CN208283809U - A kind of small underwater robot kinetic control system - Google Patents
A kind of small underwater robot kinetic control system Download PDFInfo
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- CN208283809U CN208283809U CN201820913402.4U CN201820913402U CN208283809U CN 208283809 U CN208283809 U CN 208283809U CN 201820913402 U CN201820913402 U CN 201820913402U CN 208283809 U CN208283809 U CN 208283809U
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Abstract
The utility model discloses a kind of kinetic control systems of small underwater robot, including water surface system and sub-aqua sport control system, sub-aqua sport control system includes main control module, data communication module, data memory module, power supply, voltage detection module, current detection module, depth transducer, attitude transducer, six electron speed regulators and motor；Main control module sampling depth sensor and attitude transducer data obtain the depth and posture information of underwater robot, and the voltage and current information of voltage detection module and current detection module perception, it is sent to water surface system by data communication module, and receives the motion control signal that water surface system issues.Each motor is connected with electron speed regulator, provides the movement of drive control underwater robot for the movement of hydrospace six degree of freedom.The utility model is designed reasonably, structure is simple, and using SCM Based master control as the control core of sub-aqua sport control system, field of detecting has good application prospect under water.
Description
Technical field
The utility model relates to a kind of SCM Based kinetic control systems, and in particular to a kind of small underwater robot
Kinetic control system.
Technical background
Currently, each power is all greatly developing marine cause in the world, but there are various uncertain and unknown in ocean
It is extremely difficult that factor, human body and conventional equipment will smoothly complete under these conditions work.Small underwater robot because its safety,
The advantages that economic, portable, is constantly subjected to the concern of various countries researcher, can complete ocean environment monitoring, marine resources development,
Undersea pipe-laying and Large marine works such as detect at the work under water.
Motion control is the core technology of small underwater robot research and development, is related to the normal operation of underwater robot and appoints
The smooth execution of business, is the primary precondition for completing all kinds of job tasks and undersea search purpose.But currently, China it is small
Type underwater robot equipment is primarily present the problems such as motion control is inefficient, there are security risks.Based under this background, for convenience
Researcher carries out safe and stable, efficient motion control to small underwater robot, designs a kind of small underwater robot fortune
Autocontrol system is the research topic of the utility model.
Utility model content
Goal of the invention: in view of the deficiencies in the prior art, the utility model aim is to design a kind of small in size, property
It can stablize, the novel small-sized AUV Control system efficiently controlled, to facilitate researcher to complete basic exercise control
System is accurately positioned a series of tasks such as control.
Technical solution: to achieve the goals above, the utility model adopts the following technical solution:
A kind of small underwater robot kinetic control system, including water surface system and sub-aqua sport control system, the water
Lower kinetic control system includes main control module, data communication module, data memory module, power supply, voltage detection module, electric current inspection
Survey module, depth transducer, attitude transducer, six electron speed regulators and six motors；The main control module respectively with data
Communication module, data memory module, power supply, voltage detection module, current detection module, depth transducer, attitude transducer and
Each electron speed regulator is connected；The main control module sampling depth sensor and attitude transducer data obtain small underwater robot
Depth and posture information and voltage detection module and current detection module perception voltage and current information, by described
Data communication module is sent to water surface system, and receives the motion control signal that water surface system issues, output movement velocity control
Signal is to electron speed regulator；Each motor is connected with electron speed regulator, and the movement for hydrospace six degree of freedom provides driving.
Preferably, the water surface system includes water surface computer and water surface control cabinet, the water surface computer is for showing
Show the movement state information with storage small underwater robot；The water surface control cabinet is used for the movement control of small underwater robot
It makes and carries out data exchange with sub-aqua sport control system.
Preferably, the main control module is using ARM series STM32F103 chip as main control chip.
Preferably, the voltage detection module includes voltage detecting circuit and voltage signal conditioning circuit, the voltage
Detection circuit includes resistance pressure-dividing network and isolating transmitter, and the resistance pressure-dividing network passes through two resistance for the power supply of input
Isolating transmitter is inputted after voltage, isolating transmitter outputs voltage signal to voltage signal conditioning circuit, amplify and
Low-pass filtering simultaneously carries out clamper clippings using two diodes, exports the voltage signal of 0~3.3V to main control module single-chip microcontroller
A D interface.
Preferably, the current detection module includes Hall sensor and current signal conditioning circuit, the Hall is passed
The voltage signal that output can be detected by AD after sensor induction power supply electric current amplifies and low pass filtered to current signal conditioning circuit
Wave simultaneously carries out clamper clipping using two diodes, exports the voltage signal of 0~3.3V to the A D interface of main control module single-chip microcontroller.
