CN114280992A - Underwater robot control system supporting multiple peripheral mounting - Google Patents
Underwater robot control system supporting multiple peripheral mounting Download PDFInfo
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- CN114280992A CN114280992A CN202111580199.6A CN202111580199A CN114280992A CN 114280992 A CN114280992 A CN 114280992A CN 202111580199 A CN202111580199 A CN 202111580199A CN 114280992 A CN114280992 A CN 114280992A
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Abstract
The embodiment of the invention discloses an underwater robot control system supporting multiple peripheral equipment mounting. The system comprises: the system comprises an underwater robot host, an IPC (inter-phase communication) cabin, a shore-based control station, an electric speed regulator and a plurality of external equipment hangers; the underwater robot host comprises a switch, an NVR chip, a micro control unit and an electric modem module; the exchanger is connected with the shore-based control station through the power modem module, and is also respectively connected with the IPC camera cabin and the NVR chip, so that data interactive communication between the IPC camera cabin and the NVR chip and the shore-based control station is realized; the NVR chip is respectively connected with the micro control unit and each peripheral mounting; the micro control unit is connected with the electric regulators and used for explaining control data transmitted by the NVR chip and outputting corresponding throttle signals to the electric regulators. Therefore, the functions of the underwater robot are expanded, higher productivity is given to the underwater robot, and the requirements of users in different environments are met.
Description
Technical Field
The embodiment of the invention relates to the technical field of underwater detection, in particular to an underwater robot control system supporting multiple peripheral equipment mounting.
Background
The existing underwater robots mostly do not support pure observation-level underwater robots mounted with external devices, the pure observation-level underwater robots only have a camera system, a power system and a sensor system, and can only realize the functions of taking pictures, recording videos and moving underwater, namely, users can only watch camera pictures returned by the underwater robots and carry out movement operation on the underwater robots, so that the existing underwater robots cannot meet the requirements of accessing various external devices, and cannot meet the requirements of users under more and more different environments.
Disclosure of Invention
The embodiment of the invention provides an underwater robot control system supporting multi-peripheral mounting, which is used for providing a plurality of peripheral interfaces for an underwater robot, thereby expanding the functions of the underwater robot and endowing the underwater robot with higher productivity.
The embodiment of the invention provides an underwater robot control system supporting multiple peripheral equipment mounting, which comprises: the system comprises an underwater robot host, an IPC (inter-phase communication) cabin, a shore-based control station, an electric speed regulator and a plurality of external equipment hangers; wherein the content of the first and second substances,
the underwater robot host comprises a switch, an NVR chip, a micro control unit and an electric cat module; the exchanger is connected with the shore-based control station through the power modem module, and is also respectively connected with the IPC camera cabin and the NVR chip, so as to realize data interaction communication between the IPC camera cabin and the NVR chip and the shore-based control station; the NVR chip is respectively connected with the micro control unit and the peripheral devices in a mounted mode; the micro control unit is connected with the electric modulators and used for explaining control data transmitted by the NVR chip and outputting corresponding throttle signals to the electric modulators.
Optionally, the peripheral hardware mount includes distance sonar and/or single section arm, the NVR chip pass through the UART TTL serial ports with distance sonar and/or the single section arm is connected.
Optionally, the peripheral hardware carry includes at least one of multisection arm, laser caliper rule, light filling lamp, Ping360 sonar and water quality sensor, wherein, multisection arm pass through the CAN interface with the NVR chip is connected, laser caliper rule reaches the light filling lamp pass through the UART TTL serial ports with the NVR chip is connected, Ping360 sonar pass through the RS232 interface with the NVR chip is connected, water quality sensor pass through the RS485 interface with the NVR chip is connected.
Optionally, the peripheral device mount further includes a UBSL transmitter, and the UBSL transmitter is connected to the NVR chip through a UART TTL serial port.
Optionally, still include first USB-HUB chip in the underwater robot host computer, the NVR chip pass through the USB interface with first USB-HUB chip is connected, and pass through first USB-HUB chip is connected to the multisection arm, laser caliper rule, the light filling lamp, Ping360 sonar and water quality sensor.
