and the robot is carried out in a network environment, time delay is generated due to network fluctuation by adopting network communication, the existence of the network time delay brings a plurality of problems for the perception and control of an operation system, the real-time performance of instruction and data transmission is influenced by the network time delay, the instability of the system is caused, the operation performance of the system is reduced, and the telepresence of an operator is influenced. Therefore, a main problem of teleoperation is how to solve the influence caused by time delay, but the real-time performance and accuracy cannot be well guaranteed under the condition of large time delay by using a common prediction method.
Disclosure of Invention
Aiming at the problems, the invention provides a teleoperation device of an underwater robot under large time delay and an implementation method thereof, which are used for solving the technical problems in the prior art, overcoming the time delay influence in a teleoperation system through multi-step prediction, improving the operability of the system and solving the problem of underwater robot state prediction under large time delay.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a teleoperation device of an underwater robot under large time delay, which comprises: the system comprises an acquisition module, a model construction module, a teleoperation module, an underwater robot, a simulation display, a first communication device and a second communication device;
the acquisition module is used for acquiring an underwater scene image around the underwater robot;
the model construction module is used for constructing a virtual underwater task scene model and a virtual underwater robot according to the underwater scene image and the underwater robot;
the teleoperation module is used for outputting a control instruction according to the virtual underwater task scene model, acquiring a future motion state of the virtual underwater robot based on the control instruction, and updating the virtual underwater task scene model based on a real motion state and the future motion state;
the underwater robot is used for acting according to the control instruction and acquiring a real motion state;
the simulation display is used for displaying the virtual underwater task scene model, the virtual underwater robot, a future motion state predicted by the virtual underwater robot and a real motion state obtained by the underwater robot;
the first communication device is used for transmitting the control instruction to the virtual underwater robot and the underwater robot in a time delay manner;
the second communication device is used for transmitting the real motion state time delay back to the teleoperation module.
Preferably, the teleoperation module comprises a dedicated control handle and a teleoperation computer; the special handle is used for acquiring the control instruction; and the teleoperation computer is used for analyzing the control instruction and respectively sending the control instruction to the virtual underwater robot and the underwater robot.
Preferably, the acquisition module comprises a camera and a forward looking sonar; the camera is used for shooting images around the underwater robot; the forward-looking sonar is used for acquiring sonar images around the underwater robot.
Preferably, a sensor is arranged on the underwater robot; the sensor is used for acquiring the real motion state.
A teleoperation implementation method of an underwater robot under large time delay comprises the following steps:
s1, collecting underwater scene images around the underwater robot;
s2, constructing a virtual underwater task scene model and a virtual underwater robot according to the underwater scene images and the underwater robot;
s3, outputting a control instruction according to the virtual underwater task scene model;
s4, controlling the underwater robot to act according to the control instruction, and acquiring the real motion state of the underwater robot;
s5, obtaining the future motion state of the virtual underwater robot according to the control command, and completing multi-step prediction based on the future motion state;
and S6, updating the virtual underwater task scene model according to the real motion state and the result of the multi-step prediction, and repeating the steps S3-S6 until the remote control is completed.
Preferably, the obtaining of the future motion state of the underwater robot in S5 includes the following steps:
s5.1, constructing a kinematic model and a dynamic model of the underwater robot;
s5.2, performing real-time linear fitting operation on the kinematic model and the dynamic model to obtain optimal values of modeling errors and external interference;
and S5.3, inputting the control command, the modeling error, the optimal value of the external interference and the real motion state into the virtual robot to obtain the future motion state of the underwater robot.
Preferably, the real-time linear fitting operation method in S5.2 adopts a least square method.
Preferably, the kinematic model of the underwater robot is specifically:
in the formula (I), the compound is shown in the specification,
respectively are the linear speeds of the underwater robot on an x axis, a y axis and a z axis under a fixed coordinate system,
respectively the longitudinal inclination angle speed and the heading angle speed of the underwater robot under a fixed coordinate system; u, v and w are linear speeds of the underwater robot on an x axis, a y axis and a z axis under a body-following coordinate system respectively, and q and r are a longitudinal inclination angle speed and a heading angle speed of the underwater robot under the body-following coordinate system respectively; psi and theta are respectively a heading angle and a longitudinal inclination angle of the underwater robot under a fixed coordinate system.