Preferably, the power supply uses the lithium battery group of 24V, 2200mAh.
Preferably, the depth transducer uses pressure sensor chip MS5803.
Preferably, the attitude transducer uses chip MPU9150.
Preferably, the electron speed regulator uses autoelectrinic governor EG2000.
The utility model has the advantages that the small underwater robot kinetic control system of the utility model, including water surface system and underwater fortune
Autocontrol system.Water surface system is responsible for showing underwater robot every terms of information, and remotely control underwater robot movement；Underwater fortune
Autocontrol system receives the motion control instruction of water surface system, and the received information transmitting of underwater sensor is got on, and core is
Single-chip microcontroller main control module, the running of other modules is controlled by main control module, and peripheral component is data module, power supply, safety inspection
Survey module, sensor group, electron speed regulator, motor etc..Water surface system and sub-aqua sport control system cooperate, and constitute one
Complete AUV Control system.These enable researcher conveniently, real-time, long-range control small underwater
Robot motion's state.And the voltage and current information of Subsea Control Systems can be acquired by voltage, current detection module,
It can note abnormalities in time, remind operator's emergent management.
Detailed description of the invention
In order to be more likely to be clearly understood the content of the utility model, the present invention is made in conjunction with attached drawing further detailed
Explanation, in which:
Fig. 1 is the functional block diagram of the utility model embodiment.
Fig. 2 is the circuit diagram of the voltage detection module of the utility model embodiment.
Fig. 3 is the circuit diagram of the current detection module of the utility model embodiment.
Specific embodiment
In conjunction with attached drawing, that the utility model will be further described is as follows:
As shown in Figure 1, a kind of AUV Control system disclosed in the utility model embodiment is broadly divided into water
Plane system and sub-aqua sport control system.Water surface system is formed by water surface computer, water surface control cabinet, water surface computer is for showing
Show the movement state information with storage small underwater robot, while being also responsible for acquisition control signal；Water surface control cabinet is for small
The motion control of type underwater robot including forward-reverse, turns left to turn right, floating dive, depthkeeping, while also responsible and water
Lower kinetic control system carries out data exchange.
Sub-aqua sport control system includes main control module, data module, power supply, safety detection module, sensor group, electronics
Governor and motor.Main control module is the core of sub-aqua sport control system, other several with sub-aqua sport control system respectively
Module is connected, and using ARM series STM32F103 chip as main control chip, and is integrated with storage chip, communication chip and sensing
Device interface, mainly for the treatment of motion control execution, coordinate communication and storage in bottom control circuit between modules
The information data of sensor acquisition.It should be noted that water surface computer data show with interact, the data of underwater main control module
The software program that acquisition, communication, motion control method are designed into is the prior art, is not the improvement of the utility model.
Data module, mainly includes data communication module and data memory module, and data communication module uses the side RS485
Case is a kind of master-slave communication mode, and host is water surface system, and slave is sub-aqua sport control system；Data memory module is used
Micro SD card module stores key configuration information and accident doubtful point data, with DS1302 clock module record power on every time when
Between and alarm time of origin.
Safety detection module mainly includes voltage detection module and current detection module, the voltage electricity for aware circuit
Stream information, safety detection module can acquire the information of voltage and current information of Subsea Control Systems, when overtension or mistake
It is low, may be caused by motor rotation blockage, line short to need to find in time and processing when electric current is excessive.Voltage detection module
Core circuit is a resistance pressure-dividing network；Current detection module uses a kind of ACS758LCB-50U unidirectional current sensor；Water
The plane system moment monitors these information, once there is exception that operator will be reminded to carry out emergent management.
Sensor group includes depth transducer, attitude transducer, and wherein depth transducer and attitude transducer belong under water
The internal sensor of robot is mounted in robot itself, for perceiving the state of own；Depth transducer is for obtaining
The depth information of small underwater robot；Attitude transducer is used to obtain the posture information of small underwater robot.
Electron speed regulator selects a universal autoelectrinic governor EG2000, including six electron speed regulators,
It is connect respectively with six motors, the speed control for small underwater robot movement.Six motors respectively with six electronics tune
Fast device connection, the movement for carrying out six degree of freedom under water for small underwater robot provide driving.Wherein space six is free
Degree movement can be divided into horizontal plane motion and diving plane, and the movement on horizontal plane is related to the holding and change in course, vertically
Movement on face is related to snorkeling and pitching.
