CN202120467U - Remote control underwater robot simulation training device - Google Patents

Remote control underwater robot simulation training device Download PDF

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Publication number
CN202120467U
CN202120467U CN2011202016843U CN201120201684U CN202120467U CN 202120467 U CN202120467 U CN 202120467U CN 2011202016843 U CN2011202016843 U CN 2011202016843U CN 201120201684 U CN201120201684 U CN 201120201684U CN 202120467 U CN202120467 U CN 202120467U
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CN
China
Prior art keywords
underwater robot
virtual
rov
industrial computer
module
Prior art date
Application number
CN2011202016843U
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Chinese (zh)
Inventor
葛新
郭威
刘开周
许光君
Original Assignee
中国科学院沈阳自动化研究所
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Priority to CN2011202016843U priority Critical patent/CN202120467U/en
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Publication of CN202120467U publication Critical patent/CN202120467U/en

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Abstract

The present utility model provides a remote control underwater robot simulation training device for training ROV operation personnel. The remote control underwater robot simulation training device comprises a control device for helping the operation personnel to control positions and postures of a virtual underwater robot; a control system for calculating the positions and the postures of the virtual underwater robot based on the kinetics and dynamics models of the underwater robot and according to the operation of the operation personnel about the control device, and sending the position and posture information of the virtual underwater robot to a visual simulation computer; and the visual simulation computer for virtually displaying the sea environment, the positions and the postures of the virtual underwater robot, and the movement trail of a underwater robot carrier. By simulating the ROV real operation scene to train the operation personnel, the visual display effect is lifelike, the immersion is strong, the training time is short, the effect is good, and the damage and loss of the ROV will not be caused.

