CN115230918A - BlueROV 2-based full-drive autonomous underwater robot and de-cabling method - Google Patents
BlueROV 2-based full-drive autonomous underwater robot and de-cabling method Download PDFInfo
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- CN115230918A CN115230918A CN202210646621.1A CN202210646621A CN115230918A CN 115230918 A CN115230918 A CN 115230918A CN 202210646621 A CN202210646621 A CN 202210646621A CN 115230918 A CN115230918 A CN 115230918A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/60—Router architectures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a full-drive autonomous underwater robot based on BlueROV2 and a de-cabling method, which are used for realizing de-cabling and autonomy of an open source underwater robot BlueROV2 and realizing an underwater cluster taking BlueROV2 as an individual. The method comprises the steps of firstly, carrying out structural improvement according to a communication mode of the BlueROV2, removing a zero-buoyancy communication cable for connecting the BlueROV2 with a shore computer, additionally installing an additional sealed cabin, connecting the original sealed cabin of the BlueROV2 with the additionally installed sealed cabin by using a shorter communication cable, and adapting to a hardware circuit for converting an Ethernet signal and an electric signal. And then, according to the requirements of underwater cluster motion, an additional main control module is added in the sealed cabin to realize autonomy of control over BlueROV2, and an additional visual perception module is added. And finally, an additional hardware circuit is matched to ensure that the additionally-installed main control sealed cabin works normally, and the main control sealed cabin comprises a power supply module and a corresponding sensor module.
Description
Technical Field
The invention belongs to the technical field of autonomous underwater robots, and particularly relates to autonomous intelligent transformation of a full-drive autonomous underwater robot based on BlueROV 2.
Background
Cluster motion, namely the use of a plurality of individuals, can form a motion form with excellent performance on a macroscopic scale, such as target capture, large-area search coverage and the like, by designing simple interaction rules among the individuals.
A Remote Operated Vehicle (ROV), which is a Remote Unmanned Underwater Vehicle, is one of Unmanned Underwater Vehicles (UUV). The ROV is mainly used for underwater observation, inspection and construction, the propeller of the ROV is in vector layout, and under a complex underwater environment, the motion control of the ROV is more convenient than that of a traditional revolving body underwater vehicle, and can execute some more precise tasks under a complex scene, but the control of the ROV needs manual control of shore-based personnel, has no autonomy, cannot autonomously realize some tasks, and the realization of cluster motion needs that individuals have the autonomous ability.
The AUV (Autonomous Underwater Vehicle) is a pure Autonomous Underwater course device, can autonomously execute some tasks under unmanned control, is widely applied to marine exploration, resource investigation, enemy reconnaissance, target positioning and cluster capture, and is suitable for designing an Underwater cluster system due to the Autonomous capability. However, most conventional AUVs are under-driven AUVs, and the movement of the conventional AUVs in an underwater environment affected by water flow is difficult to control, and the conventional AUVs are not suitable for cluster movement in an underwater complex environment. And the cluster needs a large number of individuals to form a more reliable and fault-tolerant system, but the traditional AUV has a larger size and high cost, and is not convenient to form a cluster system.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a full-drive autonomous underwater robot based on BlueROV2 and a de-cabling method.
Technical scheme
The utility model provides a full drive is from master underwater robot based on BlueROV2 which characterized in that: an additional sealed cabin is added on the original sealed cabin of the BlueROV2 to serve as a main control cabin of the BlueROV, and the main control cabin internally comprises a main control module, a communication module, a power supply module, a signal source module and a sensor module;
the main control module is a microprocessor, the microprocessor runs an ROV autonomous control program and is used for running a control algorithm, reading sensor data, processing the sensor data, realizing a software layer communication interface and issuing a control command to an execution mechanism of a lower-layer ROV;
the communication module comprises a power modem, a router module, a network communication module and a radio station module; the electric power modem converts the electric signal transmitted by the original structure of the ROV into an Ethernet signal and transmits the Ethernet signal to the network communication module; the router module realizes that the ROV floats out of the water surface and remotely logs in the ROV main control module by a shore-based computer; the network communication module continuously transmits the network signals transmitted by the power modem to the main control module; the radio station module realizes communication between the ROV and a shore-based ground station after the ROV floats out of the water surface;
the power supply module supplies power to other modules in the additionally-installed sealed cabin;
the sensor module comprises a camera, and the camera senses an optical signal source;
the signal source module is an LED lamp and is used as a signal sign for identifying other ROVs in an underwater dark environment.