Optionally, the underwater robot host further comprises a second USB-HUB chip, the first USB-HUB chip is connected to the second USB-HUB chip through a USB interface, and the NVR chip is connected to the UBSL transmitter sequentially through the first USB-HUB chip and the second USB-HUB chip.
Optionally, the system further comprises an image sonar and/or an external camera, and the image sonar and/or the external camera are connected with the switch in the underwater robot host through an ethernet interface.
Optionally, the modem module is connected to the shore-based control station via a buoyancy cable, and the communication technology adopted is power line carrier communication.
Optionally, the IPC camera cabin includes a camera sensor and an IPC chip, the camera sensor is configured to acquire picture data, the IPC chip is connected to the camera sensor and configured to perform imaging processing on the picture data, and the IPC chip is connected to the switch through an ethernet interface so as to transmit image data obtained through imaging processing to the shore-based control station through the switch and the modem module in sequence.
Optionally, the system further includes a power module, the power module is connected to the micro control unit in the underwater robot host through a system management bus, and is configured to supply power to the micro control unit, the NVR chip, the IPC camera bay, and the peripheral devices; and/or the presence of a gas in the gas,
the system further comprises a shore-based power supply subsystem, wherein the shore-based power supply subsystem comprises an alternating current-to-direct current module and a direct current-to-direct current module, the alternating current-to-direct current module is arranged above the water surface and connected with the shore-based control station and used for converting the accessed alternating current into high-voltage direct current and transmitting the high-voltage direct current to the direct current-to-direct current module through a buoyancy cable, and the direct current-to-direct current module is arranged below the water surface and connected with the underwater robot host and used for converting the received high-voltage direct current into low-voltage direct current so as to carry and supply power to the micro control unit, the NVR chip, the IPC camera cabin and the peripheral devices.
The embodiment of the invention provides an underwater robot control system supporting multiple external equipment mounting, which comprises an underwater robot host, an IPC (inter-phase communication) cabin, a shore-based control station, an electric speed regulator and multiple external equipment mounting, the NVR chip is arranged to be mounted and connected with a plurality of peripheral devices, so that the host machine of the underwater robot can support the simultaneous mounting operation of the plurality of peripheral devices, and realizes real-time communication with a shore-based control station by arranging the switch and the modem module, so as to transmit various collected data back to the shore-based control station in time, receive robot motion control signals and peripheral control signals sent by the shore-based control station to an ROV and the like, therefore, the ordered, stable and sensitive underwater robot control system supporting the mounting of various peripherals is obtained, the functions of the underwater robot are expanded, the underwater robot is endowed with higher productivity, and the requirements of users in different environments are met.
Drawings
Fig. 1 is a schematic structural diagram of an underwater robot control system supporting multiple peripheral devices to be mounted according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another underwater robot control system supporting multiple peripheral devices in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another underwater robot control system supporting multiple peripheral devices in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another underwater robot control system supporting multiple peripheral devices mounted according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another underwater robot control system supporting multiple peripheral devices mounted according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another underwater robot control system supporting multiple peripheral devices to be mounted according to a first embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of an underwater robot control system supporting multiple peripheral devices mounted according to an embodiment of the present invention, which is applicable to an underwater operation using an underwater robot. As shown in fig. 1, the system includes: an underwater robot host 11, an IPC camera cabin 12, a shore-based control station 13, an electric tilt 14 and a plurality of peripheral equipment mounts 15 (shown in FIG. 1 by taking two peripheral equipment mounts 15 as an example); the underwater robot host 11 comprises a switch 111, an NVR chip 112, a micro control unit 113 and an electric cat module 114; the switch 111 is connected with the shore-based control station 13 through the modem module 114, and is also connected with the IPC camera bay 12 and the NVR chip 112, respectively, for implementing data interaction communication between the IPC camera bay 12 and the NVR chip 112 and the shore-based control station 13; the NVR chip 112 is connected to the micro control unit 113 and each of the peripheral mounts 15; the micro control unit 113 is connected to the electronic tilt 14, and is configured to interpret the control data transmitted by the NVR chip 112, and output a corresponding throttle signal to each electronic tilt 14.