Preferably, the dynamic model of the underwater robot is specifically:
in the formula (I), the compound is shown in the specification,
linear accelerations on an x axis, a y axis and a z axis under a coordinate system of a satellite are respectively;
the longitudinal inclination angle acceleration and the heading angle acceleration under the satellite coordinate system are respectively; m is1、m2、m3Mass after considering additional mass for x, y, z directions, respectively; m is5、m6Masses with additional masses considered for the directions of rotation around the y and z axes, respectively; tau isu、τq、τrRespectively a longitudinal thrust, a trim moment and a bow turning force; rho, g,
GMLRespectively the density of water,The gravity acceleration, the volume and the longitudinal center stability of water are high; f. ofk(k) And modeling an error term and an external interference term for the underwater robot, wherein k is u, v, w, q and r.
The invention discloses the following technical effects:
the invention constructs a virtual underwater task scene model and a virtual underwater robot, and can provide an intuitive interactive teleoperation interface by displaying through a display; the motion prediction method can perform multi-step prediction on the model and correct the model on line in real time, effectively improves control accuracy and efficiency under large time delay, and meets the application of higher control accuracy.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic illustration of an apparatus according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, the present embodiment provides a teleoperation device for an underwater robot with a large delay, including: the system comprises an acquisition module, a model building module, a teleoperation module, an underwater robot, a simulation display, a first communication device and a second communication device.
The acquisition module is used for acquiring an underwater scene image around the underwater robot; the acquisition module comprises a camera and a forward looking sonar; the camera is used for shooting images around the underwater robot; the forward-looking sonar is used for acquiring sonar images around the underwater robot.
The model building module is used for building a virtual underwater task scene model and a virtual underwater robot according to the underwater scene images and the underwater robot.
The teleoperation module is used for outputting a control instruction according to the virtual underwater task scene model, acquiring the future motion state of the virtual underwater robot based on the control instruction, and updating the virtual underwater task scene model based on the real motion state and the future motion state; the teleoperation module comprises a special control handle and a teleoperation computer; the special control handle is connected with the teleoperation computer through a serial port; the special handle is used for acquiring a control instruction; and the teleoperation computer is used for analyzing the control instruction of the operator and respectively sending the control instruction to the virtual underwater robot and the underwater robot.
The underwater robot is used for acting according to the control instruction and acquiring a real motion state; a sensor is arranged on the underwater robot; the sensor is used for acquiring a real motion state.
The simulation display is used for displaying the virtual underwater task scene model, the virtual underwater robot, the future motion state predicted by the virtual underwater robot and the real motion state obtained by the underwater robot; the simulation display is connected with the teleoperation computer through the network port.
The first communication device is used for transmitting the control instruction to the virtual underwater robot and the underwater robot in a time delay manner; the second communication device is used for delaying and transmitting the real motion state back to the teleoperation module.
Referring to fig. 2, an embodiment of the present invention further provides a method for implementing teleoperation of an underwater robot with a large time delay, including the following steps:
and S1, acquiring underwater scene images around the underwater robot.
And S2, constructing a virtual underwater task scene model and a virtual underwater robot according to the underwater scene images and the underwater robot.
And S3, outputting a control instruction by an operator through a special operating handle according to the virtual underwater task scene model.
And S4, the underwater robot controller receives the control instruction, controls the underwater robot to act according to the control instruction, and acquires and transmits back the real motion state of the underwater robot.
And S5, obtaining the future motion state of the virtual underwater robot according to the control command, and completing multi-step prediction based on the future motion state.
The method for acquiring the future motion state of the underwater robot comprises the following steps:
s5.1, constructing a kinematic model and a dynamic model of the underwater robot under the conditions of neglecting roll motion and considering modeling errors and external interference;
a. kinematic model of underwater robot
Initializing the position of the underwater robot, establishing a following coordinate system and a fixed coordinate system of the linear velocity of the underwater robot in motion, and respectively expressing the coordinate systems as [ uv w [ ]]TAnd
and (3) constructing a kinematic model of the underwater robot under the condition of neglecting the rolling motion:
in the formula (I), the compound is shown in the specification,
respectively are the linear speeds of the underwater robot on an x axis, a y axis and a z axis under a fixed coordinate system,
the pitch angle speed and the heading of the underwater robot under a fixed coordinate system respectivelyAn angular velocity; u, v and w are linear speeds of the underwater robot on an x axis, a y axis and a z axis under a body-following coordinate system respectively, and q and r are a longitudinal inclination angle speed and a heading angle speed of the underwater robot under the body-following coordinate system respectively; psi and theta are respectively a heading angle and a longitudinal inclination angle of the underwater robot under a fixed coordinate system.