The further technical scheme of the invention is as follows: the sensor module also comprises a depth sensor, the depth sensor is used as a security measure when the ROV operates autonomously, the depth sensor senses the water pressure and converts the water pressure to obtain the water depth, and when the ROV submerges beyond a certain depth, a security program is triggered, and the ROV floats out of the water surface.
The invention further adopts the technical scheme that: the rear end cover of the additional sealed cabin is reserved with 8 perforated bolt openings, one of the perforated bolt openings is fixed as a female seat of a three-core watertight connector, and one end inside the female seat sealed cabin is connected with the input of the power modem.
The further technical scheme of the invention is as follows: the additional sealed cabin is made of organic glass.
A de-cabling method of a full-drive autonomous underwater robot based on BlueROV2 is characterized by comprising the following steps: removing an original communication cable, using a half-meter long communication cable, wherein two ends of the communication cable are provided with a three-core watertight connector female seat, one end of the communication cable is connected with a three-core watertight connector male head on a rear end cover of an original sealed cabin of the BlueROV2, and the port is an interface for the BlueROV2 to send information outwards and receive external control signals; the other end of the three-core watertight connector is connected with a male connector of a three-core watertight connector on the rear end cover of the additional sealed cabin, and the other end of the male connector is connected with a hardware circuit in the additional sealed cabin.
An underwater cluster system is characterized by comprising a plurality of the fully-driven autonomous underwater robots based on BlueROV 2.
Advantageous effects
The invention provides a full-drive autonomous underwater robot based on BlueROV2 and a de-cabling method, which are used for realizing de-cabling and autonomous operation of the BlueROV2 of an open-source underwater robot and realizing an underwater cluster taking the BlueROV2 as an individual. The method comprises the steps of firstly, carrying out structural improvement according to a communication mode of the BlueROV2, removing a zero-buoyancy communication cable for connecting the BlueROV2 with a shore computer, additionally installing an additional sealed cabin, connecting the original sealed cabin of the BlueROV2 with the additionally installed sealed cabin by using a shorter communication cable, and adapting to a hardware circuit for converting an Ethernet signal and an electric signal. And then, according to the requirement of underwater cluster motion, an additional main control module is added in the sealed cabin to realize autonomy of control over the BlueROV2, and an additional visual perception module is added. And finally, an additional hardware circuit is matched to ensure that the additionally-installed main control sealed cabin works normally, and the main control sealed cabin comprises a power supply module and a corresponding sensor module.
1. According to the invention, the communication mode of the BlueROV2 is changed, and the master control module is added, so that the autonomous underwater motion of the remote control type underwater robot is realized;
2. according to the invention, an autonomous motion server program is built on a plurality of BlueROVs 2, so that the underwater clustering function is realized.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a structure diagram of a sealed cabin additionally arranged on the basis of BlueROV 2;
FIG. 2 is a diagram of the firmware of the present invention connecting BlueROV2 and the added capsule;
FIG. 3 is a block diagram of a system of the present invention after modification;
fig. 4 is a server program framework for implementing autonomous movement of BlurROV 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a full-drive autonomous underwater robot based on BlueROV2 and a de-cabling method, which are characterized in that a mature open-source remote control type underwater robot BlueROV2 is taken as a basis, the underwater robot which can only be remotely controlled and is in the BlueROV2 is de-cabled and autonomous, and an underwater cluster system taking the autonomous BlueROV2 as an individual is further built.
