CN114815859A - Portable autonomous underwater robot system and control system thereof - Google Patents
Portable autonomous underwater robot system and control system thereof Download PDFInfo
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- CN114815859A CN114815859A CN202210486773.XA CN202210486773A CN114815859A CN 114815859 A CN114815859 A CN 114815859A CN 202210486773 A CN202210486773 A CN 202210486773A CN 114815859 A CN114815859 A CN 114815859A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The invention discloses a portable autonomous underwater robot system and a control system thereof, and belongs to the technical field of underwater robots. The underwater robot control system comprises a water surface upper computer and an underwater robot, wherein the water surface upper computer is in bidirectional connection with the underwater robot and is used for sending a control command to the underwater robot; the underwater robot is used for receiving and acting according to the control command and simultaneously returning task images and related sensor data to the water surface upper computer, the water surface upper computer comprises a task and control information display processing terminal and a communication network bridge, and the underwater robot and the water surface upper computer through the communication network bridge comprise the task and control information display processing terminal. The invention can conveniently lay and recover ten-kilogram-level autonomous underwater robots by only depending on a boat, and achieves better performances on operation accuracy, operation efficiency and operation richness under the condition of limited element equipment.
Description
Technical Field
The invention relates to a portable autonomous underwater robot system and a control system thereof, belonging to the technical field of underwater robots.
Background
With the improvement of detection technology, abundant ocean resources on the earth are gradually discovered. The autonomous underwater robot is an efficient tool for ocean development exploration and utilization, and has been widely used in recent years. At present, the autonomous underwater robot is large in size, high in use cost and poor in detection effect on internal lakes and water conservancy facilities, and in addition, most of autonomous underwater robots only have the capability of underwater detection and reconnaissance and cannot meet the requirement on the aspect of collecting underwater and water surface information. Therefore, the demand of an autonomous underwater robot which is good in concealment, low in cost, convenient to release and recover, small in weight and size and capable of considering water surface detection is more and more large at the present stage.
Disclosure of Invention
The invention aims to provide a portable autonomous underwater robot system and a control system thereof, which are used for solving the problems in the prior art.
A portable autonomous underwater robot system comprises a water surface upper computer and an underwater robot,
the water surface upper computer is connected with the underwater robot in a bidirectional way, wherein,
the water surface upper computer is used for sending a control command to the underwater robot;
the underwater robot is used for receiving and acting according to the control command and simultaneously transmitting the task image and the related sensor data back to the water surface upper computer,
the underwater robot comprises a task and control information display processing terminal and a communication network bridge, and the underwater robot and the water surface upper computer through the communication network bridge comprise the task and control information display processing terminal.
Furthermore, the underwater robot comprises a head cabin section, a middle watertight cabin section and a tail cabin section, wherein the head cabin section, the middle watertight cabin section and the tail cabin section are sequentially in watertight connection.
Further, the head section comprises a collision-prevention front sonar installed at the front end of the head section, an underwater camera installed behind the collision-prevention front sonar, a height gauge installed at the lower end of the head section, and a depth pressure sensor installed at the rear center of the head section, wherein,
the collision avoidance front sonar is used for automatically avoiding obstacles or carrying out target identification in other tasks;
the underwater camera is used for shooting underwater images;
the altimeter is used for ensuring that the underwater robot keeps a safe distance from the water bottom;
and the depth pressure sensor is used for obtaining real-time depth data of the underwater robot.
Further, the middle watertight cabin section comprises a controller, an image transmission radio station, a stepping screw rod and a battery pack, the controller is arranged at the upper front end of the middle watertight cabin section, the image transmission radio station is arranged at the rear side of the controller, the stepping screw rod is arranged at the lower part of the middle cabin section, the battery pack is arranged below the stepping screw rod to form a gravity center adjusting mechanism, wherein,
a controller including a main processor, a coprocessor, an IMU and a power control board for receiving commands from the image transfer station;
the image transmission radio station is used for receiving the control command and uploading the task image;
the stepping screw rod and the battery pack are used for forming a gravity center adjusting mechanism so as to control the pitch angle of the underwater robot.