Description

A kind of remote underwater robot simulation trainer
Technical field
The utility model relates to a kind of remote underwater robot simulation trainer.
Background technology
Underwater robot (ROV) is that mankind nowadays is explored marine environment and one of strong instrument of developing ocean resources.The ROV complicated operation needs special operating personnel to operate.Therefore when ROV is delivered to customer, need carry out special practical operation training to the client.Because the client is stranger to ROV, do not have perceptual knowledge, so the training time is long, result of training is also undesirable.The client operates real ROV for the first time simultaneously, the phenomenon of misoperation may occur, and this very easily causes a series of problems such as ROV damage, heaving pile breakage, even also possibly lose ROV.Lot of manpower and material resources has not only been wasted in the generation of these a series of problems, and result of training is not good, has brought huge psychological burden also for the operating personnel that accepting to train.
The utility model content
In order to overcome the above problems a kind of remote underwater robot simulation trainer that the utility model proposition is used to train ROV operating personnel.
The utility model for realizing the technical scheme that above-mentioned purpose adopted is: a kind of remote underwater robot simulation trainer, it is characterized in that, and comprise
Actuation means is used for the equipment that operating personnel control robot location and attitude under the Virtual water;
Control system; Kinematics and kinetic model based on underwater robot; According to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine is used for virtual demonstration marine environment, the demonstration of robot location and attitude under the Virtual water, and the movement locus of virtual demonstration underwater robot carrier.
Said actuation means comprises single pole, button and pilot lamp.
Said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
Said control system comprises industrial computer and slave computer module, carries out information interaction through the CAN bus network between industrial computer and each slave computer module, adopts the application layer protocol of master-slave mode, and industrial computer is a main frame, and each slave computer module is a slave.
Said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
Described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
The utlity model has following advantage:
1. simulation ROV practical operation scene is come operator training, and the what comes into a driver's display effect is true to nature, has very strong feeling of immersion, and the training time is short, and is effective, and can not cause the damage of ROV and lose;
2. controlling equipment only needs two single poles, several button and pilot lamp, and is simple to operate;
3. function modoularization, interface is simple.The utility model comprises controlling equipment, control system, three modules of vision simulation computing machine, and each module all has function separately, and interface is simple, and is easy to connect.;
4. functions of modules independent.Vision simulation computing machine in the utility model is independent, not only can be used for Aided Design ROV control system, also can be used in the real ROV control cabinet, the motion state that auxiliary ROV operating personnel observe ROV.
5. volume is little, is easy to install.
Description of drawings
Fig. 1 is the general structure block diagram of the utility model;
Fig. 2 is the system signal process flow diagram of the utility model;
Fig. 3 is the industrial computer control flow chart of the utility model;
Fig. 4 is the vision simulation computer control process flow diagram of the utility model.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is elaborated.
Like Fig. 1, a kind of remote underwater robot simulation trainer comprises
Actuation means is used for position and attitude that operating personnel change virtual underwater robot;
Control system is the core of the utility model, adopts real equipment to build.Based on the kinematics and the kinetic model of underwater robot, according to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine, the what comes into a driver's that is used for virtual underwater robot shows.
Said actuation means comprises single pole, button and pilot lamp.
Said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
Said control system comprises industrial computer and slave computer module, carries out information interaction through the CAN bus network between industrial computer and each slave computer module, adopts the application layer protocol of master-slave mode, and industrial computer is a main frame, and each slave computer module is a slave.
Described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
Set up ethernet communication through Ethernet between said industrial computer and the said vision simulation computing machine, adopt ICP/IP protocol to realize the mutual of information.
Said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
The system signal process flow diagram of the utility model is as shown in Figure 2.When operating personnel operated the single pole in the controlling equipment, its corresponding signal lines can be exported-10 volts to+10 volts aanalogvoltage.The signal wire of single pole links to each other with analog input module, and the aanalogvoltage of single pole signal wire output can be input to analog input module.Analog input module is converted into digital quantity with the aanalogvoltage of single pole output by analog quantity.Analog input module has the CAN bus controller, can be articulated on the CAN bus network.Analog input module sends the information of voltage of single pole signal wire output to the industrial computer that is articulated on the CAN bus.After industrial computer receives data and does certain pre-service; In conjunction with the angle of rake deployment scenarios of ROV, motor mathematical model and motor driver model; The motion conditions of four degree of freedom of virtual ROV (displacement and bow are to the angle) is converted into each thruster motor simulation control voltage, and this magnitude of voltage is exported by analog output module through the CAN bus network.Because the utility model does not have real motor driver and motor; But realize with virtual motor driver model and motor mathematical model; So each thruster analog control voltage collects in the industrial computer through analog input module after analog output module output again; Bring virtual motor driver model and motor mathematical model then into, finally calculate the thrust size of each thruster.Said motor mathematical model is:
n = U - I a * R C e * φ
Wherein U is the motor driver output voltage; N is a motor speed; Ce, and R are normal value, and Ia is the electric motor loop electric current.
Said thruster mathematical model is:
T=K T*ρn 2D 4
Wherein T is a thruster thrust, and KT is the zero dimension thrust coefficient, and ρ is a water-mass density, and n is the thruster rotating speed, and D is the thruster airscrew diameter.
After the size of each thruster thrust was confirmed, position and attitude that industrial computer just can be confirmed virtual ROV according to kinetic model and the kinematics model of ROV finally sent position and the attitude information of virtual ROV to the vision simulation computing machine through Ethernet.After the vision simulation computing machine receives the position and attitude of the virtual ROV that industrial computer sends, drive the virtual ROV three-dimensional model motion in the vision simulation environment.In robot simulation's training aids under the control of input equipments such as single pole and button, the virtual ROV three-dimensional model in the vision simulation computing machine has been realized the variation of position and the change of attitude so under water.
The industrial computer control flow chart of the utility model is as shown in Figure 3.This program adopts the multi-thread programming technology, mainly is divided into serial port communication thread, ROV dynamics and kinematics model thread, main thread.
Because industrial computer does not have the CAN controller, can't directly be articulated on the CAN bus network, therefore need industrial computer be articulated on the CAN bus indirectly through the CAN/RS232 intelligent converter.The CAN/RS232 intelligent converter can convert the CAN message frame to RS232 serial communication frame, also can RS232 be gone here and there the serial communication frame and convert the CAN message frame to.Industrial computer only need carry out serial communication with CAN/RS232 and can be articulated to indirectly on the CAN bus network, and then communicates with each slave computer module.Serial port communication thread is responsible for communicating by letter between industrial computer and the CAN/RS232 intelligent converter; Indirect CAN bus network that industrial computer is inserted; Receive the input information of analog input module, digital input module; Finally obtain the analog output voltage information of single pole and the switch situation of button, and export digital information to analog output module output aanalogvoltage with to digital output module through the CAN bus network.
Table 1 is the message frame form of CAN bus application layer protocol.The message frame formal definition identifier and the using priciple and the functional meaning of data division of CAN message, make the CAN message component in the network that its particular functionality and implication arranged.Agreement is the basis with the CAN2.0B frame structure, and identifier adopts extended format, and wherein source node MAC and destination node MAC are used to distinguish the numbering of equal modules type, to prevent the CAN bus collision.
Table 1
ROV kinematics and kinetic model thread are mainly used in brings the input information of single pole into ROV dynamics and kinematics model, calculates position and the attitude of virtual ROV.
The kinematics of ROV and kinetic model are:
M v · + C ( v ) v + D ( v ) v + g ( η ) = τ
M is the virtual underwater robot inertial matrix that comprises additional mass, M ∈ R 6 * 6
C (v) be virtual underwater robot Ke Shi and centripetal force matrix, C (v) ∈ R 6 * 6
D (v) be virtual underwater robot fluid resistance matrix, D (v) ∈ R 6 * 6
G (η) is restoring force (moment) vector that is produced by gravity and buoyancy, g (η) ∈ R 6 * 1
τ is power (moment) vector that is produced by thruster, τ ∈ R 6 * 1
Ke Shi and centripetal force are slightly low to neglect under the ROV low speed situation, and displacement and the bow of only studying the ROV three degree of freedom be to the angle, and kinematics and the kinetic model of the ROV that the utility model adopts can be reduced to:
215 u · + ( 100 + 200 | u | ) u = τ x
265 v · + ( 100 + 200 | v | ) v = τ y
265 w · + ( 100 + 200 | w | ) w = τ z
80 r · + ( 50 + 100 | r | ) r = M z
Main thread is mainly used in the update software interface and sends position and the attitude information of virtual ROV to the vision simulation computing machine through ICP/IP protocol.
The vision simulation computer control process flow diagram of the utility model is as shown in Figure 4.The vision simulation computing machine is that three-dimensional vision shows, adopts virtual reality technology, behind position of receiving the virtual underwater robot that control system is sent and attitude information, dynamically demonstrates the motion conditions of three dimensional model for robot under the Virtual water.This program adopts Visual Studio 2003 and Vega Prime function library to realize, is made up of a main thread.This program is initialization vision simulation environment at first, the position of the position of various objects and attitude, especially ROV and attitude in the set environment.After reading the position and attitude information of the virtual ROV three-dimensional model that sends through Ethernet by industrial computer then, change the motion state of virtual ROV according to these information.The frame rate that this program is provided with picture is 50 frames/s, and at position and the attitude information of the virtual ROV of each frame update of picture, in continuous picture shows, just can demonstrate the motion state of virtual ROV so intuitively.This program also need be carried out collision detection to virtual ROV carrier, and so-called collision detection is exactly to detect the distance of virtual ROV three-dimensional model and other three-dimensional models.If virtual ROV three-dimensional model with other modal distances be zero (promptly colliding), just make the stop motion of virtual ROV three-dimensional model, take place to prevent the phenomenon that virtual ROV three-dimensional model passes other three-dimensional models.This program feeds back to industrial computer with some status informations of virtual ROV through Ethernet at last, and on the human-computer interaction interface of industrial computer, these information is shown.