A new transparent sealed cabin is additionally arranged on an original sealed cabin of the BlueROV2 to serve as a main control cabin of the BlueROV, and the main control cabin internally comprises a main control module, a communication module, a power supply module, a signal source module and a sensor module. The additionally installed sealed cabin is connected with the original sealed cabin of the BlueROV through a zero-buoyancy communication cable for communication and control, and male watertight connectors are arranged at two ends of the zero-buoyancy communication cable and are respectively connected with female watertight connectors on the main control cabin and the end cover of the original sealed cabin. The main control cabin is connected with the original sealed cabin of the BlueROV through a connecting firmware. Whole install the part additional and adopt modular structure, and main control cabin, fixed buckle board, watertight switch-on communication cable are detachable construction, can conveniently install additional and dismantle under the remote control formula operation that does not influence blue ROV originally, and blue ROV both can keep bank base personnel remote control operation promptly, also can independently carry out the task under water through installing the part additional. Meanwhile, ports are reserved in the additional cabin and on the end covers, so that the ROV function is conveniently expanded.
The main control module is a microprocessor, and the autonomous control of the ROV is realized by using the microprocessor, including acquisition and processing of sensor data, processing of a motion control algorithm and issuing of a control command to the bottom layer of the ROV. The main control module is positioned in the additionally-installed sealed cabin.
The communication module comprises a power modem, a router module, a network communication module and a radio station module. The power modem can convert the electric signal transmitted by the original structure of the ROV into an Ethernet signal and transmit the Ethernet signal to the network communication module; the router module can realize that the ROV floats out of the water surface and remotely logs in the ROV main control module by a shore-based computer; the network communication module can continuously transmit the network signal transmitted by the power modem to the main control module; the radio station module can realize the communication between the ROV and the shore-based ground station after the ROV floats out of the water. The communication module is positioned in the added sealed cabin.
And the power supply module supplies power to other modules in the additionally-installed sealed cabin. The battery part is a 12V direct current output of a lithium battery and supplies power to the main control module through the voltage stabilizing module; and then, a circuit is LED out from the lithium battery to supply power for the router, the LED lamp and the power modem. The power module is positioned in the additionally-installed sealed cabin.
The signal source module is mainly an LED lamp and is used as a signal sign for identifying other ROVs in an underwater dark environment. And an interface is reserved for future expansion of a signal source.
The specific embodiment of the invention is as follows:
the structural part of the ROV modification and installation mainly comprises a sealed cabin (figure 1) made of transparent acrylic materials and a buckle fastener (figure 2) for fixing. The original remote control mode of the ROV is that a zero-buoyancy communication cable is connected with an original sealed cabin and a shore-based ground station of the ROV, and the part of the zero-buoyancy communication cable connected with the ROV is a pair of watertight connectors; the improved structure is that the original communication cable is removed, a half-meter long communication cable is used, two ends of the communication cable are provided with a three-core watertight connector female seat, one end of the communication cable is connected with a three-core watertight connector male head on the rear end cover of the original sealed cabin of the BlueROV2, and the port is an interface for the BlueROV2 to send information outwards and receive external control signals; the other end of the three-core watertight connector is connected with a male connector of a three-core watertight connector on the rear end cover of the sealed cabin, and the other end of the male connector is connected with a hardware circuit in the sealed cabin. Install the sealed cabin additional and be located the original sealed cabin upper portion of ROV, both connect fixedly through fixed buckle.
2. The main control module comprises a raspberry pi 4B microprocessor, a Linux system runs in the raspberry pi 4B, an ROV autonomous control program runs in the Linux system, and is used for running a control algorithm, reading sensor data, processing the sensor data, realizing a software-level communication interface and issuing a control command to an execution mechanism of a lower-level ROV. The main control module is responsible for establishing communication with the sensor and operating an autonomous control algorithm.