b. Dynamics model of underwater robot
And (3) considering modeling errors and external interference generated by factors such as wind, waves and flow, and constructing an underwater robot dynamics model:
in the formula (I), the compound is shown in the specification,
linear accelerations on an x axis, a y axis and a z axis under a coordinate system of a satellite are respectively;
the longitudinal inclination angle acceleration and the heading angle acceleration under the satellite coordinate system are respectively; m is1、m2、m3Mass after considering additional mass for x, y, z directions, respectively; m is5、m6Masses with additional masses considered for the directions of rotation around the y and z axes, respectively; tau isu、τq、τrRespectively a longitudinal thrust, a trim moment and a bow turning force; rho, g,
GMLThe density, the gravity acceleration, the volume and the longitudinal stability center of water are respectively high; f. ofk(k) And modeling an error term and an external interference term for the underwater robot, wherein k is u, v, w, q and r.
S5.2, continuously receiving the motion state data downloaded in a delayed manner by the teleoperation computer, and performing real-time linear fitting operation on each item of the kinematic model and the dynamic model through a least square method to obtain optimal values of modeling errors and external interference;
and S5.3, inputting the control command, the modeling error, the optimal value of the external interference and the real motion state into the virtual robot, and recurrently deducing the future motion state of the underwater robot.
The recursion operation of the future motion state comprises the following steps:
s5.3.1, acquiring the real motion state of the underwater robot at n moments by the sensor, wherein the real motion state comprises the position and motion state data of the underwater robot.
S5.3.2, inputting the position and motion state data of the underwater robot at n moments into the virtual robot as training samples to construct a prediction model.
S5.3.3, obtaining a residual sum through the modeling error item of the under-actuated underwater robot and the external interference item, and correcting the prediction model based on the residual sum.
In the formula, JLS(θ) is the sum of residuals; phi is an n-dimensional design matrix, rows represent training samples, and columns represent independent variables; thetaTIs a vector of weight coefficients; phi thetaTRepresenting a predicted value; y is an n-dimensional vector representing the actual value of the acceleration; l is; s is; theta is (LS is an abbreviation of Least squares square, without substantial physical meaning; theta is a weight coefficient; J isLS(θ) is a formula for the weight θ, representing the sum of residuals).
S5.3.4, the future motion state of the underwater robot is recurred based on the corrected prediction model, and the formula is as follows:
wherein x (k) is [ x, y, z, θ, ψ, u, v, w, q, r]T；
Δ T is the predicted time; x (k) represents the current time underwater robotThe motion state of (a);
and representing the motion state matrix (comprising linear velocity, linear acceleration, angular velocity and angular acceleration) of the underwater robot in the predicted time.
In the above process, the teleoperation computer continuously receives new download state data as new training sample input, updates fk(k) Updating the prediction model in real time.
And S6, updating the virtual underwater task scene model according to the real motion state and the result of multi-step prediction, and repeating the steps S3-S6 until the remote control is completed.
The invention discloses the following technical effects:
the invention constructs a virtual underwater task scene model and a virtual underwater robot, and can provide an intuitive interactive teleoperation interface by displaying through a display; the motion prediction method can perform multi-step prediction on the model and correct the model on line in real time, effectively improves control accuracy and efficiency under large time delay, and meets the application of higher control accuracy.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A teleoperation device of underwater robot under big time delay, characterized by that includes: the system comprises an acquisition module, a model construction module, a teleoperation module, an underwater robot, a simulation display, a first communication device and a second communication device;
the acquisition module is used for acquiring an underwater scene image around the underwater robot;
the model construction module is used for constructing a virtual underwater task scene model and a virtual underwater robot according to the underwater scene image and the underwater robot;
the teleoperation module is used for outputting a control instruction according to the virtual underwater task scene model, acquiring a future motion state of the virtual underwater robot based on the control instruction, and updating the virtual underwater task scene model based on a real motion state and the future motion state;
the underwater robot is used for acting according to the control instruction and acquiring a real motion state;
the simulation display is used for displaying the virtual underwater task scene model, the virtual underwater robot, a future motion state predicted by the virtual underwater robot and a real motion state obtained by the underwater robot;
the first communication device is used for transmitting the control instruction to the virtual underwater robot and the underwater robot in a time delay manner;
the second communication device is used for transmitting the real motion state time delay back to the teleoperation module.