Specifically, this embodiment may provide an operation-level underwater Robot (ROV), where the peripheral device mount 15 may include a manipulator, a hydraulic knife, and other tools, and the underwater robot host 11 may have various electrical interfaces to support different types of peripheral device mounts 15 to access to the underwater robot host system. The underwater robot host 11 includes an NVR (Network Video Recorder) chip 112, and the external mount 15 can specifically access to the underwater robot host 11 through the NVR chip 112.
The underwater robot host 11 is in network connection with the shore-based control station 13 for communication, the adopted communication protocol may be a network TCP/IP protocol, and specifically, the underwater robot host 11 further includes an exchanger 111 and a modem module 114, the exchanger 111 may be connected with the shore-based control station 13 through the modem module 114, in addition, the exchanger 111 is further connected with an IPC (internet protocol CAMERA, IP CAMERA) phase nacelle 12 and an NVR chip 112, and the exchanger 111 may be responsible for data interaction communication between the IPC phase nacelle 12 and the NVR chip 112 and the shore-based control station 13. The switch 111 may be a five-port gigabit network switch, and may be connected to the modem module 114, the IPC camera cabin 12, and the NVR chip 112 through a network port, the shore-based control station 13 may be a handle or a control box, and the IPC camera cabin 12 may include a 4K IPC camera.
Optionally, the modem power module 114 is connected to the shore-based control station 13 through a buoyancy cable, and the communication technology adopted is power line carrier communication. Specifically, wired communication can be carried out through the buoyancy cable between underwater robot host computer 11 and bank base control station 13 to can adopt power line carrier communication technique to carry out the communication, power line carrier communication technique can greatly prolong network communication distance, and easily can reach 2 kilometers, and wired communication is more reliable and stable in aqueous moreover. The real-time communication between the underwater robot host 11 and the shore-based control station 13 is realized through a power line carrier communication technology, so that the camera, the ROV posture, various external mounting states, sensor data and the like can be transmitted back to the shore-based control station 13 in real time, and the shore-based control station 13 can also control the movement of the ROV, various external devices and the like in real time.
Optionally, the IPC cabin 12 includes a camera sensor and an IPC chip, the camera sensor is configured to acquire picture data, the IPC chip is connected to the camera sensor and configured to perform imaging processing on the picture data, and the IPC chip is connected to the switch 111 through an ethernet interface so as to transmit image data obtained through the imaging processing to the shore-based control station 13 through the switch 111 and the modem module 114 in sequence. Specifically, there is an IPC chip inside IPC cabin 12, the chip may be connected to switch 111 through a network port, and is responsible for imaging the data collected by the camera sensor to obtain image data, and then may transmit the image data to switch 111 through the network port, switch 111 transmits to the first power line carrier communication module in modem module 114, and transmits to shore-based control station 13 through power line carrier buoyancy cable, and the second power line carrier communication module in shore-based control station 13 demodulates after receiving the signal to restore the network signal, thereby realizing transmitting the camera image data to shore-based control station 13, and further may display in real time through a terminal screen, where the time delay is generally less than 150 milliseconds.
A Micro Control Unit (MCU) 113 may be connected to the NVR chip 112 through a USB interface, and may acquire control data obtained by the NVR chip 112 from the shore-based control station 13, so that the micro control Unit 113 interprets the control data to output an accelerator signal, and may send the accelerator signal to the corresponding electronic controller 14, thereby changing the power output of the underwater robot, and performing motion control on the underwater robot. Illustratively, when the shore-based control station 13 (such as a handle) pushes a front throttle rocker, a second power line carrier communication module in the shore-based control station 13 modulates the data into a carrier, and sends the carrier to the modem module 114 in the underwater robot host 11 through a buoyancy cable, then a first power line carrier communication module in the modem module 114 receives and demodulates the carrier signal to convert the carrier signal into an Ethernet (Ethernet) port signal to be transmitted to the switch 111, the switch 111 then transmits the port signal to the NVR chip 112, so that the NVR chip 112 can transmit the signal to the micro control unit 113 through a USB interface, after receiving corresponding control data, the micro control unit 113 can interpret the control data and output corresponding throttle signals to each electric controller 14, thereby changing the power output of the underwater robot and realizing real-time motion control of the underwater robot, with a delay typically less than 150 milliseconds.
In addition, the underwater robot host 11 may further include a light supplement lamp for a light supplement of a body, and is connected to the NVR chip 112 through a PWM signal line, may further include an electronic compass and a depth sensor, and is connected to the micro control unit 113 through I2C buses, respectively, may further include an IMU (inertial measurement unit) chip, and is connected to the micro control unit 113 through a bus, and the like.
Based on the above technical solution, optionally, as shown in fig. 2, the peripheral mounting device 15 includes a distance sonar 151 and/or a single-section robot 152 (shown in fig. 2 by including the distance sonar 151 and the single-section robot 152 as an example), and the NVR chip 112 is connected to the distance sonar 151 and/or the single-section robot 152 through a UART TTL serial port.
On the basis of the above technical solution, optionally, as shown in fig. 2, the peripheral mounting 15 includes at least one of a multi-section mechanical arm 153, a laser caliper 154, a fill light 155, a Ping360 sonar 156, and a water quality sensor 157 (all shown in fig. 2 by including as an example), wherein, the multiple sections of mechanical arms 153 are connected with the NVR chip 112 through a CAN interface, the laser caliper 154 and the fill light 155 are connected to the NVR chip 112 through a UART TTL serial port, the Ping360 sonar 156 is connected to the NVR chip 112 via an RS232 interface, the water quality sensor 157 is connected with the NVR chip 112 through an RS485 interface, so that the requirement that a plurality of peripheral devices are accessed by an ROV at the same time is met, and through the cooperation of the multiple sections of mechanical arms (i.e., the multiple-joint flexible manipulator) 153 and the single section of mechanical arm 152, more flexible, more sensitive and wider range of manipulator operation characteristics can be given to the ROV. Further optionally, as shown in fig. 2, the peripheral mount 15 further includes a UBSL transmitter 158, and the UBSL transmitter 158 is connected to the NVR chip 112 through a UART TTL serial port.
Further optionally, as shown in fig. 3, the underwater robot host 11 further includes a first USB-HUB chip 115, the NVR chip 112 is connected to the first USB-HUB chip 115 through a USB interface, and is connected to the multi-joint mechanical arm 153, the laser caliper 154, the light supplement lamp 155, the Ping360 sonar 156, and the water quality sensor 157 through the first USB-HUB chip 115, wherein the first USB-HUB chip 115 may be a 1-to-7 module, and interface settings on the NVR chip 112 may be reduced by using the first USB-HUB chip 115, so that expansion is facilitated.
Further optionally, as shown in fig. 3, the underwater robot host 11 further includes a second USB-HUB chip 116, the first USB-HUB chip 115 is connected to the second USB-HUB chip 116 through a USB interface, the NVR chip 112 is connected to the UBSL transmitter 158 sequentially through the first USB-HUB chip 115 and the second USB-HUB chip 116, and the second USB-HUB chip 116 may be a 1-to-4 module.
In the above, taking the multi-section mechanical arm 153 as an example to explain the control process of the external rack 15, by operating the joystick of the shore-based control station 13, the shore-based control station 13 CAN modulate the corresponding manipulator operation command into a carrier signal through the second power line carrier communication module, and then transmit the carrier signal to the modem module 114 in the underwater robot host 11 through the buoyancy cable, then the first power line carrier communication module in the modem module 114 receives and demodulates the carrier signal to convert the carrier signal into a network port signal to be transmitted to the switch 111, the switch 111 transmits the network port signal to the NVR chip 112, then the NVR chip 112 transmits the signal to the first USB-HUB chip 115 through the USB interface, and the first USB-HUB chip 115 transmits the signal to the USB port on which the CAN external is mounted, thereby implementing real-time control of the multi-joint flexible manipulator external rack, other control links for the peripheral interfaces are similar.