Furthermore, the tail cabin section comprises an antenna steering engine, an antenna shaft sleeve, a small camera, a GPS (global positioning system), a data transmission antenna, a propeller, a vertical tail vane and a tail steering engine, the antenna steering engine is installed at the front section of the tail cabin section, the antenna shaft sleeve is installed at the upper end of the tail cabin section, the GPS, the small camera and the data transmission antenna are sequentially installed at the tail end of the antenna shaft sleeve, the propeller is installed at the rear end of the tail cabin section, and the vertical tail vane is arranged behind the propeller and is controlled by the tail steering engine.
Furthermore, the included angle between the axis of the underwater camera and the horizontal line is 70 degrees, the included angle between the axis of the small camera and the axis of the antenna shaft sleeve is 90 degrees, the stepping screw rod is screwed with the sliding table, the battery pack is fixed with the sliding table through the frame, the antenna shaft sleeve is connected above the tail cabin section through the connecting rod in a shaft mode, and the position of the antenna shaft sleeve is controlled by the antenna steering engine.
Furthermore, a collision-prevention front-looking sonar, an underwater camera, an altimeter, a depth pressure sensor, a stepping screw rod, a battery pack, a small camera, a GPS (global positioning system), a propeller, a tail steering engine and an antenna steering engine are all electrically connected with a controller, and the controller is in signal connection with a communication network bridge through an image transmission radio station.
A portable autonomous underwater robot control system is based on the portable autonomous underwater robot system, and comprises an upper computer system, a main controller system and an assistant controller system, wherein,
the upper computer system is provided with a network communication node, a water surface camera monitoring node, an underwater camera monitoring node, a manual control node, a track setting node, a data transmission radio monitoring node, an antenna rudder control node, a data downloading node and a navigation data monitoring node,
the network communication node is used for communicating with the main control system;
the water surface and underwater camera monitoring nodes are used for playing back videos and monitoring in real time;
the manual control node is used for enabling a driver to take over the control of the portable underwater robot and directly releasing control parameters to corresponding topics of the executing mechanism;
the track setting node is used for issuing task information consisting of GPS coordinates generated through a map to a task topic, and the controller is responsible for analyzing and executing a corresponding task;
the data downloading node is used for downloading all data of the navigation of the portable underwater robot to the local for analysis or simulation reproduction according to the needs;
the navigation data monitoring node is used for feeding back the running state parameters of the portable underwater robot in real time after the portable underwater robot establishes reliable communication with the base station on the water surface;
the main processor system comprises a ROSMaster process system, a controller node, an underwater camera node, a water surface camera node, an IMU node, a communication node, a forward looking sonar node, an energy control node, a data storage node and a safety control node,
the ROSMaster process system is used for receiving registration of nodes, registration of topics, registration of services and maintenance of a parameter server;
the controller node is used for generating control instructions of the steering engine, the propeller and the stepping motor according to the sensor data and issuing the control instructions to the corresponding topics;
the water surface and underwater camera nodes are used for compressing data shot by the underwater camera and the small camera into an H.264 format and then releasing video data to the image topics of the water surface camera and the underwater camera;
the IMU node is used for acquiring the attitude, the motion angular velocity and the acceleration information of the portable underwater robot provided by the IMU through a serial port and releasing related information to an IMU data topic;
the communication node is used for communicating with the assistance controller system and the upper computer system;
the forward-looking sonar node is used for acquiring a sonar result through a serial port and outputting the result to a sonar information topic;
the energy control node is used for operating a switching topic through the subscription device, controlling the on-off of the power board through the GPIO according to topic information and further turning on/off the related device;
the data storage node is used for subscribing all topics and storing all data as navigation logs locally for subsequent inquiry and downloading;
the safety control node is used for monitoring the depth of the portable underwater robot, the working condition of each device and the state of a battery pack, and taking over the control of the portable underwater robot when the depth exceeds a limited depth due to insufficient electric power, abnormal working of the devices and abnormal controller, so that the portable underwater robot floats out of the water surface, establishes communication with a shore base and sends position and abnormal information;
the assistant controller system comprises a serial port communication node, an antenna rudder control node, a tail push control node, a depth gauge node, a GPS node and an altimeter node,
the serial port communication node is used for assisting the communication between the controller system and the main processor system;
the antenna rudder control node is used for enabling the response port to output PWM waves with proper duty ratio according to the received expected angle of the steering engine after the topic receives the message by subscribing the topic of the antenna rudder angle;
the tail steering engine control node is used for outputting a proper PWM wave according to a message result by subscribing a tail rudder angle topic, and is also used for controlling the electric regulation to enable the propeller to reach a specific thrust by subscribing a tail thrust topic and outputting the PWM wave with a specific duty ratio according to a corresponding curve of the thrust and the rotating speed;
the altimeter node is used for issuing the altitude result and the confidence coefficient of the altimeter to the altitude topic according to a certain sampling frequency through serial port communication;
the depth meter node is used for compensating the pressure and temperature information acquired by the depth meter through the IIC communication by using a temperature compensation algorithm and then releasing the depth information to the depth topic;
and the GPS node is used for resolving the position information output by the GPS at present into latitude and longitude according to a protocol through serial port communication and then releasing the latitude and longitude to the GPS position topic.