Claims (8)

1. a remote underwater robot simulation trainer is characterized in that, comprises
Actuation means is used for the equipment that operating personnel control robot location and attitude under the Virtual water;
Control system; Kinematics and kinetic model based on underwater robot; According to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine is used for virtual demonstration marine environment, the demonstration of robot location and attitude under the Virtual water, and the movement locus of virtual demonstration underwater robot carrier.
2. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that said actuation means comprises single pole, button and pilot lamp.
3. a kind of remote underwater robot simulation trainer according to claim 2 is characterized in that, said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
4. a kind of remote underwater robot simulation trainer according to claim 1; It is characterized in that; Said control system comprises industrial computer and slave computer module, carries out information interaction through the CAN bus network between industrial computer and each slave computer module, adopts the application layer protocol of master-slave mode; Industrial computer is a main frame, and each slave computer module is a slave.
5. a kind of remote underwater robot simulation trainer according to claim 4 is characterized in that said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
6. a kind of remote underwater robot simulation trainer according to claim 4 is characterized in that described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
7. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that, sets up ethernet communication through Ethernet between said industrial computer and the said vision simulation computing machine, adopts ICP/IP protocol to realize the mutual of information.
8. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that, said vision simulation computing machine is that three-dimensional vision shows.
CN2011202016843U 2011-06-15 2011-06-15 Remote control underwater robot simulation training device CN202120467U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102354464A (en) * 2011-06-15 2012-02-15 中国科学院沈阳自动化研究所 Remotely operated vehicle-simulating trainer
CN104168313A (en) * 2014-08-06 2014-11-26 华中科技大学 Communication network of remotely-controlled underwater operation system and scheduling method of communication network
CN104835406A (en) * 2015-06-05 2015-08-12 安徽埃夫特智能装备有限公司 Industrial robot teaching system
CN104252138B (en) * 2014-09-17 2016-08-03 华中科技大学 The semi-hardware type simulation test system that a kind of underwater platform controls

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102354464A (en) * 2011-06-15 2012-02-15 中国科学院沈阳自动化研究所 Remotely operated vehicle-simulating trainer
CN104168313A (en) * 2014-08-06 2014-11-26 华中科技大学 Communication network of remotely-controlled underwater operation system and scheduling method of communication network
CN104168313B (en) * 2014-08-06 2017-11-24 华中科技大学 One kind remote control underwater work system communication network and its dispatching method
CN104252138B (en) * 2014-09-17 2016-08-03 华中科技大学 The semi-hardware type simulation test system that a kind of underwater platform controls
CN104835406A (en) * 2015-06-05 2015-08-12 安徽埃夫特智能装备有限公司 Industrial robot teaching system

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