CN114697607A - Satellite remote control ROV control system and method - Google Patents
Satellite remote control ROV control system and method Download PDFInfo
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- H—ELECTRICITY
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- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention belongs to the field of remote control submersibles, and particularly relates to a satellite remote control ROV control system and a satellite remote control ROV control method. Comprises an ROV communication system and a shore-based interaction system; the ROV communication system is used for converting video signals and serial port control signals collected by the ROV into network signals and sending the network signals to a satellite, and meanwhile, receiving ROV control instructions sent by the shore-based interactive system in real time through the satellite; and the shore-based interaction system is used for receiving the network signal from the ROV communication system through the satellite, decoding the network signal and simultaneously sending an ROV control instruction and a manipulator control instruction to the ROV communication system according to the requirement of an operator. The invention adopts a satellite communication mode, all signals are modulated into network signals and transmitted to a shore-based control room through satellite communication equipment, and all-weather remote control operation can be realized at any position of the world ocean.
Description
Technical Field
The invention belongs to the field of remote control submersibles, and particularly relates to a satellite remote control ROV control system and a satellite remote control ROV control method.
Background
In recent years, with the continuous exploration of the ocean field, the underwater robot is used as an important tool for exploring the ocean, and a power system of an ROV (remote operated vehicle) is from a mother ship, has the operation advantage of long time and high power, and has important functions in the fields of ocean resource development, salvage, search and rescue and ocean oil.
Remote operation of ROVs has become a common consensus in the industry, and the leading scientific research institutes in the world are rapidly shifting in this direction. The satellite remote control ROV control system can remotely control the ROV working in the deep sea bottom of thousands of meters in the global range and realize the remote operation of the ROV.
The existing satellite remote control ROV control system has the advantages of single structural function, more bandwidth occupied resources, low system compatibility and unstable operation state, and a satellite remote control ROV control system with comprehensive structural function, high compatibility and stable operation is urgently needed.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a system and a method for remotely controlling an ROV by a satellite, wherein the system can realize remote control of the ROV. By adopting a satellite communication mode, all signals are modulated into network signals and transmitted to a shore-based control room through satellite communication equipment, and all-weather remote control operation can be carried out at any position of the world and the ocean.
The technical scheme adopted by the invention for realizing the purpose is as follows: a satellite remote control ROV control system comprises an ROV communication system and a shore-based interaction system;
the ROV communication system is used for converting video signals and serial port control signals collected by the ROV into network signals and sending the network signals to a satellite, and meanwhile, receiving ROV control instructions sent by the shore-based interactive system in real time through the satellite;
and the shore-based interaction system is used for receiving the network signals from the ROV communication system through the satellite, decoding the network signals and simultaneously sending an ROV control command and a manipulator control command to the ROV communication system according to the needs of operators.
The ROV communication system includes: the system comprises an ROV, an optical transceiver, a serial server, a manipulator server, a video distributor, a video encoder, a network switch and a satellite communication mother ship end;
the ROV is connected with the optical transceiver through optical fibers, the optical transceiver is respectively connected with the serial port server, the manipulator server and the video distributor so as to output a video signal of the ROV to the video distributor, and output a serial port signal of the ROV to the serial port server and the manipulator server respectively;
the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch;
the video distributor is connected with a video encoder, and the video encoder converts a video signal received by the video distributor into a network signal and sends the network signal to the network switch;
the network switch is connected with the satellite communication mother ship end, converts network signals into electromagnetic waves through the satellite communication mother ship end and sends the electromagnetic waves to a satellite, receives network signals sent by the shore-based interaction system and sends the network signals to the serial port server and the manipulator serial port server respectively, and the network signals are converted into serial port signals through the serial port server and the manipulator serial port server and sent to the ROV.
The video signal includes: an ROV driving camera video signal, an overhead camera video signal, and a sampling tool camera video signal.
The serial port signal comprises: camera control signals and manipulator control signals.
The shore-based interaction system comprises: the system comprises a shore-based switch, a hard disk video recorder, an industrial computer, a video integrated platform, a video matrix, a WAGO control module, a control panel, a manipulator operation master, a manipulator serial server and a video decoder;
the shore-based switch is used for respectively sending network signals to the hard disk video recorder, the computer system, the WAGO control module, the manipulator serial server and the video decoder;
the hard disk video recorder is used for receiving the video signal of the ROV and recording ROV video information;
the sonar computer is used for operating sonar processing software, displaying current surrounding environment information of the submersible and providing environment information for operators.
