CN202331057U - Underwater robot sub-control system - Google Patents
Underwater robot sub-control system Download PDFInfo
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- CN202331057U CN202331057U CN2011204054375U CN201120405437U CN202331057U CN 202331057 U CN202331057 U CN 202331057U CN 2011204054375 U CN2011204054375 U CN 2011204054375U CN 201120405437 U CN201120405437 U CN 201120405437U CN 202331057 U CN202331057 U CN 202331057U
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- underwater robot
- inertial navigation
- strapdown inertial
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Abstract
The utility model relates to the control technology of an underwater robot, in particular to an underwater robot sub-control system which comprises a strapdown inertial navigation system and a visual simulation system and is characterized in that an underwater robot carrier is provided with the strapdown inertial navigation system used for transmitting position and posture information of an underwater robot, the strapdown inertial navigation system is connected with the visual simulation system which displays movement tracks of the underwater robot in a virtual mode, and the visual simulation system is arranged in a control room of the underwater robot. The underwater robot sub-control system disclosed by the utility model is used for displaying the posture and movement situations of the underwater robot in deep sea in a simulation mode, and facilitating an operator to control the underwater robot; and the system has a simple structure and is convenient to construct. The underwater robot sub-control system and an underwater robot master-control system are two independent systems, and are not mutually affected, and the underwater robot sub-control system has a small size and is easy to install.
Description
Technical field
The utility model relates to the underwater robot control technology, a kind of specifically underwater robot supplementary controlled system.
Background technology
21 century is the century of ocean, and the ocean that accounts for global 71% area will be next century, also be the environment that the following mankind depend on for existence.Underwater robot (ROV) is the strong instrument that mankind nowadays is explored marine environment and exploitation ocean resources; But the ROV control system is complicated; Operating process is loaded down with trivial details, and the ROV carrier is in the deep-sea of several kms, and operating personnel can't Direct observation control the ROV carrier; Can only control position and the attitude of ROV by the numerical information that a series of sensor feedback are returned, Here it is so-called " blind operation ".This mode of operation needs operating personnel constantly to read the data such as position and attitude of ROV, and in the brain of oneself, forms the sense organ understanding of ROV motion state, and then removes to control the ROV carrier through sequence of operations, and obviously this process is more loaded down with trivial details.
The utility model content
To the problems referred to above, the utility model provides a kind of underwater robot supplementary controlled system.
The utility model for realizing the technical scheme that above-mentioned purpose adopted is: a kind of underwater robot supplementary controlled system; Comprise strapdown inertial navigation system and vision emulation system; The strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier; Strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
Said strapdown inertial navigation system is connected with vision emulation system through the RS485 bus.
Said vision emulation system is that the equipment that can realize the vision simulation program is housed.
Said strapdown inertial navigation system is used to export attitude, displacement and the velocity information of underwater robot.
The utlity model has following advantage:
1. simulation shows attitude and the motion conditions of underwater robot in the deep-sea, and the handled easily personnel control underwater robot.
2. the underwater robot supplementary controlled system includes only a strap-down inertial device and a vision simulation computing machine, and is simple in structure, and system building is convenient;
3. underwater robot supplementary controlled system and underwater robot master control system are two systems independently, are independent of each other each other.
4. 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 decorum signal flow graph of the utility model;
Fig. 3 is the vision simulation computer control process flow diagram of the utility model;
Fig. 4 is the underwater robot carrier three-dimensional model diagram of the utility model;
Fig. 5 is the mathematical model figure of the hitched ropes of underwater robots of the utility model.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is done further detailed description.
As shown in Figure 1; A kind of remote underwater robot supplementary controlled system; Comprise strapdown inertial navigation system and vision emulation system; The strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, and strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
Said strapdown inertial navigation system is connected with vision emulation system through the RS485 bus.
Said vision emulation system is that the equipment that can realize the vision simulation program is housed.
Said strapdown inertial navigation system is used to export attitude, displacement and the velocity information of underwater robot.
Said vision emulation system adopts virtual reality technology, show the real attitude and the motion state of robot carrier down with virtual underwater robot modeling, and then auxiliary underwater robot is controlled the motion of the real underwater robot of personnel operation at the deep-sea.
Said underwater robot supplementary controlled system and underwater robot master control system are two systems independently, are independent of each other each other.
The system signal process flow diagram of the utility model is as shown in Figure 2.SINS is a kind of in the inertial navigation system system, be installed in it on ROV carrier after, position and the attitude information that can transmit the ROV carrier in real time are in the vision emulation system of pulpit.Vision emulation system adopts virtual reality technology, by an industrial computer corresponding vision simulation is installed and realizes.Receive the position and attitude information of ROV carrier when vision emulation system after; Just can drive the ROV three-dimensional model motion in the Virtual Ocean Environment; The attitude that demonstrates underwater robot carrier in the deep-sea that ROV carrier model in the vision simulation computing machine will be real-time like this changes and displacement changes situation, and final operating personnel just can control the underwater robot carrier that is in the deep-sea through observing vision emulation system easily
The vision simulation computer control process flow diagram of the utility model is as shown in Figure 3.This program adopts VisualStudio 2003 and Vega Prime function library to realize, is made up of a 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 attitude and displacement information of the ROV carrier in the deep-sea of sending through the RS485 bus then, change the motion state of virtual ROV according to these information by strapdown inertial navigation system.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 is for the situation of underwater robot in the deep-sea that demonstrate more true to nature, and the also virtual heaving pile that connects pulpit and underwater robot carrier that shown is shown as a marine space para-curve with this heaving pile is virtual.