The invention has the beneficial effects that: according to the portable autonomous underwater robot system and the control system thereof, the ten-kilogram-level autonomous underwater robots can be conveniently distributed and recovered only by means of the small boat, the good performance in operation accuracy, operation efficiency and operation richness is achieved under the condition of limited element equipment, the capability of greatly improving detection efficiency and cost performance is achieved in the environments with smaller depths such as offshore places, inland rivers, hydraulic engineering and the like, intelligent energy-saving control can be performed under the condition of carrying less energy, the cruising ability of the autonomous underwater robot system is greatly improved, the capability of navigating on the near water surface is flexible, and stable shooting can be performed on underwater visual detection on the water surface in task loads. The matched upper computer has the capability of operating interface and remote wireless communication, and can conveniently formulate corresponding commands to the underwater robot body.
Drawings
FIG. 1 is a schematic structural diagram of a portable autonomous underwater robotic system of the present invention;
FIG. 2 is a schematic view of a node relationship of a portable autonomous underwater robot control system of the present invention;
fig. 3 is a schematic layout diagram of an upper computer desktop application of the portable autonomous underwater robotic system of the present invention.
Wherein, 1 is the prelude cabin section, 2 is middle part watertight cabin section, 3 is afterbody cabin section, 4 is the antenna steering wheel, 5 is the antenna axle sleeve, 6 is GPS, 7 is small-size camera, 8 is perpendicular tail vane, 9 is the propeller, 10 is the tail steering wheel, 11 is the image transmission radio station, 12 is the controller, 13 is the depth pressure sensor, 14 is the altimeter, 15 is the camera under water, 16 is the front sonar of keeping away touch, 17 is step screw, 18 is the battery package, 19 is the data transmission antenna.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, the present invention provides an embodiment of a portable autonomous underwater robot system, including an upper computer on a water surface and an underwater robot,
the water surface upper computer is bidirectionally connected with the underwater robot, wherein,
the water surface upper computer is used for sending a control command to the underwater robot;
the underwater robot is used for receiving and acting according to the control command and simultaneously transmitting the task image and the related sensor data back to the water surface upper computer,
the underwater robot comprises a task and control information display processing terminal and a communication network bridge, and the underwater robot and the water surface upper computer through the communication network bridge comprise the task and control information display processing terminal.
Specifically, the water surface upper computer can send a control command to the underwater robot body on the water surface through a radio station, the underwater robot receives the control command, performs corresponding movement and acquires corresponding data according to the control command, if the recorded data is the underwater data, the data is transmitted to the water surface upper computer through an antenna after the underwater robot floats out of the water surface again, and if the recorded data is the water surface data, the image data can be transmitted to the water surface upper computer through the antenna in real time.
The task and control information display processing terminal is a Windows desktop application program which integrates image data display, AUV motion attitude real-time information display, AUV task command issuing, AUV remote control and AUV control mode setting; the communication bridge is a map transmission station connected with an upper computer.
Further, the underwater robot comprises a head cabin section 1, a middle watertight cabin section 2 and a tail cabin section 3, wherein the head cabin section 1, the middle watertight cabin section 2 and the tail cabin section 3 are in watertight connection in sequence.
Further, the nose deck section 1 includes a collision avoidance front sonar 16, an underwater camera 15, a height meter 14, and a depth pressure sensor 13, the collision avoidance front sonar 16 is installed at the front end of the nose deck section 1, the underwater camera 15 is provided behind the collision avoidance front sonar 16, the height meter 14 is installed at the lower end of the nose deck section 1, the depth pressure sensor 13 is provided at the rear center of the nose deck section 1, wherein,
the collision avoidance front sonar 16 is used for carrying out target identification in automatic obstacle avoidance or other tasks;
an underwater camera 15 for shooting underwater images;
the altimeter 14 is used for ensuring that the underwater robot keeps a safe distance from the water bottom;
and the depth pressure sensor 13 is used for obtaining real-time depth data of the underwater robot.