The video decoder is used for analyzing the video signals transmitted in the network signals received from the shore-based switch into coaxial video signals and transmitting the coaxial video signals to the video comprehensive platform;
the video comprehensive platform is connected with the video matrix and used for combining the simulated environmental information with the analyzed coaxial video signals and displaying the combined information in the video matrix;
the WAGO control module is used for acquiring a command signal sent by the control panel and sending the command signal to the shore-based interaction machine;
the manipulator serial server is connected with the manipulator operation master for converting a received network signal transmitted by the shore-based switch into a serial signal, so that the ROV manipulator can be displayed on the shore base in real time, meanwhile, an operator can generate a serial command signal by controlling the manipulator operation master, and the manipulator serial server converts the serial command signal into the network signal to the shore-based switch so as to be used for the ROV communication system to operate the ROV manipulator.
The shore-based interaction system further comprises a satellite communication shore base end connected with the shore-based switch, and the satellite communication shore base end is used for converting electromagnetic wave signals of the satellite transmission ROV communication system into network signals and sending the network signals to the shore-based switch.
The industrial computer system comprises a sonar computer and a control computer which are connected with each other.
A satellite remote control ROV control method comprises the following steps:
1) the ROV outputs video signals collected by the ROV to the video distributor through the optical transceiver, and serial port signals of the ROV are output to the serial port server and the manipulator server through the optical transceiver respectively;
2) the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch; the video encoder converts the video signal of the received video distributor into a network signal and sends the network signal to the network switch;
3) the network switch sends the network signal to the mother ship end of the micro communication, converts the network signal into electromagnetic wave, sends the electromagnetic wave to the base end of the satellite communication bank through the satellite, sends the satellite to the base end of the satellite communication bank, converts the electromagnetic wave into the network signal and sends the network signal to the bank-based switch;
4) the shore-based switch respectively sends the network signals to an industrial computer for simulation to obtain simulated environment information, the hybrid video recorder performs recording, the video encoder performs decoding and analysis to obtain coaxial video signals, and the manipulator serial server performs mechanical master hand demonstration;
5) the sonar computer is used for operating sonar processing software, displaying the current surrounding environment information of the submersible and providing environment information for operators;
6) and according to the display result and the demonstration of the mechanical master hand, the operator remotely controls the ROV.
Step 6) the operator remotely controls the ROV, and the method specifically comprises the following steps:
the WAGO control module acquires a command signal sent by a control panel and sends the command signal to a shore-based interaction machine, and the shore-based interaction machine sends the command signal to a satellite communication mother ship end of an ROV communication system through a satellite;
the satellite communication mother ship end converts the electromagnetic wave signals into network signals and sends the network signals to a network switch of the ROV communication system;
the network switch receives network signals sent by the shore-based interaction system, respectively sends the network signals to the serial server and the manipulator serial server, and the network signals are converted into serial signals through the serial server and the manipulator serial server and sent to the ROV.
The invention has the following beneficial effects and advantages:
1. according to the invention, a satellite communication mode is adopted, all signals are modulated into network signals and transmitted to a shore-based control room through satellite communication equipment, and all-weather remote control operation can be realized at any position of the world and ocean;
2. the invention adopts a video encoder to adopt a standard H.265 or H.264 coding algorithm for the underwater camera, can perform video compression, reduces the occupied resource of bandwidth, simultaneously supports 1080p resolution ratio real-time coding, has stable and reliable operation, can support various network protocols and has strong system compatibility;
3. the invention adopts a serial server to convert all serial signals into network signals and enters a local area network of a control system; converting the video signal modulated into the network signal into a coaxial video signal by adopting a video decoder, and accessing the coaxial video signal into a shore-based video processing system;
4. the invention can realize remote control operation of the ROV through the satellite.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive step, are within the scope of the present invention.
As shown in fig. 1, which is a block diagram of a system structure of the present invention, the present invention is directed to provide a satellite remote-control ROV control system, which includes an ROV communication system and a shore-based interaction system;
the ROV communication system is used for converting video signals and serial port control signals collected by the ROV into network signals and transmitting the network signals to a satellite, and meanwhile, receiving ROV control instructions transmitted by the shore-based interactive system in real time through the satellite;
and the shore-based interaction system is used for receiving the network signal from the ROV communication system through the satellite, decoding the network signal, simulating a simulation picture, and simultaneously sending an ROV control instruction and a manipulator control instruction to the ROV communication system according to the requirement of an operator.