3. The communication module comprises a power modem, a router and a radio station. The ROV is in UDP communication with the external communication, the network signal is converted into an electric signal through the power modem by the interior of the ROV, and the electric signal is communicated with the external communication through the zero buoyancy cable. And in the additionally-installed sealed cabin, the electric signal is converted into an Ethernet signal through the power modem and is transmitted to the network interface of the raspberry group, so that the communication connection is established with the additionally-installed sealed cabin. The router is connected with the raspberry group, and when the ROV floats out of the water surface, the ROV can be remotely logged in and a main control system in the sealed cabin is additionally installed to modify and debug the ROV main control program through establishing a local area network with a shore-based computer. The radio station is connected with the raspberry pi, and when the ROV floats out of the water surface, the radio station establishes communication with the shore-based ground station through radio, receives an instruction command of the ground station and sends information to the ground station. The radio station typically communicates with the ground station in areas that cannot be covered by the router.
4. The sensor module includes a camera and a depth sensor. The camera is installed in the transparent sealed cabin front end position of installing additional, can be under dark environment under water, through camera perception light signal source, and the master control procedure is handled the camera through opencv vision frame simultaneously. The depth sensor is connected with the raspberry pie and communicates through an I2C bus protocol, a sensing part of the depth sensor is in contact with an external water body through a sealed cabin perforation, and a main control program can read the water body pressure from the depth sensor and further convert the water body pressure to obtain the water body depth. The depth sensor is used as a security measure for the autonomous running of the ROV, and when the ROV submerges beyond a certain depth, a security program is triggered, and the ROV floats out of the water surface.
The signal source module mainly comprises 4 LED lamps. The LED lamp is controlled by the relay, and the relay links to each other with the control pin of raspberry group, and accessible master control program is controlled LED's switch. The arrangement of the LED lamp is as follows: the two front ends of the sealed cabins are red, and the two rear ends of the sealed cabins are blue.
5. The power module is mainly a 12V direct current 18650 lithium battery pack. The lithium battery is connected with the raspberry group through a voltage stabilizing module, 12V direct-current voltage of the lithium battery is input into the voltage stabilizing module, and 5V2A is output to a power supply pin of the raspberry group. The lithium battery supplies power to the power modem (12V) and the LED lamp (12V) at the same time.
6. The method for realizing the autonomous movement of the BlueROV2 comprises the steps of building a network server on an additionally-installed main control module by using a socket technology, integrating a mavlik small unmanned vehicle communication protocol on a server program, sending a control command to the BlueROV2 at the bottom layer by using the mavlik communication protocol, and operating a corresponding control algorithm to drive a propeller of the BlueROV2 to realize the movement after the BlueROV2 at the bottom layer receives the mavlik control command. Meanwhile, an opencv computer vision framework is integrated on the server program, and a vision-based control algorithm can be realized. As shown in fig. 4.
The method for realizing the underwater cluster platform taking the autonomous BlueROV2 as the individual comprises the steps of structurally transforming 5 remote control type underwater robots BlueROV2 from the step 1 to the step 5, and then building an autonomous motion server program on each BlueROV2 according to the step 6. And further realizing an underwater cluster platform taking the autonomously modified BlueROV2 as an individual.
The design method comprises the following steps:
step 1: hardware that implements autonomous control of BlueROV2 is determined.
The method comprises the steps of firstly determining an external hardware circuit, and dividing the external hardware for realizing autonomous control into a main control module, a communication module, a sensor module, a signal source module and a power supply module. The main control module uses a raspberry pi 4b microprocessor, and the communication module uses a power modem, a Lora communication radio station and a router. The sensor module uses a usb camera and a depth sensor. The power module uses a 12V18650 lithium battery pack. The signal source uses two red and blue LED lamps respectively.
And 2, step: the hardware circuit is connected.
The raspberry pie is connected with the power modem through an RJ45 network cable; the raspberry pie is connected with the router through an RJ45 network cable; the raspberry pie is connected with the camera through a USB line; the raspberry pie is connected with the Lora communication radio station through a USB line; the raspberry pi is connected with the depth sensor through a GPIO pin; the power supply module outputs 5V/2A to a power supply pin of the raspberry through the voltage stabilizing module; the LED is connected with the controlled end of the relay, and the raspberry group is connected with the control end of the relay through a GPIO pin.