Further, the middle watertight compartment section 2 comprises a controller 12, an image transmission radio station 11, a stepping screw 17 and a battery pack 18, the controller 12 is installed at the upper front end of the middle watertight compartment section 2, the image transmission radio station 11 is installed at the rear side of the controller 12, the stepping screw 17 is installed at the lower part of the middle compartment section 2, the battery pack 18 is installed below the stepping screw 17 to form a gravity center adjusting mechanism, wherein,
a controller 12 including a main processor, a coprocessor, an IMU, and a power control board for receiving commands from the image transfer station 11;
the image transmission radio station 11 is used for receiving a control command and uploading a task image;
the stepping screw 17 and the battery pack 18 are used for forming a gravity center adjusting mechanism so as to control the pitch angle of the underwater robot and control the depth together with the propeller 9.
Specifically, the controller 12 is the core of the overall control system and serves as the human brain, and is primarily responsible for collecting sensor data, executing control algorithms, and scheduling actuators. The sensor is mainly responsible for collecting the real-time motion attitude, height information, depth information and surrounding environment space information of the portable underwater robot. The gravity center adjusting mechanism, the propeller 9 and the steering engine are mainly responsible for controlling the posture and the movement speed of the submersible vehicle so as to realize the tracking of the set track of the submersible vehicle. The communication terminal is mainly responsible for physical layer transmission of control information and image data. The power supply equipment comprises a battery and a power supply control board, wherein the power supply control board is responsible for supplying power and a switch to the portable underwater robot, the output of the battery is 24V, the power supply control board regulates the voltage and outputs a plurality of paths of different voltages to different loads, and the switches are arranged at all the outputs of the power supply board in order to save power consumption; the carrying task equipment consists of an underwater camera 15 (arranged on a bow cabin section) and a small camera 7 (arranged on a tail antenna), and is mainly responsible for collecting optical image data of the submersible on the water surface and under the water.
The controller 12 is composed of two parts, one part is a main controller part which takes RK3399 as a processor, and the other part is a coprocessor part which takes STM32H7 as a main processor; the STM32 chip is connected with a collision avoidance front sonar 16, a depth gauge, an altimeter 14, a GPS6, a propeller 9, a gravity center adjusting mechanism (composed of a stepping screw rod 17 and a battery pack 18), an antenna steering engine 4 and a tail steering engine 10; the STM32 chip is connected with a power supply control board, and the power supply control board can control the switch of each device; the RK3399 chip is connected with the small camera 7, the underwater camera 15, the image transmission radio station 11 and the IMU; the STM32 chip and the RK3399 chip are in serial port communication; RK3399 is used as a core computing unit of a control algorithm and a video plug-flow algorithm.
Further, afterbody cabin section 3 includes antenna steering wheel 4, antenna shaft sleeve 5, small-size camera 7, GPS6, data transmission antenna 19, propeller 9, perpendicular tail vane 8 and tail steering wheel 10, antenna steering wheel 4 installs the anterior segment at afterbody cabin section 3, antenna shaft sleeve 5 is installed in the upper end of afterbody cabin section 3, GPS6, small-size camera 7 and data transmission antenna 19 install in proper order in the end of antenna shaft sleeve 5, propeller 9 is installed in the rear end of afterbody cabin section 3, perpendicular tail vane 8 sets up in the rear of propeller 9, receive tail steering wheel 10's control.
Furthermore, the included angle between the axis of the underwater camera 15 and the horizontal line is 70 degrees, the included angle between the axis of the small camera 7 and the axis of the antenna shaft sleeve 5 is 90 degrees, a sliding table is screwed on the stepping screw rod 17, the battery pack 18 is fixed with the sliding table through a frame, the antenna shaft sleeve 5 is connected above the tail cabin section 3 through a connecting rod in a shaft mode, and the position of the antenna shaft sleeve is controlled by the antenna steering engine 4.
Specifically, the underwater camera 15 is installed at the oblique lower part of the head cabin section 1, and the included angle between the axis of the underwater camera 15 and the horizontal line is 70 degrees; the small camera 7 is arranged at the tail end of the antenna shaft sleeve 5, and the included angle between the axis of the small camera 7 and the axis of the antenna shaft sleeve 5 is 90 degrees; the battery pack 18 is fixed with the sliding table of the stepping screw 17 through the frame; antenna sleeve 5 connects in the top of afterbody cabin section 3 through the connecting rod hub, by its position of antenna steering wheel 4 control, when underwater robot is sailing under water, the afterbody antenna is parallel with underwater robot gyration axis, guarantee underwater robot has good line type, the continuation of the journey and the rapidity of guarantee underwater robot, when underwater robot need with the host computer communication or carry out surface of water image acquisition near the surface of water, the afterbody antenna can be erect, guarantee the perpendicular of antenna and horizontal plane as far as possible, guarantee communication effect and surface of water image acquisition effect. The data transmission antenna 19 can change position according to task requirements; the data transmission antenna 19 can ensure the stability of the image of the water surface camera according to the navigation condition of the AUV.
Further, a collision avoidance front sonar 16, an underwater camera 15, an altimeter 14, a depth pressure sensor 13, a stepping screw rod 17, a battery pack 18, a small camera 7, a GPS6, a propeller 9, a tail steering engine 10 and an antenna steering engine 4 are all electrically connected with the controller 12, and the controller 12 is in signal connection with the communication bridge through an image transmission radio station 11.
Referring to fig. 2, a portable autonomous underwater vehicle control system based on the above-mentioned portable autonomous underwater vehicle system includes an upper computer system, a main controller system and an assist controller system, wherein,
the upper computer system is provided with a network communication node, a water surface camera monitoring node, an underwater camera monitoring node, a manual control node, a track setting node, a data transmission radio monitoring node, an antenna rudder control node, a data downloading node and a navigation data monitoring node,
the network communication node is used for communicating with the main control system;
the water surface and underwater camera monitoring nodes are used for playing back videos and monitoring in real time;
the manual control node is used for enabling a driver to take over the control of the portable underwater robot and directly releasing control parameters to corresponding topics of the executing mechanism;
the track setting node is used for issuing task information consisting of GPS coordinates generated through a map to a task topic, and the controller 12 is responsible for analyzing and executing a corresponding task;
the data downloading node is used for downloading all data of the navigation of the portable underwater robot to the local for analysis or simulation reproduction according to the needs;
the navigation data monitoring node is used for feeding back the running state parameters of the portable underwater robot in real time after the portable underwater robot establishes reliable communication with the base station on the water surface;
the main processor system comprises a ROSMaster process system, a controller node, an underwater camera node, a water surface camera node, an IMU node, a communication node, a forward looking sonar node, an energy control node, a data storage node and a safety control node,
the ROSMaster process system is used for receiving registration of nodes, registration of topics, registration of services and maintenance of a parameter server;
the controller node is used for generating control instructions of the steering engine, the propeller and the stepping motor according to the sensor data and issuing the control instructions to the corresponding topics;
the water surface and underwater camera nodes are used for compressing data shot by the underwater camera 15 and the small camera 7 into an H.264 format and then releasing video data to the image topics of the water surface camera and the underwater camera;
the IMU node is used for acquiring the attitude, the motion angular velocity and the acceleration information of the portable underwater robot provided by the IMU through a serial port and releasing related information to an IMU data topic;
the communication node is used for communicating with the assistance controller system and the upper computer system;
the forward-looking sonar node is used for acquiring a sonar result through a serial port and outputting the result to a sonar information topic;
the energy control node is used for operating a switching topic through the subscription device, controlling the on-off of the power board through the GPIO according to topic information and further turning on/off the related device;
the data storage node is used for subscribing all topics and storing all data as navigation logs locally for subsequent inquiry and downloading;
the safety control node is used for monitoring the depth of the portable underwater robot, the working condition of each device and the state of the battery pack 18, and taking over the control of the portable underwater robot when the depth exceeds a limited depth due to insufficient electric power, abnormal working of the devices and abnormal controller, so that the portable underwater robot floats out of the water surface, establishes communication with a shore base and sends position and abnormal information;
the assistant controller system comprises a serial port communication node, an antenna rudder control node, a tail push control node, a depth meter node, a GPS node and an altimeter node,
the serial port communication node is used for assisting the communication between the controller system and the main processor system;
the antenna rudder control node is used for enabling the response port to output PWM waves with proper duty ratio according to the expected angle of the steering engine after the topic receives the message by subscribing the topic of the antenna rudder angle;
the tail steering engine control node is used for outputting a proper PWM wave according to a message result by subscribing a tail rudder angle topic, and is also used for controlling the electric regulation to enable the propeller to reach a specific thrust by subscribing a tail thrust topic and outputting the PWM wave with a specific duty ratio according to a corresponding curve of the thrust and the rotating speed;
the altimeter node is used for issuing the altitude result and the confidence coefficient of the altimeter to the altitude topic according to a certain sampling frequency (sampling is carried out according to a control algorithm, the sampling frequency is more than 10hz and ranges to the frequency of an element with the minimum maximum sampling frequency in the whole system hardware);
the depth meter node is used for compensating the pressure and temperature information acquired by the depth meter through the IIC communication by using a temperature compensation algorithm and then releasing the depth information to the depth topic;
and the GPS node is used for resolving the position information output by the GPS6 at present into latitude and longitude according to a protocol through serial port communication and then releasing the latitude and longitude to the GPS position topic.
Specifically, the motion unit controlled by the underwater robot motion control system comprises a propeller, a gravity center adjusting mechanism, a tail vertical rudder and an antenna steering engine; the underwater robot control system adopts a control method based on model predictive control; the underwater robot control system integrates the processing function of task load; the task load processing function comprises the steps of encoding and storing image information and pushing a radio station; the portable underwater robot adopts an H264 coding format, the output frame rate is set to be 30, the definition is 720p, and the output average code rate is 200 kByte/s; the underwater robot control system can control the equipment to be switched on and off according to the equipment use condition, so that the energy loss is reduced; all the devices are classified into normally open devices, normally open devices on the water surface and normally open devices under water; according to the task executed by the portable underwater robot, except for a normally open main controller, the water surface normally open equipment and the underwater normally open equipment are respectively opened when the water surface moves and the underwater moves, and the rest equipment are closed; wherein normally open equipment is RK3399, and normally open equipment is opened by small-size camera 7, GPS6, IMU, tail steering wheel 10, propeller 9, lead screw step motor 17, image transmission radio 11, coprocessor, antenna steering wheel 4 and constitutes, normally open equipment is opened by camera 15, IMU, tail steering wheel 10, lead screw step motor, coprocessor and keeping away from forward looking sonar 16 under water.
The underwater robot motion control system comprises the integration of a motion control algorithm and the signal transmission of each sensor and a controlled unit; the underwater robot control system is AUV control software based on ROS; the motion unit controlled by the underwater robot motion control system comprises a propeller, a gravity center adjusting mechanism, a tail vertical rudder and an antenna steering engine; the underwater robot control system adopts a control method based on model predictive control; the underwater robot control system integrates the processing function of the task load. The task load processing function comprises the coding of the real-time content of the camera and an efficient stream pushing algorithm.
As shown in fig. 3, the present invention provides an upper computer of a portable autonomous underwater robot system, which comprises a task and control information display processing terminal and a communication network bridge, wherein the task and control information display processing terminal is a window integrated with real-time water surface image data display; displaying real-time information of the motion attitude of the underwater robot, wherein the real-time information comprises a pitch angle, a stepping steering engine position, a distance from the bottom, an antenna erecting condition, a propeller output and a tail rudder angle condition, which are displayed by the position and the head direction of a satellite map mark and the side view of an underwater camera; the underwater robot task command issuing and information dialog box comprises a task command display unit, a task command display unit and an information dialog box, wherein the task command display unit displays a current task command and control mode of the underwater robot and command confirmation, control mode setting success confirmation and abnormal alarm replied by the underwater robot; the underwater robot screen remote control can be connected with a handle; and the underwater robot control mode is provided with a Windows desktop application program which can be specifically set through a pull-down menu and a pop-up window.
The using method of the invention is as follows:
firstly, setting task requirements and control modes of the underwater robot on an upper computer interface, wherein the task requirements and control modes comprise shooting requirements and shooting routes and setting of related parameters of motion control of the underwater robot; after the upper computer and the underwater robot successfully establish communication, the portable autonomous underwater robot can be deployed in an open and good sea area by a single person or two persons through a small boat; the upper computer issues a command and waits for the underwater robot to reply; the command may be modified as prompted if the command is rejected; the underwater robot can finish the appointed path according to dead reckoning navigation and GPS position correction, underwater detection is carried out in a target sea area by the underwater camera 15, and water surface detection is carried out by the small camera 7; and after the task is finished, the underwater robot automatically returns to the position of the upper computer.
Claims (8)
1. A portable autonomous underwater robot system comprises a water surface upper computer and an underwater robot, and is characterized in that,
the water surface upper computer is bidirectionally connected with the underwater robot, wherein,
the water surface upper computer is used for sending a control command to the underwater robot;
the underwater robot is used for receiving and acting according to the control command and simultaneously transmitting the task image and the related sensor data back to the water surface upper computer,
the underwater robot comprises a task and control information display processing terminal and a communication network bridge, and the underwater robot and the water surface upper computer through the communication network bridge comprise the task and control information display processing terminal.
2. A portable autonomous underwater robot system according to claim 1, characterized in that the underwater robot comprises a head cabin section (1), a middle watertight cabin section (2) and a tail cabin section (3), the head cabin section (1), the middle watertight cabin section (2) and the tail cabin section (3) being in watertight connection in turn.
3. A portable autonomous underwater vehicle system according to claim 2, characterized in that the head section (1) includes a collision-avoidance front sonar (16), an underwater camera (15), a height gauge (14) and a depth pressure sensor (13), the collision-avoidance front sonar (16) is installed at the front end of the head section (1), the underwater camera (15) is installed behind the collision-avoidance front sonar (16), the height gauge (14) is installed at the lower end of the head section (1), the depth pressure sensor (13) is installed at the rear center of the head section (1), wherein,
the collision avoidance forward-looking sonar (16) is used for carrying out target identification in automatic obstacle avoidance or other tasks;
an underwater camera (15) for capturing underwater images;
the altimeter (14) is used for ensuring that the underwater robot keeps a safe distance from the water bottom;
and the depth pressure sensor (13) is used for obtaining real-time depth data of the underwater robot.
4. A portable autonomous underwater vehicle system according to claim 3, characterised in that the middle watertight cabin section (2) comprises a controller (12), an image transmission radio (11), a step-screw (17) and a battery pack (18),
the controller (12) is arranged at the upper front end of the middle watertight cabin section (2), the image transmission radio station (11) is arranged at the rear side of the controller (12), the stepping screw rod (17) is arranged at the lower part of the middle cabin section (2), the battery pack (18) is arranged below the stepping screw rod (17) to form a gravity center adjusting mechanism, wherein,
a controller (12) including a main processor, a coprocessor, an IMU and a power control board for receiving commands from the image transfer station (11);
the image transmission radio station (11) is used for receiving the control command and uploading the task image;
the stepping lead screw (17) and the battery pack (18) are used for forming a gravity center adjusting mechanism so as to control the pitch angle of the underwater robot.
5. The portable autonomous underwater robot system according to claim 4, characterized in that the tail cabin section (3) comprises an antenna steering engine (4), an antenna shaft sleeve (5), a small camera (7), a GPS (6), a data transmission antenna (19), a propeller (9), a vertical tail vane (8) and a tail steering engine (10), the antenna steering engine (4) is installed at the front section of the tail cabin section (3), the antenna shaft sleeve (5) is installed at the upper end of the tail cabin section (3), the GPS (6), the small camera (7) and the data transmission antenna (19) are sequentially installed at the tail end of the antenna shaft sleeve (5), the propeller (9) is installed at the rear end of the tail cabin section (3), and the vertical tail vane (8) is arranged behind the propeller (9) and controlled by the tail steering engine (10).
6. The portable autonomous underwater robot system according to claim 5, characterized in that the angle between the axis of the underwater camera (15) and the horizontal line is 70 °, the angle between the axis of the small camera (7) and the axis of the antenna shaft sleeve (5) is 90 °, a sliding table is screwed on the stepping screw rod (17), the battery pack (18) is fixed with the sliding table through a frame, the antenna shaft sleeve (5) is coupled above the tail cabin section (3) through a connecting rod, and the position thereof is controlled by the antenna steering engine (4).
7. The portable autonomous underwater robot system according to any one of claims 1 to 6, characterized in that a collision-avoidance forward-looking sonar (16), an underwater camera (15), an altimeter (14), a depth pressure sensor (13), a stepping screw (17), a battery pack (18), a small camera (7), a GPS (6), a propeller (9), a tail steering engine (10) and an antenna steering engine (4) are electrically connected with a controller (12), and the controller (12) is in signal connection with a communication bridge through an image transmission radio station (11).
