Underwater robot control system based on mobile phone Bluetooth technology

An underwater robot and control system technology, applied in three-dimensional position/channel control and other directions, can solve the problems of inability to obtain underwater information and control the robot in real time, insufficient flexibility, etc., to enhance movement flexibility and avoid cable dragging , the effect of improving reliability

Inactive Publication Date: 2014-12-10
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The autonomous mode is mostly used on the cableless robot. The robot performs underwater operations according to the pre-set or according to the host computer instructions received from time to time, so that it cannot obtain underwater information and control the robot in real time; while the cabled mode is the robot. It is powered by the umbilical cable connected to the surface mother ship, and performs data transmission and human-computer interaction with the host computer on the mother ship. It can realize real-time control of the robot, but its activities are restricted by the umbilical cable, especially in complex underwater environments. It is easy to cause winding accidents, and the flexibility is not enough

Method used

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  • Underwater robot control system based on mobile phone Bluetooth technology
  • Underwater robot control system based on mobile phone Bluetooth technology
  • Underwater robot control system based on mobile phone Bluetooth technology

Examples

Experimental program
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Embodiment 1

[0025] Such as figure 1 As shown, a kind of underwater robot control system based on mobile phone bluetooth technology in the present embodiment comprises: the processing system that is located in the underwater robot (5) carrier, the bluetooth device that is encapsulated in the buoy (2), on the mobile phone (1) The underwater robot control terminal; wherein the underwater robot control terminal on the mobile phone (1) communicates with the underwater robot (5) below the water surface (3) through the Bluetooth device encapsulated in the buoy (2), and the underwater robot ( 5) The buoy (2) is connected with the zero-buoyancy cable (4), and the underwater robot (5) is connected with the zero-buoyancy cable (4) with a water-tight connector to realize dry plugging. The distance between the buoy (2) and the mobile phone (1) is not more than 30 meters, which can be checked in actual operation image 3 Bluetooth status icon (13) on the main interface of the underwater robot control ...

Embodiment 2

[0027] Such as figure 2 As shown, the processing system located in the carrier of the underwater robot (5) includes: a main control board, an attitude control board, a depth sensor, a power supply module, a propulsion module, etc., wherein: the main control board processor passes the serial port and the analog-to-digital conversion respectively The A / D obtains the attitude information and the depth signal calculated by the processor of the attitude control board.

[0028] Described main control board, as the control center of system, is made up of embedded microprocessor STM32F103VCT6 and peripheral circuit thereof, comprises: embedded microprocessor STM32F103VCT6, serial communication UART, analog-to-digital conversion A / D, input and output IO port, Power circuit, etc., wherein: the serial communication UART is connected to the Bluetooth module and the attitude control board in the buoy (2), the analog-to-digital conversion A / D is connected to the depth sensor, the input and...

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Abstract

The invention discloses an underwater robot control system based on a mobile phone Bluetooth technology. The system comprises a processing system arranged in an underwater robot carrier, a Bluetooth device packaged in a buoy and an underwater robot control end on a mobile phone, wherein the underwater robot control end is communicated with an underwater robot through the Bluetooth device, the buoy is connected with the underwater robot through a zero-buoyancy cable to conduct data transmission, and a main control board of the processing system controls the rotating speed and the rotating direction of a propeller through the actual depth of the underwater robot and acquired through a depth sensor and the actual gesture acquired through a gesture control board to finally achieve functions of underwater suspension, depth keeping and the like. The system can well overcome the shortcoming that the underwater robot is insufficient in real time performance under the autonomy mode and poor in flexibility in the cable mode, meets the requirement for real-time communication and provides well hardware support for flexible movement of portable acquisition of underwater robot information and flexible movement of the underwater robot.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to an underwater robot control system based on mobile phone bluetooth technology. Background technique [0002] At present, most underwater robots use autonomous or cable-controlled modes. The autonomous mode is mostly used on the cableless robot. The robot performs underwater operations according to the pre-set or according to the host computer instructions received from time to time, so that it cannot obtain underwater information and control the robot in real time; while the cabled mode is the robot. It is powered by the umbilical cable connected to the surface mother ship, and performs data transmission and human-computer interaction with the host computer on the mother ship. It can realize real-time control of the robot, but its activities are restricted by the umbilical cable, especially in complex underwater environments. It is easy to cause winding accidents, and the flexib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 张志根时少辉陈瑶郦瑞奇楼利旋余楚盈宋宏瞿逢重陈鹰冷建兴
Owner ZHEJIANG UNIV
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