Power supply is for providing reliable and stable power supply for sub-aqua sport control system.In this control system using 24V,
The lithium battery group of 2200mAh is powered comprehensively, and due to modules, their voltage type is different, have 24V, 12V, 7V, 5V,
3.3V.24V direct current, need to power to underwater lamp simultaneously the 24V direct current by 24V to turn 12V DCDC isolated power supply module defeated
12V voltage out；12 voltages are powered directly to isolating transmitter, are on the one hand exported by integrated voltage-stabilized chip LM7805 chip voltage
7V and 5V, wherein 7V is motor with drive voltage, and 5V's powers to current detecting chip, and motor operation is to electricity in order to prevent
Source generate interference, 5V therefrom draw again all the way to low pressure difference linearity pressure regulation chip LM117-3.3 output 3.3V voltage individually to
The power supply of STM32F103 chip, wherein conversion chip is using LM7805 and LM117-3.3.
In this example, water surface computer is using the computer that can generally run Windows system；It is serially total using RS485
Line is as system bus.Compact-sized due to the small underwater robot, space is smaller, so its sensor carried should
It is light and handy portable, and precision with higher, depth transducer select pressure sensor chip MS5803, attitude transducer selects core
MS5803 and MPU9150 are integrated in one to reduce the occupancy of the communication line for main control chip by piece MPU9150
In IMU-Depth module, the communication with main control module is realized by an iic bus.
As shown in Fig. 2, the circuit diagram of the voltage detection module for the present embodiment, including voltage detecting circuit and voltage
Signal conditioning circuit, the core circuit of voltage detecting circuit are a resistance pressure-dividing networks.Subsea Control Systems supply voltage
It is 24V, STM32F103AD module input voltage maximum is 3.3V, it is assumed that system power supply voltage is usually no more than 33V, then selecting
Taking divider resistance is 13.6K and 1.5K, and the voltage V_SENSE1 of 1.5K resistance point passes through 0.1 μ F high-pass filtering capacitor and D1TVS
T6650P signal isolation transmitter module is inputted after pipe.Signal input, signal may be implemented under 12V power supply in T6650P module
Three end electrical isolations between output, power supply, module can effectively remove electromagnetic interference, high frequency letter using magnetoelectricity isolation technology
Number penetrate into influence, than traditional linear optical coupling have better temperature drift characteristic and the linearity, power consumption is also lower, and precision can reach
To 0.1%.The system only needs signal to output and input isolation, thus by power ground and signal output ground altogether together with, constitute
Double isolation transmitting modules.
V_SENSE2 signal increases simulation by the voltage follower circuit that amplifier is built in voltage signal conditioning circuit
The carrying load ability of signal, also plays the effect of isolation, accesses the first-order low-pass being made of R3 resistance and C3 capacitor later
Wave device finally carries out clamper clipping using two diodes in the inlet AD, is limited in signal amplitude within 0~3.3V, has
The A D interface of effect protection single-chip microcontroller.
As shown in figure 3, the circuit diagram of the current detection module for the present embodiment, including current detection circuit and electric current
Signal conditioning circuit.Current detection circuit uses ACS758 Hall current sensor, specifically uses a kind of ACS758LCB-50U
Unidirectional current sensor, the core circuit of current signal conditioning circuit are a signal conditioning circuits.Underwater robot power consumption master
Concentrate on motor promote and illumination on, small underwater robot is using LED underwater lamp, electricity consumption very little, and the energy is main
It is promoted and is consumed by motor, underwater artificially realizes the motion control of six-freedom degree, if propeller standard-sized sheet power will very
Greatly, current value will also become very big, and Subsea Control Systems need to prevent motor rotation blockage, event to current drain situation real-time monitoring
Situations such as barrier, occurs.
ACS758LCB-50U is a kind of unidirectional current sensor, can acquire the current signal of 0~50A, and the chip is by one
The linear hall sensor circuit of a accurate, low offset forms, and can generate a quilt by the electric current of internal copper current path
Magnetic field that is that Hall IC incudes and being converted to ratio-voltage, the voltage of magnetic field induction is using internal amplification, filtering, copped wave
With amendment circuit, the voltage signal that can be detected by AD is exported, resistance only has 100 μ Ω in the chip, and power consumption is relatively low,
And Hall technology is used, electric insulation between current conducting paths and sensor pin, signal is isolated with measuring circuit
It can be omitted optoelectronic insulation device in subsequent use.
The maximum current that Subsea Control Systems use is usually 33A, and usually normal use is no more than 20A, current detecting electricity
Road can detecte the electric current of 0~50A, and the voltage signal V_SENSE3 measured does not exceed 3.3V under normal circumstances, this signal
The current signal conditioning circuit of the second level is inputted, this part is as above-mentioned voltage signal conditioning circuit principle, finally by limit
The A D interface of width circuit access single-chip microcontroller.