The ROV communication system includes: the system comprises an ROV, an optical transceiver, a serial server, a manipulator server, a video distributor, a video encoder, a network switch and a satellite communication mother ship end;
the ROV is connected with the optical transceiver through optical fibers, the optical transceiver is respectively connected with the serial server, the manipulator server and the video distributor so as to output a video signal of the ROV to the video distributor, and output a serial signal of the ROV to the serial server and the manipulator server respectively;
the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch;
the video distributor is connected with the video encoder, and the video encoder converts the video signal received by the video distributor into a network signal and sends the network signal to the network switch;
the network switch is connected with the satellite communication mother ship end, converts network signals into electromagnetic waves through the satellite communication mother ship end and sends the electromagnetic waves to a satellite, receives network signals sent by the shore-based interaction system and sends the network signals to the serial port server and the manipulator serial port server respectively, and the network signals are converted into serial port signals through the serial port server and the manipulator serial port server and sent to the ROV.
The video signal includes: an ROV driving camera video signal, an overhead camera video signal, and a sampling tool camera video signal.
The serial port signal includes: camera control signals and manipulator control signals.
The shore-based interaction system comprises: the system comprises a shore-based switch, a hard disk video recorder, an industrial computer, a video integrated platform, a video matrix, a WAGO control module, a control panel, a manipulator operation master, a manipulator serial server and a video decoder;
the shore-based switch is used for respectively sending the network signals to the hard disk video recorder, the computer system, the WAGO control module, the manipulator serial server and the video decoder;
the hard disk video recorder is used for receiving the video signal of the ROV and recording ROV video information;
the industrial computer system is used for simulating the surrounding environment of the submersible vehicle, providing environment information for operating personnel and sending the simulated environment information to the video comprehensive platform;
the video decoder is used for analyzing the video signals transmitted in the network signals received from the shore-based switch into coaxial video signals and transmitting the coaxial video signals to the video comprehensive platform;
the video comprehensive platform is connected with the video matrix and is used for combining the simulated environmental information with the analyzed coaxial video signals and displaying the combined information in the video matrix;
the WAGO control module is used for acquiring a command signal sent by the control panel and sending the command signal to the shore-based interaction machine;
the manipulator serial server is connected with the manipulator operation master and used for converting received network signals transmitted by the shore-based switch into serial signals, so that the ROV manipulator can be displayed on the shore in real time, meanwhile, an operator controls the manipulator operation master to generate serial command signals, and the manipulator serial server converts the serial command signals into the network signals to the shore-based switch so as to be used for the ROV communication system to operate the ROV manipulator.
The shore-based interaction system further comprises a satellite communication shore base end connected with the shore-based switch, and the satellite communication shore base end is used for converting electromagnetic wave signals of the satellite transmission ROV communication system into network signals and sending the network signals to the shore-based switch.
The industrial computer system comprises a sonar computer and a control computer which are connected with each other.
The working principle of the system of the invention is as follows: the submersible ROV is connected with the optical terminal through an optical fiber, the optical terminal outputs a video signal and a serial port signal which are respectively connected with a serial port server and a video distributor, the serial port server outputs a network signal which is connected with a network switch, the video distributor outputs the video signal which enters a video encoder to be converted into the network signal and then enters the network switch, the network switch is connected with a satellite through a satellite communication mother ship end device, the shore-based network switch is connected with a sonar computer, a control computer, a hard disk video recorder, a video decoder, a WAGO control module and a manipulator serial port server through shore-based equipment of a satellite communication module, the control computer and the sonar computer are connected with a video comprehensive platform and are thrown into a video matrix, a control panel signal is connected with the WAGO control module, and two manipulators operate master hand signals to be connected with the manipulator serial port server;
the video signals comprise a submersible ROV driving camera, a downward view camera, an armored cable camera and a sampling tool camera, and the video signals are subjected to video compression and video coding through a video coder and then are accessed to a control system network; the submersible serial port signal comprises a camera focusing control signal, a manipulator control signal, depth meter information, altimeter information, compass information, a pan-tilt control signal, a lighting lamp control signal, a sampling tool control signal and other various sensor signals, and the sensor signals are converted into a network signal through a serial port server and enter a mother ship network system; the satellite comprises mother ship end signal modulation equipment, a satellite and shore-based end signal modulation equipment, wherein the mother ship end signal modulation equipment converts mother ship network signals into electromagnetic waves and forwards the electromagnetic waves to the shore-based end signal modulation equipment through the satellite, and the shore-based end signal modulation equipment receives the electromagnetic waves and then converts the electromagnetic waves into network signals to be accessed to a shore-based control network; a shore-based sonar computer runs sonar control software to scan the surrounding environment of the submersible vehicle and provide environmental information for operators; the control computer runs submersible control software and is used for controlling functions of starting and stopping underwater lights, cameras, various sensors, focusing of the cameras and the like of the submersible; the hard disk video recorder is used for recording operation video information; the video decoder analyzes the video signal transmitted by the network into a coaxial video signal and transmits the coaxial video signal to the video recorder and the video comprehensive platform; the WAGO control module is used for acquiring various command signals sent by the control surface; the manipulator serial server converts serial command signals of the manipulator operation master hand into network signals for operating the manipulator.