8. A portable autonomous underwater robot control system based on the portable autonomous underwater robot system of any one of claims 1 to 7, characterized in that the portable autonomous underwater robot control system comprises an upper computer system, a main controller system and an assist controller system, wherein,
the upper computer system is provided with a network communication node, a water surface camera monitoring node, an underwater camera monitoring node, a manual control node, a track setting node, a data transmission radio monitoring node, an antenna rudder control node, a data downloading node and a navigation data monitoring node,
the network communication node is used for communicating with the main control system;
the water surface and underwater camera monitoring nodes are used for playing back videos and monitoring in real time;
the manual control node is used for enabling a driver to take over the control of the portable underwater robot and directly releasing control parameters to corresponding topics of the executing mechanism;
the track setting node is used for issuing task information consisting of GPS coordinates generated through a map to a task topic, and the controller (12) is responsible for analyzing and executing a corresponding task;
the data downloading node is used for downloading all data of the navigation of the portable underwater robot to the local for analysis or simulation reproduction according to the needs;
the navigation data monitoring node is used for feeding back the running state parameters of the portable underwater robot in real time after the portable underwater robot establishes reliable communication with the base station on the water surface;
the main processor system comprises a ROSMaster process system, a controller node, an underwater camera node, a water surface camera node, an IMU node, a communication node, a forward looking sonar node, an energy control node, a data storage node and a safety control node,
the ROSMaster process system is used for receiving registration of nodes, registration of topics, registration of services and maintenance of a parameter server;
the controller node is used for generating control instructions of the steering engine, the propeller and the stepping motor according to the sensor data and issuing the control instructions to the corresponding topics;
the water surface and underwater camera nodes are used for compressing data shot by the underwater camera (15) and the small camera (7) into an H.264 format and then publishing video data to the image topics of the water surface camera and the underwater camera;
the IMU node is used for acquiring the attitude, the motion angular velocity and the acceleration information of the portable underwater robot provided by the IMU through a serial port and releasing related information to an IMU data topic;
the communication node is used for communicating with the assistance controller system and the upper computer system;
the forward-looking sonar node is used for acquiring a sonar result through a serial port and outputting the result to a sonar information topic;
the energy control node is used for operating a switching topic through the subscription device, controlling the on-off of the power board through the GPIO according to topic information and further turning on/off the related device;
the data storage node is used for subscribing all topics and storing all data as navigation logs locally for subsequent inquiry and downloading;
the safety control node is used for monitoring the depth of the portable underwater robot, the working condition of each device and the state of a battery pack (18), and taking over the control of the portable underwater robot when the depth exceeds a limited depth due to insufficient electric power, abnormal working of the devices and abnormal controller, so that the portable underwater robot floats out of the water surface, establishes communication with a shore base and sends position and abnormal information;
the assistant controller system comprises a serial port communication node, an antenna rudder control node, a tail push control node, a depth meter node, a GPS node and an altimeter node,
the serial port communication node is used for assisting the communication between the controller system and the main processor system;
the antenna rudder control node is used for enabling the response port to output PWM waves with proper duty ratio according to the expected angle of the steering engine after the topic receives the message by subscribing the topic of the antenna rudder angle;
the tail steering engine control node is used for outputting a proper PWM wave according to a message result by subscribing a tail rudder angle topic, and is also used for controlling the electric regulation to enable the propeller to reach a specific thrust by subscribing a tail thrust topic and outputting the PWM wave with a specific duty ratio according to a corresponding curve of the thrust and the rotating speed;
the altimeter node is used for issuing the altitude result and the confidence coefficient of the altimeter to the altitude topic according to a certain sampling frequency through serial port communication;
the depth meter node is used for releasing the depth information to a depth topic after the pressure and temperature information acquired by the depth meter is compensated through a temperature compensation algorithm through IIC communication;
and the GPS node is used for resolving the position information output by the GPS (6) at present into latitude and longitude according to a protocol through serial port communication and then issuing the latitude and longitude to the GPS position topic.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116761212A (en) * | 2023-07-27 | 2023-09-15 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
| CN116761212B (en) * | 2023-07-27 | 2024-04-23 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116761212A (en) * | 2023-07-27 | 2023-09-15 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
| CN116761212B (en) * | 2023-07-27 | 2024-04-23 | 北京小米机器人技术有限公司 | Image transmission control method, device, terminal equipment and storage medium |
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