And step 3: and determining the size of the sealed cabin according to the hardware circuit.
The sealed cabin size requirement can hold all plus hardware circuit, and for the organic glass material preparation, 8 perforation bolt openings are reserved to the rear end cap, and one of them trompil is fixed as the female seat of a three-core watertight connector, and the inside one end of this female seat sealed cabin links to each other with power modem's input. And (4) designing a fixed connecting piece according to the size of the sealed cabin and the size of the sealed cabin at the bottom of the BlueROV 2.
And 4, step 4: the BlueROV2 original communication cable was removed.
A communication cable with double ends of a watertight male plug is used, one end of the communication cable is connected to a female seat of an original watertight connector of the BlueROV2, and the other end of the communication cable is connected to a female seat of the watertight connector on a rear end cover of a sealed cabin for placing an external circuit.
And 5: and (5) fixing the sealed cabin.
And the sealed cabin for placing the circuit is connected with the original structure of the BlueROV2 by using a fixed connecting piece.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a full drive is from master underwater robot based on BlueROV2 which characterized in that: an additional sealed cabin is added on the original sealed cabin of the BlueROV2 to serve as a main control cabin of the BlueROV, and the main control cabin internally comprises a main control module, a communication module, a power supply module, a signal source module and a sensor module;
the main control module is a microprocessor, the microprocessor runs an ROV autonomous control program and is used for running a control algorithm, reading sensor data, processing the sensor data, realizing a software layer communication interface and issuing a control command to an execution mechanism of a lower-layer ROV;
the communication module comprises a power modem, a router module, a network communication module and a radio station module; the electric power modem converts the electric signal transmitted by the original structure of the ROV into an Ethernet signal and transmits the Ethernet signal to the network communication module; the router module realizes that the ROV floats out of the water surface and remotely logs in the ROV main control module by a shore-based computer; the network communication module continuously transmits the network signals transmitted by the power modem to the main control module; the radio station module realizes communication between the ROV and a shore-based ground station after the ROV floats out of the water surface;
the power supply module supplies power to other modules in the additionally-installed sealed cabin;
the sensor module comprises a camera, and the camera senses an optical signal source;
the signal source module is an LED lamp and is used as a signal sign for identifying other ROVs in an underwater dark environment.
2. The full-drive autonomous underwater vehicle based on BlueROV2 as claimed in claim 1, wherein the sensor module further comprises a depth sensor, the depth sensor is used as a security measure when the ROV operates autonomously, the depth sensor senses the water pressure and then converts the water pressure to obtain the water depth, and when the ROV submerges beyond a certain depth, the security program triggers and the ROV emerges from the water surface.
3. The BlueROV 2-based fully-driven autonomous underwater vehicle as claimed in claim 1, wherein 8 perforated bolt openings are reserved in the rear end cover of the additional sealed cabin, one of the openings is fixed as a female seat of a three-core watertight connector, and one end of the interior of the female seat sealed cabin is connected with the input of the power modem.
4. The BlueROV 2-based fully driven autonomous underwater vehicle as claimed in claim 3, characterized in that the add-on capsule is of plexiglas material.
5. A de-cabling method of a fully driven autonomous underwater vehicle based on BlueROV2 as claimed in claim 3, characterized in that: removing the original communication cable, using a half-meter long communication cable, wherein two ends of the communication cable are provided with a three-core watertight connector female seat, one end of the communication cable is connected with a three-core watertight connector male head on a rear end cover of the original sealed cabin of the BlueROV2, and the port is an interface for the BlueROV2 to send information outwards and receive external control signals; the other end of the three-core watertight connector is connected with a male connector of a three-core watertight connector on the rear end cover of the additional sealed cabin, and the other end of the male connector is connected with a hardware circuit in the additional sealed cabin.
6. An underwater cluster system characterized by comprising a plurality of the fully driven autonomous underwater robots based on BlueROV2 of claim 1.
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