A satellite remote control ROV control method comprises the following steps:
1) the ROV outputs video signals collected by the ROV to the video distributor through the optical transceiver, and serial port signals of the ROV are output to the serial port server and the manipulator server through the optical transceiver respectively;
2) the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch; the video encoder converts the video signal of the received video distributor into a network signal and sends the network signal to the network switch;
3) the network switch sends the network signal to the mother ship end of the micro communication, converts the network signal into electromagnetic wave, sends the electromagnetic wave to the base end of the satellite communication bank through the satellite, sends the satellite to the base end of the satellite communication bank, converts the electromagnetic wave into the network signal and sends the network signal to the bank-based switch;
4) the shore-based switch respectively sends the network signals to an industrial computer for simulation to obtain simulated environment information, the hybrid video recorder performs recording, the video encoder performs decoding and analysis to obtain coaxial video signals, and the manipulator serial server performs mechanical master hand demonstration;
5) the sonar computer is used for operating sonar processing software, displaying the current surrounding environment information of the submersible and providing environment information for operators;
6) and according to the display result and the demonstration of the mechanical master hand, the operator remotely controls the ROV.
Step 6) remote control of the ROV is carried out by an operator, and the method specifically comprises the following steps:
the WAGO control module acquires a command signal sent by a control panel and sends the command signal to a shore-based interaction machine, and the shore-based interaction machine sends the command signal to a satellite communication mother ship end of an ROV communication system through a satellite;
the satellite communication mother ship end converts the electromagnetic wave signals into network signals and sends the network signals to a network switch of the ROV communication system;
the network switch receives network signals sent by the shore-based interaction system, respectively sends the network signals to the serial server and the manipulator serial server, and the network signals are converted into serial signals through the serial server and the manipulator serial server and sent to the ROV.
The invention relates to a satellite remote control ROV control system, which is characterized in that on the basis of in-depth research on an ROV operating system and a satellite communication technology, the satellite communication technology is applied to an ROV control method for the first time through system fusion, and the purpose of satellite remote control ROV operation is realized.
Claims (9)
1. A satellite remote control ROV control system is characterized by comprising an ROV communication system and a shore-based interaction system;
the ROV communication system is used for converting video signals and serial port control signals collected by the ROV into network signals and sending the network signals to a satellite, and meanwhile, receiving ROV control instructions sent by the shore-based interactive system in real time through the satellite;
and the shore-based interaction system is used for receiving the network signals from the ROV communication system through the satellite, decoding the network signals, simulating a simulation picture, and simultaneously sending an ROV control instruction and a manipulator control instruction to the ROV communication system according to the requirement of an operator.
2. The ROV control system according to claim 1, wherein the ROV communication system comprises: the system comprises an ROV, an optical transceiver, a serial server, a manipulator server, a video distributor, a video encoder, a network switch and a satellite communication mother ship end;
the ROV is connected with the optical transceiver through optical fibers, the optical transceiver is respectively connected with the serial port server, the manipulator server and the video distributor so as to output a video signal of the ROV to the video distributor, and output a serial port signal of the ROV to the serial port server and the manipulator server respectively;
the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch;
the video distributor is connected with a video encoder, and the video encoder converts a video signal received by the video distributor into a network signal and sends the network signal to the network switch;
the network switch is connected with the satellite communication mother ship end, converts network signals into electromagnetic waves through the satellite communication mother ship end and sends the electromagnetic waves to a satellite, receives network signals sent by the shore-based interaction system and sends the network signals to the serial port server and the manipulator serial port server respectively, and the network signals are converted into serial port signals through the serial port server and the manipulator serial port server and sent to the ROV.
3. The system of claim 1, wherein the video signal comprises: an ROV driving camera video signal, an overhead camera video signal, and a sampling tool camera video signal.
4. The system of claim 1, wherein the serial port signal comprises: camera control signals and manipulator control signals.