Claims (9)
1. a kind of small underwater robot kinetic control system, it is characterised in that: including water surface system and sub-aqua sport control system
System, the sub-aqua sport control system includes main control module, data communication module, data memory module, power supply, voltage detecting mould
Block, current detection module, depth transducer, attitude transducer, six electron speed regulators and six motors；The main control module point
Not with data communication module, data memory module, power supply, voltage detection module, current detection module, depth transducer, posture
Sensor is connected with each electron speed regulator；The main control module sampling depth sensor and attitude transducer data obtain miniature water
The voltage and current information of depth and posture information and voltage detection module and the current detection module perception of lower robot,
It is sent to water surface system by the data communication module, and receives the motion control signal that water surface system issues, output movement
Speed control signal is to electron speed regulator；Each motor is connected with electron speed regulator, mentions for the movement of hydrospace six degree of freedom
For driving.
2. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the water surface system
System includes water surface computer and water surface control cabinet, and the water surface computer is used to show and store the movement of small underwater robot
Status information；The water surface control cabinet is carried out for the motion control of small underwater robot and with sub-aqua sport control system
Data exchange.
3. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the master control mould
Block is using ARM series STM32F103 chip as main control chip.
4. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the voltage inspection
Surveying module includes voltage detecting circuit and voltage signal conditioning circuit, the voltage detecting circuit include resistance pressure-dividing network and every
From transmitter, the resistance pressure-dividing network will input isolating transmitter after the source voltage of input by two resistance, every
Voltage signal conditioning circuit is outputed voltage signal to from transmitter, amplify with low-pass filtering and is carried out using two diodes
Clamper clipping exports the voltage signal of 0 ~ 3.3V to the A D interface of main control module single-chip microcontroller.
5. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the electric current inspection
Surveying module includes Hall sensor and current signal conditioning circuit, and output can be by AD after the Hall sensor induction power supply electric current
The voltage signal of detection amplifies with low-pass filtering to current signal conditioning circuit and carries out clamper limit using two diodes
Width exports the voltage signal of 0 ~ 3.3V to the A D interface of main control module single-chip microcontroller.
6. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the power supply is adopted
With the lithium battery group of 24V, 2200mAh.
7. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the depth passes
Sensor uses pressure sensor chip MS5803.
8. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that: the posture passes
Sensor uses chip MPU9150.
9. a kind of small underwater robot kinetic control system according to claim 1, it is characterised in that:
The electron speed regulator uses autoelectrinic governor EG2000.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913402.4U CN208283809U (en) | 2018-06-13 | 2018-06-13 | A kind of small underwater robot kinetic control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913402.4U CN208283809U (en) | 2018-06-13 | 2018-06-13 | A kind of small underwater robot kinetic control system |
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| CN208283809U true CN208283809U (en) | 2018-12-25 |
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| CN201820913402.4U Expired - Fee Related CN208283809U (en) | 2018-06-13 | 2018-06-13 | A kind of small underwater robot kinetic control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814582A (en) * | 2019-01-14 | 2019-05-28 | 湖北理工学院 | A kind of deep water platform Measurement and Control System |
| CN111707308A (en) * | 2020-05-30 | 2020-09-25 | 松灵机器人（东莞）有限公司 | Wireless detector for mobile robot |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN112361123A (en) * | 2020-10-23 | 2021-02-12 | 武汉中仪物联技术股份有限公司 | Control system for pipeline detection robot |
| CN114670213A (en) * | 2021-12-30 | 2022-06-28 | 深圳潜行创新科技有限公司 | Control system of multiple cleaning modes of swimming pool cleaning robot |
-
2018
- 2018-06-13 CN CN201820913402.4U patent/CN208283809U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814582A (en) * | 2019-01-14 | 2019-05-28 | 湖北理工学院 | A kind of deep water platform Measurement and Control System |
| CN111707308A (en) * | 2020-05-30 | 2020-09-25 | 松灵机器人（东莞）有限公司 | Wireless detector for mobile robot |
| CN112214004A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Calibration and automatic detection system and method for underwater glider |
| CN112361123A (en) * | 2020-10-23 | 2021-02-12 | 武汉中仪物联技术股份有限公司 | Control system for pipeline detection robot |
| CN114670213A (en) * | 2021-12-30 | 2022-06-28 | 深圳潜行创新科技有限公司 | Control system of multiple cleaning modes of swimming pool cleaning robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 Termination date: 20210613 |
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| CF01 | Termination of patent right due to non-payment of annual fee |