Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot

An underwater robot and control system technology, applied in underwater operation equipment, three-dimensional position/channel control, ships, etc., can solve the problems of low carrier frequency, high transmission delay, narrow underwater communication bandwidth, etc., to overcome the bandwidth narrow effect

Active Publication Date: 2016-06-15
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of ordinary underwater robots due to the complex force of turbulent water flow, strong impact of undercurrent and other external factors in small pipes, underwater narrow spaces and undercurrents, as well as underwater communication problems. The bandwidth of the robot is narrow, greatly affected by factors such as the environment, the applicable carrier frequency is low, and the transmission delay is high, which leads to problems such as the robot cannot control its own posture and maintain communication with the outside world. The present invention provides a six-degree-of-freedom eyeball type The real-time concurrent control system for underwater robots is an adaptive closed-loop control system, in which the robot attitude measurement system is used as the feed-forward module of the concurrent control system, the visual measurement system is used as the feedback module of the concurrent control system, and the bidirectional centrifugal pump and valve The combination acts as an actuator to change the attitude of the six-degree-of-freedom eyeball underwater robot in real time as needed

Method used

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  • Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot
  • Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot
  • Real-time concurrent control system of six-degree-of-freedom eyeball type underwater robot

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Embodiment 1

[0024] see figure 1, the real-time concurrent control system of the six-degree-of-freedom eyeball-type underwater robot includes a control subsystem 1, an image processing subsystem 2, a laser communication sub-module 3 and a data fusion module 4, and is characterized in that: the control subsystem 1 is connected to a laser The communication module 3 and the data fusion module 4 and the image processing subsystem 2 realize CAN bus high-speed communication through the CAN converter, and the two subsystems process data concurrently to realize real-time concurrent control of the underwater robot.

Embodiment 2

[0026] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0027] see Figure 1 to Figure 9 , the control subsystem 1 includes two groups of robot body attitude sensors 1-A, 1-B, a main control unit 1-C and a bottom drive module 1-D; the two groups of robot body attitude sensors 1-A, 1- B includes an accelerometer 6-A, a gyroscope 6-B and an encoder 6-C; the main control unit 1-C is connected to two groups of robot body attitude sensors 1-A, 1-B and the underlying drive module 1-D; In order to prevent the interference caused by the external environment, the control subsystem 1 uses two sets of robot body attitude sensors 1-A, 1-B to measure its own attitude, and transmits the two sets of data collected by the two sets of sensors to the data fusion In module 4, the processed data that is determined to be valid is used as the feedforward signal of the control system. Described image processing subsystem 2 comprises the visual syste...

Embodiment 3

[0029] This six-degree-of-freedom eyeball-type underwater robot real-time concurrent control system includes a control subsystem 1, an image processing subsystem 2, a laser communication sub-module 3, and a data fusion module 4, wherein the control subsystem 1 includes a robot body posture sensor module 1- A. Airframe attitude sensor module 1-B, main control unit 1-C, bottom drive module 1-D; image processing subsystem 2 includes DSP main control unit 2-A, visual system 2-B composed of CCD camera; laser communication Submodule 3 includes a laser sensor and its peripheral interface 3-A; the data fusion module 4 includes a Kalman filter 4-A, a selection switch 4-B, a visual data memory 4-C, and a slide switch 4-D; the control Subsystem 1 is responsible for data collection, and controls the speed of the DC motor and the pump through PWM. The control schematic diagram is as follows: Figure 4 As shown, the accelerometer 6-A measures the X, Y, Z three-axis attitude information of t...

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Abstract

The invention relates to a real-time concurrent control system of a six-degree-of-freedom eyeball type underwater robot. The system includes a control subsystem, an image processing subsystem, a laser communication submodule and a data fusion module. The control subsystem is connected with the laser communication module and the data fusion module and realizes CAN bus high-speed communication with the image processing subsystem through a CAN converter, and the two subsystems concurrently process data, thereby realizing real-time concurrent control of the underwater robot. The real-time concurrent control system of the six-degree-of-freedom eyeball type underwater robot can solve the problem that when the underwater robot works in a severe underwater environment, due to influence of external factors such as torrential water flow and undercurrents, pose information of itself cannot be accurately measured or the underwater robot cannot communicate with the outside world and thus cannot normally pass through, and working is limited.

Description

technical field [0001] The invention relates to a real-time concurrent control system for an underwater robot, in particular to a real-time concurrent control system for a six-degree-of-freedom eyeball-type underwater robot. technical background [0002] As a special-purpose robot, underwater robots can maintain and overhaul basic equipment in various waters (lakes, oceans, sewers, small ditches, etc.) and play a great role in the exploration of unknown waters. Its application prospect is quite extensive. The control methods of the underwater spherical robot control system currently studied are mainly divided into two types: one is mainly to change the attitude of the flywheel, using the torque balance of multiple flywheels, and the differential torque of the flywheels to rotate the spherical shell, thereby changing The posture of the spherical shell realizes the motion conversion of the robot through a single water spray. This kind of robot control system has certain defec...

Claims

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Application Information

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IPC IPC(8): G05D1/10B63C11/52
CPCB63C11/52G05D1/10
Inventor 李恒宇董毅郭石磊杨毅饶进军谢少荣罗均
Owner SHANGHAI UNIV
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