On the basis of the above technical solution, optionally, as shown in fig. 4, the system further includes an image sonar 16 and/or an external camera 17 (shown in fig. 4 by taking the image sonar 16 and the external camera 17 as an example), and the image sonar 16 and/or the external camera 17 are connected to the switch 111 in the underwater robot host 11 through an ethernet interface.
On the basis of the above technical solution, optionally, as shown in fig. 5, the system further includes a power module 18, where the power module 18 is connected to the micro control unit 113 in the underwater robot host 11 through a system management bus, and is configured to supply power to the micro control unit 113, the NVR chip 112, the IPC camera cabin 12, and the peripheral mounts 15; and/or, as shown in fig. 6, the system further includes a shore-based power supply subsystem, where the shore-based power supply subsystem includes an ac-to-dc module 191 and a dc-to-dc module 192, the ac-to-dc module 191 is disposed above the water surface and connected to the shore-based control station 13 for converting the accessed ac power into high-voltage dc power and transmitting the high-voltage dc power to the dc-to-dc module 192 through a buoyancy cable, and the dc-to-dc module 192 is disposed below the water surface and connected to the underwater robot host 11 for converting the received high-voltage dc power into low-voltage dc power to supply power to the micro control unit 113, the NVR chip 112, the IPC cabin 12, and the peripheral mounts 15. Specifically, the system can use one power module 18 arranged underwater for power supply, and specifically can be arranged in an ROV lithium battery power cabin connected to a main cabin where the underwater robot host 11 is located, the power module 18 can provide a main power (43.2V) by a 12S lithium battery, the battery voltage of the 12S can be reduced to different voltages (such as 24V, 12V, 5V, 3.3V, 1.8V, 1V, and 0.8V) through DC-DC, so as to respectively supply power to the peripheral interfaces, the IPC camera cabin 12, the micro control unit 113, the NVR chip 112, and the USB-HUB chip, wherein the power supply specification of each peripheral interface can be DC24V and 80W, and each peripheral interface can be placed around the middle of the cylindrical underwater robot host 11, and can support accessories to be hung at any position of the underwater robot host 11, so as to improve the multi-device carrying performance of the ROV, increasing the productivity of the ROV. Or, the system may also use a shore-based power supply subsystem to supply power instead of the power module 18, but the shore-based power supply subsystem and the power module 18 are not used simultaneously, wherein the shore-based power supply subsystem may include an ac-to-dc module 191 and a dc-to-dc module 192, the ac-to-dc module 191 may access ac power of 100-, therefore, the alternating current can be continuously supplied, and infinite endurance power can be provided for the ROV by using the shore-based power supply subsystem.
The underwater robot control system supporting multiple external equipment mounting provided by the embodiment of the invention comprises an underwater robot host, an IPC (inter-phase communication) cabin, a shore-based control station, an electric speed regulator and multiple external equipment mounting, the NVR chip is arranged to be mounted and connected with a plurality of peripheral devices, so that the host machine of the underwater robot can support the simultaneous mounting operation of the plurality of peripheral devices, and realizes real-time communication with a shore-based control station by arranging the switch and the modem module, so as to transmit various collected data back to the shore-based control station in time, receive robot motion control signals and peripheral control signals sent by the shore-based control station to an ROV and the like, therefore, the ordered, stable and sensitive underwater robot control system supporting the mounting of various peripherals is obtained, the functions of the underwater robot are expanded, the underwater robot is endowed with higher productivity, and the requirements of users in different environments are met.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a support underwater robot control system of many peripheral hardware carries which characterized in that includes: the system comprises an underwater robot host, an IPC (inter-phase communication) cabin, a shore-based control station, an electric speed regulator and a plurality of external equipment hangers; wherein the content of the first and second substances,
the underwater robot host comprises a switch, an NVR chip, a micro control unit and an electric cat module; the exchanger is connected with the shore-based control station through the power modem module, and is also respectively connected with the IPC camera cabin and the NVR chip, so as to realize data interaction communication between the IPC camera cabin and the NVR chip and the shore-based control station; the NVR chip is respectively connected with the micro control unit and the peripheral devices in a mounted mode; the micro control unit is connected with the electric modulators and used for explaining control data transmitted by the NVR chip and outputting corresponding throttle signals to the electric modulators.