5. The system of claim 1, wherein the shore-based interactive system comprises: the system comprises a shore-based switch, a hard disk video recorder, an industrial computer system, a video integrated platform, a video matrix, a WAGO control module, a control panel, a manipulator operation master, a manipulator serial server and a video decoder;
the shore-based switch is used for respectively sending network signals to the hard disk video recorder, the computer system, the WAGO control module, the manipulator serial server and the video decoder;
the hard disk video recorder is used for receiving the video signal of the ROV and recording ROV video information;
the industrial computer system is used for operating sonar processing software, displaying the current surrounding environment information of the submersible and providing environment information for operators.
The video decoder is used for analyzing the video signals transmitted in the network signals received from the shore-based switch into coaxial video signals and transmitting the coaxial video signals to the video comprehensive platform;
the video comprehensive platform is connected with the video matrix and used for combining the simulated environmental information with the analyzed coaxial video signals and displaying the combined information in the video matrix;
the WAGO control module is used for acquiring a command signal sent by the control panel and sending the command signal to the shore-based interaction machine;
the manipulator serial server is connected with the manipulator operation master for converting a received network signal transmitted by the shore-based switch into a serial signal, so that the ROV manipulator can be displayed on the shore base in real time, meanwhile, an operator can generate a serial command signal by controlling the manipulator operation master, and the manipulator serial server converts the serial command signal into the network signal to the shore-based switch so as to be used for the ROV communication system to operate the ROV manipulator.
6. The system as claimed in claim 5, wherein the shore-based interactive system further comprises a satellite communication shore-based terminal connected to the shore-based switch for converting the electromagnetic wave signals of the satellite-based ROV communication system into network signals to be transmitted to the shore-based switch.
7. A satellite remote ROV control system according to claim 5, wherein the industrial computer system comprises a sonar computer and a control computer connected to each other.
8. A satellite remote control ROV control method is characterized by comprising the following steps:
1) the ROV outputs video signals collected by the ROV to the video distributor through the optical transceiver, and serial port signals of the ROV are output to the serial port server and the manipulator server through the optical transceiver respectively;
2) the serial server and the manipulator serial server convert the received serial signals into network signals and send the network signals to the network switch; the video encoder converts the video signal of the received video distributor into a network signal and sends the network signal to the network switch;
3) the network switch sends the network signal to the satellite communication mother ship end, converts the network signal into electromagnetic wave, sends the electromagnetic wave to the satellite communication shore base end through the satellite, sends the satellite to the satellite communication shore base end, converts the electromagnetic wave into the network signal and sends the network signal to the shore-based switch;
4) the shore-based switch respectively sends the network signals to an industrial computer for simulation to obtain simulated environment information, the hybrid video recorder performs recording, the video encoder performs decoding and analysis to obtain coaxial video signals, and the manipulator serial server performs mechanical master hand demonstration;
5) the industrial computer system is used for operating sonar processing software, displaying the current surrounding environment information of the submersible and providing environment information for operators;
6) and according to the display result and the demonstration of the mechanical master hand, the operator remotely controls the ROV.
9. The method according to claim 8, wherein the step 6) is performed by an operator to remotely control the ROV, and specifically comprises:
the WAGO control module acquires a command signal sent by a control panel and sends the command signal to a shore-based interaction machine, and the shore-based interaction machine sends the command signal to a satellite communication mother ship end of an ROV communication system through a satellite;
the satellite communication mother ship end converts the electromagnetic wave signals into network signals and sends the network signals to a network switch of the ROV communication system;
the network switch receives network signals sent by the shore-based interaction system, respectively sends the network signals to the serial server and the manipulator serial server, and the network signals are converted into serial signals through the serial server and the manipulator serial server and sent to the ROV.
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| CN105974863A (en) * | 2016-04-29 | 2016-09-28 | 中国海洋大学 | Ocean pasture platform-based microwave observation system |
| CN107235132A (en) * | 2017-06-06 | 2017-10-10 | 淮阴师范学院 | A kind of underwater robot water surface actuation means |
| CN110471451A (en) * | 2019-08-29 | 2019-11-19 | 株洲中车时代电气股份有限公司 | A kind of remote control underwater robot control system |
| CN111114725A (en) * | 2019-12-27 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Autonomous underwater vehicle based on optical fiber communication buoy |
| CN111268071A (en) * | 2020-02-13 | 2020-06-12 | 重庆大学 | Split towing cable type water surface-underwater unmanned aircraft |
| CN213938164U (en) * | 2020-12-29 | 2021-08-10 | 中国科学院沈阳自动化研究所 | Satellite remote control ROV control system |
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