2. The large latency underwater robot teleoperation device of claim 1, wherein the teleoperation module comprises a dedicated control handle and a teleoperation computer; the special handle is used for acquiring the control instruction; and the teleoperation computer is used for analyzing the control instruction and respectively sending the control instruction to the virtual underwater robot and the underwater robot.
3. The large-delay underwater robot teleoperation device according to claim 1, wherein the acquisition module comprises a camera and a forward-looking sonar; the camera is used for shooting images around the underwater robot; the forward-looking sonar is used for acquiring sonar images around the underwater robot.
4. The large-delay underwater robot teleoperation device according to claim 1, wherein a sensor is disposed on the underwater robot; the sensor is used for acquiring the real motion state.
5. A teleoperation implementation method of an underwater robot under large time delay is characterized by comprising the following steps:
s1, collecting underwater scene images around the underwater robot;
s2, constructing a virtual underwater task scene model and a virtual underwater robot according to the underwater scene images and the underwater robot;
s3, outputting a control instruction according to the virtual underwater task scene model;
s4, controlling the underwater robot to act according to the control instruction, and acquiring the real motion state of the underwater robot;
s5, obtaining the future motion state of the virtual underwater robot according to the control command, and completing multi-step prediction based on the future motion state;
and S6, updating the virtual underwater task scene model according to the real motion state and the result of the multi-step prediction, and repeating the steps S3-S6 until the remote control is completed.
6. The method for realizing the teleoperation of the underwater robot with the large time delay according to claim 5, wherein the step of obtaining the future motion state of the underwater robot in the step S5 comprises the following steps:
s5.1, constructing a kinematic model and a dynamic model of the underwater robot;
s5.2, performing real-time linear fitting operation on the kinematic model and the dynamic model to obtain optimal values of modeling errors and external interference;
and S5.3, inputting the control command, the modeling error, the optimal value of the external interference and the real motion state into the virtual robot to obtain the future motion state of the underwater robot.
7. The method for realizing the teleoperation of the underwater robot with the large time delay according to claim 6, wherein the real-time linear fitting operation method in the S5.2 adopts a least square method.
8. The method for realizing the teleoperation of the underwater robot under the condition of large time delay according to claim 6, wherein the kinematic model of the underwater robot is specifically as follows:
in the formula (I), the compound is shown in the specification,
respectively are the linear speeds of the underwater robot on an x axis, a y axis and a z axis under a fixed coordinate system,
respectively the longitudinal inclination angle speed and the heading angle speed of the underwater robot under a fixed coordinate system; u, v and w are linear speeds of the underwater robot on an x axis, a y axis and a z axis under a body-following coordinate system respectively, and q and r are a longitudinal inclination angle speed and a heading angle speed of the underwater robot under the body-following coordinate system respectively; psi and theta are respectively the heading angle and the trim of the underwater robot under a fixed coordinate systemAnd (4) an angle.
9. The method for realizing the teleoperation of the underwater robot with the large time delay according to claim 8, wherein the dynamic model of the underwater robot is specifically as follows:
in the formula (I), the compound is shown in the specification,
linear accelerations on an x axis, a y axis and a z axis under a coordinate system of a satellite are respectively;
the longitudinal inclination angle acceleration and the heading angle acceleration under the satellite coordinate system are respectively; m is1、m2、m3Mass after considering additional mass for x, y, z directions, respectively; m is5、m6Masses with additional masses considered for the directions of rotation around the y and z axes, respectively; tau isu、τq、τrRespectively a longitudinal thrust, a trim moment and a bow turning force; rho, g,
GMLThe density, the gravity acceleration, the volume and the longitudinal stability center of water are respectively high; f. ofk(k) And modeling an error term and an external interference term for the underwater robot, wherein k is u, v, w, q and r.
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