2. The underwater robot control system according to claim 1, wherein the peripheral mounting comprises a distance sonar and/or a single mechanical arm, and the NVR chip is connected with the distance sonar and/or the single mechanical arm through a UART TTL serial port.
3. The underwater robot control system according to claim 1, wherein the peripheral mounting device comprises at least one of a multi-section mechanical arm, a laser caliper, a light supplement lamp, a Ping360 sonar and a water quality sensor, wherein the multi-section mechanical arm is connected with the NVR chip through a CAN interface, the laser caliper and the light supplement lamp are connected with the NVR chip through a UART TTL serial port, the Ping360 sonar is connected with the NVR chip through an RS232 interface, and the water quality sensor is connected with the NVR chip through an RS485 interface.
4. The underwater robot control system of claim 3, wherein the peripheral mount further comprises a UBSL transmitter, and the UBSL transmitter is connected to the NVR chip through a UART TTL serial port.
5. The underwater robot control system according to claim 4, wherein the underwater robot host further comprises a first USB-HUB chip, and the NVR chip is connected with the first USB-HUB chip through a USB interface and is connected to the multi-section mechanical arm, the laser caliper, the light supplement lamp, the Ping360 sonar and the water quality sensor through the first USB-HUB chip.
6. The underwater robot control system according to claim 5, wherein the underwater robot host further comprises a second USB-HUB chip, the first USB-HUB chip is connected with the second USB-HUB chip through a USB interface, and the NVR chip is connected to the UBSL transmitter sequentially through the first USB-HUB chip and the second USB-HUB chip.
7. The underwater robot control system of claim 1, further comprising an image sonar and/or an external camera connected to the switch in the underwater robot host through an ethernet interface.
8. The underwater robot control system of claim 1, wherein the modem module is connected to the shore-based control station via a buoyancy cable and the communication technology used is power line carrier communication.
9. The underwater robot control system as claimed in claim 1, wherein the IPC camera bay includes a camera sensor and an IPC chip, the camera sensor is used for acquiring picture data, the IPC chip is connected with the camera sensor and used for imaging the picture data, and the IPC chip is connected with the switch through an ethernet interface so as to transmit image data obtained through imaging processing to the shore-based control station through the switch and the modem module in sequence.
10. The underwater robot control system of claim 1, further comprising a power module connected to the micro control unit in the underwater robot host through a system management bus for supplying power to the micro control unit, the NVR chip, the IPC camera bay, and each of the peripheral devices; and/or the presence of a gas in the gas,
the system further comprises a shore-based power supply subsystem, wherein the shore-based power supply subsystem comprises an alternating current-to-direct current module and a direct current-to-direct current module, the alternating current-to-direct current module is arranged above the water surface and connected with the shore-based control station and used for converting the accessed alternating current into high-voltage direct current and transmitting the high-voltage direct current to the direct current-to-direct current module through a buoyancy cable, and the direct current-to-direct current module is arranged below the water surface and connected with the underwater robot host and used for converting the received high-voltage direct current into low-voltage direct current so as to carry and supply power to the micro control unit, the NVR chip, the IPC camera cabin and the peripheral devices.
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| CN202111580199.6A CN114280992A (en) | 2021-12-22 | 2021-12-22 | Underwater robot control system supporting multiple peripheral mounting |
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| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
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