The position of the relevant carrier that strapdown inertial navigation system is transmitted up and attitude information need further be handled and could the vision simulation that these information be converted into carrier be shown; This relates to the transition problem of moving coordinate system and world coordinate system, and its conversion formula is:
Wherein, X is the displacement of carrier on the world coordinate system directions X;
Y is the displacement of carrier on world coordinate system Y direction;
Z is the displacement of carrier on world coordinate system Z direction;
Sx is carrier displacement on the directions X in moving coordinate system;
Sy is carrier displacement on the Y direction in moving coordinate system;
Sz is carrier displacement on the Z direction in moving coordinate system;
θ is the direction of motion of carrier and the angle of moving coordinate system Y axle.
Underwater robot carrier three-dimensional model diagram of the present invention is as shown in Figure 4.The tools of this three-dimensional model are MultiGen Creator; Utilize the method for dynamic modeling; Be the basis with two-dimentional surface sweeping image, setting up good one of model surface loading and the proportional texture picture of realistic model size, the model of setting up like this is more true to nature comparatively speaking.Observed following four principles in the process of making ROV three-dimensional model: (1) can not have faying surface and close too near face; (2) a plurality of fine strip shape models can not be intensive; (3) single fine strip shape, the single face model can not be too thin; (4) the texture pixel size requirements is 2 Nth power, can not surpass 1024 pixels.In order in vision simulation, to demonstrate the effect of thruster rotation; It is rotatable need when setting up the ROV three-dimensional model, specifying thruster; Therefore needing to set angle of rake blade is the DOF node, in vision simulation, just can control angle of rake sense of rotation and rotational speed like this.
The mathematical model figure of hitched ropes of underwater robots of the present invention is as shown in Figure 5.In order in vision simulation, to show heaving pile dynamically; Suppose the space para-curve that is shaped as of heaving pile; And hypothesis at any time; Position with the ROV model is that true origin is set up the three-dimensional right-handed coordinate system, and parabolical summit, space is on initial point, and another point is obviously in the repeater position.This space para-curve can be regarded as by the Plane intersects in a paraboloid of revolution and the space and produces.The paraboloid of revolution is the summit with the initial point, and crosses the coordinate points at repeater place; And space midplane process initial point, and the coordinate points at process repeater place.It is exactly the spatial mathematic of heaving pile that such two space curved surfaces intersect what obtain---space para-curve.
Its mathematical model can use following system of equations to describe.
Wherein, (x, y z) are the coordinate of arbitrfary point on the para-curve; A, b are space parabola model parameter.
Under the known situation of carrier and repeater coordinate position, can calculate two parameter a and b in the above-mentioned system of equations, finally can be in the hope of the mathematical model expression formula of heaving pile.
On the basis of known heaving pile mathematical model; The method that in the vision simulation environment, adopts described point to draw can show heaving pile; And in the renewal of each two field picture of vision simulation; All need recomputate the mathematical model of heaving pile, and described point is drawn again, like this could the dynamic state that upgrades heaving pile.
Claims (4)
1. underwater robot supplementary controlled system; Comprise strapdown inertial navigation system and vision emulation system; It is characterized in that; The strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, and strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.
2. a kind of underwater robot supplementary controlled system according to claim 1 is characterized in that, said strapdown inertial navigation system is connected with vision emulation system through the RS485 bus.
3. a kind of underwater robot supplementary controlled system according to claim 1 is characterized in that said vision emulation system is that the equipment that can realize the vision simulation program is housed.
4. a kind of underwater robot supplementary controlled system according to claim 1 is characterized in that said strapdown inertial navigation system is used to export attitude, displacement and the velocity information of underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204054375U CN202331057U (en) | 2011-10-21 | 2011-10-21 | Underwater robot sub-control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204054375U CN202331057U (en) | 2011-10-21 | 2011-10-21 | Underwater robot sub-control system |
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| Publication Number | Publication Date |
|---|---|
| CN202331057U true CN202331057U (en) | 2012-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011204054375U Expired - Fee Related CN202331057U (en) | 2011-10-21 | 2011-10-21 | Underwater robot sub-control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064296A (en) * | 2011-10-21 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Underwater robot auxiliary control system |
| CN107577158A (en) * | 2017-09-22 | 2018-01-12 | 哈尔滨工程大学 | Underwater operation level ROV navigation simulation system and its control method |
| CN113433835A (en) * | 2020-03-23 | 2021-09-24 | 中国科学院沈阳自动化研究所 | UNITY 3D-based underwater vehicle vision simulation system and method |
-
2011
- 2011-10-21 CN CN2011204054375U patent/CN202331057U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064296A (en) * | 2011-10-21 | 2013-04-24 | 中国科学院沈阳自动化研究所 | Underwater robot auxiliary control system |
| CN103064296B (en) * | 2011-10-21 | 2016-03-02 | 中国科学院沈阳自动化研究所 | A kind of underwater robot sub-control system |
| CN107577158A (en) * | 2017-09-22 | 2018-01-12 | 哈尔滨工程大学 | Underwater operation level ROV navigation simulation system and its control method |
| CN113433835A (en) * | 2020-03-23 | 2021-09-24 | 中国科学院沈阳自动化研究所 | UNITY 3D-based underwater vehicle vision simulation system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120711 Termination date: 20171021 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |