A satellite remote control ROV control system and method

Abstract

The present invention belongs to the field of remote-controlled submersibles, and specifically is a satellite remote-controlled ROV control system and method. It includes an ROV communication system and a shore-based interactive system; the ROV communication system is used to convert the video signal and serial port control signal collected by the ROV into a network signal and send it to the satellite, and at the same time, receive the ROV control instructions sent by the shore-based interactive system in real time via the satellite; the shore-based interactive system is used to receive the network signal from the ROV communication system via the satellite, and decode the network signal, and at the same time send the ROV control instructions and manipulator control instructions to the ROV communication system according to the needs of the operator. The present invention adopts the satellite communication method, and all signals are modulated into network signals and transmitted to the shore-based control room through satellite communication equipment, which can realize all-weather remote control operations at any location in the global ocean.

Description

Technical Field

[0001] The invention belongs to the field of remote-controlled submersibles, in particular to a satellite remote-controlled ROV control system and method. Background Art

[0002] In recent years, with the continuous exploration of the ocean, underwater robots have become an important tool for exploring the ocean. The power system of ROV comes from the mother ship, which has the advantages of long-term and high-power operation. It plays an important role in marine resource development, salvage and search and rescue, and marine oil fields.

[0003] Remote control of ROVs has become a consensus in the industry, and the world's leading scientific research institutes are rapidly transforming in this direction. The satellite remote control ROV control system can remotely control ROVs working around the world and thousands of meters deep on the seabed, and enable ROVs to carry out remote operations.

[0004] The existing satellite remote control ROV control system has a single structure and function, occupies a lot of bandwidth resources, has low system compatibility, and is unstable in operation. There is an urgent need for a satellite remote control ROV control system with comprehensive structure and function, high compatibility, and stable operation. Summary of the invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide a satellite remote control ROV control system and method, which can realize remote control of ROV. Using satellite communication, all signals are modulated into network signals and transmitted to the shore-based control room through satellite communication equipment, which can realize all-weather remote control operations at any location in the global ocean.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a satellite remote control ROV control system, including an ROV communication system and a shore-based interactive system;

[0007] The ROV communication system is used to convert the video signal and serial control signal collected by the ROV into a network signal and send it to the satellite, and at the same time, receive the ROV control command sent by the shore-based interactive system in real time via the satellite;

[0008] The shore-based interactive system is used to receive network signals from the ROV communication system via satellite and decode the network signals, and at the same time send ROV control instructions and manipulator control instructions to the ROV communication system according to the needs of the operator.

[0009] The ROV communication system includes: ROV, optical transceiver, serial port server, manipulator server, video distributor, video encoder, network switch and satellite communication mother ship end;

[0010] The ROV is connected to the optical terminal through an optical fiber, and the optical terminal is connected to the serial port server, the manipulator server and the video distributor respectively, so as to output the video signal of the ROV to the video distributor, and output the serial port signal of the ROV to the serial port server and the manipulator server respectively;

[0011] The serial port server and the robot serial port server convert the received serial port signal into a network signal and send it to the network switch;

[0012] The video distributor is connected to a video encoder, and the video encoder converts the video signal received from the video distributor into a network signal and sends it to a network switch;

[0013] The network switch is connected to the satellite communication mother ship end, and converts the network signal into electromagnetic waves and sends it to the satellite through the satellite communication mother ship end. At the same time, the network signal sent by the shore-based interactive system is received and sent to the serial port server and the manipulator serial port server respectively, and then converted into a serial port signal by the serial port server and the manipulator serial port server and sent to the ROV.

[0014] The video signals include: ROV driving camera video signals, overhead camera video signals and sampling tool camera video signals.

[0015] The serial port signal includes: a camera control signal and a manipulator control signal.

[0016] The shore-based interactive system includes: a shore-based switch, a hard disk video recorder, an industrial computer, a video integrated platform, a video matrix, a WAGO control module, a control panel, a manipulator operating main hand, a manipulator serial port server and a video decoder;

[0017] The shore-based switch is used to send network signals to the hard disk recorder, the computer system, the WAGO control module, the robot serial port server and the video decoder respectively;

[0018] The hard disk video recorder is used to receive the video signal of the ROV and record the ROV video information;

[0019] The sonar computer is used to run sonar processing software, display the current surrounding environment information of the submersible, and provide environmental information to the operator.

[0020] The video decoder is used to parse the video signal transmitted in the network signal received from the shore-based switch into a coaxial video signal and transmit it to the video integration platform;

[0021] The video integration platform is connected to the video matrix and is used to combine the simulated environmental information with the parsed coaxial video signal and display it in the video matrix;

[0022] The WAGO control module is used to collect the command signal from the control panel and send the command signal to the shore-based interactive machine;

[0023] The manipulator serial port server is connected to the manipulator operating main hand, and is used to convert the network signal received from the shore-based switch into a serial port signal, so as to realize the real-time shore-based display of the ROV manipulator. At the same time, the operator generates a serial port command signal by controlling the manipulator operating main hand. The manipulator serial port server converts the serial port command signal into a network signal to the shore-based switch, so as to be used for the ROV communication system to operate the ROV manipulator.

[0024] The shore-based interactive system also includes a satellite communication shore-based terminal connected to the shore-based switch, which is used to convert the electromagnetic wave signal of the satellite-transmitted ROV communication system into a network signal and send it to the shore-based switch.

[0025] The industrial computer system includes a sonar computer and a control computer which are connected to each other.

[0026] A satellite remote control ROV control method comprises the following steps:

[0027] 1) ROV outputs the video signal collected by ROV to the video distributor through the optical transceiver, and outputs the serial port signal of ROV to the serial port server and the manipulator server through the optical transceiver respectively;

[0028] 2) The serial port server and the robot serial port server convert the received serial port signal into a network signal and send it to the network switch; the video encoder converts the video signal received from the video distributor into a network signal and sends it to the network switch;

[0029] 3) The network switch sends the network signal to the WeChat communication mother ship, and converts the network signal into electromagnetic waves and sends it to the satellite communication shore-based end via satellite. The satellite sends it to the satellite communication shore-based end, and then converts the electromagnetic waves into network signals and sends them to the shore-based switch;

[0030] 4) The shore-based switch sends the network signal to the industrial computer for simulation to obtain the simulated environmental information, the hybrid video recorder for recording, the video encoder for decoding and parsing into coaxial video signals, and the manipulator serial port server for demonstration of the manipulator;

[0031] 5) The sonar computer is used to run the sonar processing software, display the current surrounding environment information of the submersible, and provide environmental information to the operator;

[0032] 6) Based on the displayed results and the demonstration of the manipulator, the operator remotely controls the ROV.

[0033] In step 6), the operator remotely controls the ROV, specifically:

[0034] The WAGO control module collects the command signal from the control panel and sends it to the shore-based interactive machine, which then sends it to the satellite communication mother ship of the ROV communication system via satellite.

[0035] The satellite communication mother ship converts the electromagnetic wave signal into a network signal and sends it to the network switch of the ROV communication system;

[0036] The network switch receives the network signal sent by the shore-based interactive system and sends it to the serial port server and the robot serial port server respectively, and converts it into a serial port signal through the serial port server and the robot serial port server and sends it to the ROV.

[0037] The present invention has the following beneficial effects and advantages:

[0038] 1. The present invention adopts satellite communication, and all signals are modulated into network signals and transmitted to the shore-based control room through satellite communication equipment, which can realize all-weather remote control operation at any location in the global ocean;

[0039] 2. The present invention adopts a video encoder to use the standard H.265 or H.264 encoding algorithm for underwater cameras, and can perform video compression to reduce bandwidth occupation resources. At the same time, it supports 1080p resolution real-time encoding, runs stably and reliably, supports multiple network protocols, and has strong system compatibility;

[0040] 3. The present invention uses a serial port server to convert all serial port signals into network signals and enter the control system local area network; a video decoder is used to convert the video signal modulated into the network signal into a coaxial video signal and access the shore-based video processing system;

[0041] 4. The present invention can realize remote control operation of ROV via satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a system structure block diagram of the present invention. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0044] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative achievements are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, it is a system structure block diagram of the present invention. The purpose of the present invention is to provide a satellite remote control ROV control system, including an ROV communication system and a shore-based interactive system;

[0046] ROV communication system, used to convert the video signals and serial control signals collected by ROV into network signals and send them to satellites. At the same time, it receives ROV control instructions sent by the shore-based interactive system in real time via satellites;

[0047] The shore-based interactive system is used to receive network signals from the ROV communication system via satellite, decode the network signals, simulate the simulation screen, and send ROV control instructions and manipulator control instructions to the ROV communication system according to the needs of the operator.

[0048] The ROV communication system includes: ROV, optical transceiver, serial port server, manipulator server, video distributor, video encoder, network switch and satellite communication mother ship;

[0049] The ROV is connected to the optical terminal through an optical fiber, and the optical terminal is connected to the serial port server, the manipulator server and the video distributor respectively, so as to output the video signal of the ROV to the video distributor, and output the serial port signal of the ROV to the serial port server and the manipulator server respectively;

[0050] The serial port server and the robot serial port server convert the received serial port signal into a network signal and send it to the network switch;

[0051] The video distributor is connected to the video encoder, and the video encoder converts the video signal received from the video distributor into a network signal and sends it to the network switch;

[0052] The network switch is connected to the satellite communication mother ship, which converts the network signal into electromagnetic waves and sends it to the satellite. At the same time, it receives the network signal sent by the shore-based interactive system and sends it to the serial port server and the manipulator serial port server respectively, and then converts it into serial signals through the serial port server and the manipulator serial port server and sends it to the ROV.

[0053] The video signals include: ROV driving camera video signals, overhead camera video signals and sampling tool camera video signals.

[0054] The serial port signals include: camera control signals and robot control signals.

[0055] The shore-based interactive system includes: shore-based switch, hard disk recorder, industrial computer, video integrated platform, video matrix, WAGO control module, control panel, manipulator operation master, manipulator serial port server and video decoder;

[0056] The shore-based switch is used to send network signals to the hard disk recorder, computer system, WAGO control module, robot serial port server and video decoder respectively;

[0057] A hard disk video recorder, used to receive the video signal of the ROV and record the ROV video information;

[0058] Industrial computer system, used to simulate the environment around the submersible, provide environmental information to operators, and send the simulated environmental information to the video integration platform;

[0059] A video decoder is used to parse the video signal transmitted in the network signal received from the shore-based switch into a coaxial video signal and transmit it to the video integration platform;

[0060] The video integration platform is connected to the video matrix and is used to combine the simulated environmental information with the parsed coaxial video signal and display it in the video matrix;

[0061] WAGO control module, used to collect command signals from the control panel and send the command signals to the shore-based interactive machine;

[0062] The manipulator serial port server is connected to the manipulator operating main arm and is used to convert the network signal received from the shore-based switch into a serial port signal, so that the ROV manipulator can be displayed on the shore in real time. At the same time, the operator generates a serial port command signal by controlling the manipulator operating main arm. The manipulator serial port server converts the serial port command signal into a network signal to the shore-based switch for the ROV communication system to operate the ROV manipulator.

[0063] The shore-based interactive system also includes a satellite communication shore-based terminal connected to the shore-based switch, which is used to convert the electromagnetic wave signal of the satellite-transmitted ROV communication system into a network signal and send it to the shore-based switch.

[0064] The industrial computer system includes interconnected sonar computers and control computers.

[0065] The working principle of the system of the present invention is as follows: the submersible ROV is connected with the optical terminal through an optical fiber, the optical terminal outputs a video signal and a serial port signal which are connected to a serial port server and a video distributor respectively, the serial port server outputs a network signal which is connected to a network switch, the video distributor outputs a video signal which enters a video encoder and is converted into a network signal and then enters the network switch, the network switch is connected to a satellite through a satellite communication mother ship terminal device, and is connected to a shore-based network switch through a satellite communication module shore-based terminal device, the shore-based switch is connected to a sonar computer, a control computer, a hard disk recorder, a video decoder, a WAGO control module, and a manipulator serial port server, the video signals of the control computer and the sonar computer are connected to a video integrated platform and put into a video matrix, the control panel signal is connected to the WAGO control module, and the signals of the main hands of the two manipulators are connected to the manipulator serial port server;

[0066] The video signals include the submersible ROV driving camera, the bird's-eye view camera, the armored cable camera, and the sampling tool camera. The video signals are compressed and encoded by the video encoder and then connected to the control system network; the submersible serial port signals include the camera focus control signal, the manipulator control signal, the depth gauge information, the altimeter information, the compass information, the pan-tilt control signal, the lighting control signal, the sampling tool control signal and other sensor signals, which are converted into network signals through the serial port server and enter the mother ship network system; the satellite includes the mother ship signal modulation equipment and the satellite and shore-based signal modulation equipment. The mother ship signal modulation equipment converts the mother ship network signal into electromagnetic waves, which are forwarded to the shore-based signal modulation equipment via satellite. The base-end signal modulation device receives electromagnetic waves and converts them into network signals to connect to the shore-based control network; the shore-based sonar computer runs the sonar control software, scans the environment around the submersible, and provides environmental information to the operator; the control computer runs the submersible control software to control the start and stop of the submersible's underwater lights, cameras, various sensors, camera focusing and other functions; the hard disk recorder is used to record operation video information; the video decoder parses the video signal transmitted over the network into a coaxial video signal and transmits it to the recorder and video integration platform; the WAGO control module is used to collect various command signals issued by the control surface; the manipulator serial port server converts the serial port command signal of the manipulator operating main hand into a network signal for operating the manipulator.

[0067] A satellite remote control ROV control method comprises the following steps:

[0068] 1) ROV outputs the video signal collected by ROV to the video distributor through the optical transceiver, and outputs the serial port signal of ROV to the serial port server and the manipulator server through the optical transceiver respectively;

[0069] 2) The serial port server and the robot serial port server convert the received serial port signal into a network signal and send it to the network switch; the video encoder converts the video signal received from the video distributor into a network signal and sends it to the network switch;

[0070] 3) The network switch sends the network signal to the WeChat communication mother ship, and converts the network signal into electromagnetic waves and sends it to the satellite communication shore-based end via satellite. The satellite sends it to the satellite communication shore-based end, and then converts the electromagnetic waves into network signals and sends them to the shore-based switch;

[0071] 4) The shore-based switch sends the network signal to the industrial computer for simulation to obtain the simulated environmental information, the hybrid video recorder for recording, the video encoder for decoding and parsing into coaxial video signals, and the manipulator serial port server for demonstration of the manipulator;

[0072] 5) The sonar computer is used to run the sonar processing software, display the current surrounding environment information of the submersible, and provide environmental information to the operator;

[0073] 6) Based on the displayed results and the demonstration of the manipulator, the operator remotely controls the ROV.

[0074] Step 6) The operator remotely controls the ROV, specifically:

[0075] The WAGO control module collects the command signal from the control panel and sends it to the shore-based interactive machine, which then sends it to the satellite communication mother ship of the ROV communication system via satellite.

[0076] The satellite communication mother ship converts the electromagnetic wave signal into a network signal and sends it to the network switch of the ROV communication system;

[0077] The network switch receives the network signal sent by the shore-based interactive system and sends it to the serial port server and the robot serial port server respectively, and converts it into a serial port signal through the serial port server and the robot serial port server and sends it to the ROV.

[0078] The invention discloses a satellite remote control ROV control system. The satellite communication technology is applied to the ROV control method for the first time through system integration on the basis of in-depth research on the ROV operating system and satellite communication technology, thereby achieving the purpose of satellite remote control ROV operation.

Claims

1. A satellite remote control ROV control system, characterized in that: Including ROV communication system and shore-based interaction system; The ROV communication system is used to convert the video signal and serial control signal collected by the ROV into a network signal and send it to the satellite, and at the same time, receive the ROV control command sent by the shore-based interactive system in real time via the satellite; The ROV communication system includes: ROV, optical transceiver, serial port server, first manipulator serial port server, video distributor, video encoder, network switch and satellite communication mother ship end; The ROV is connected to the optical terminal through an optical fiber, and the optical terminal is connected to the serial port server, the first manipulator serial port server and the video distributor respectively to output the video signal of the ROV to the video distributor, and output the serial port signal of the ROV to the serial port server and the first manipulator serial port server respectively; The serial port server and the first manipulator serial port server convert the received serial port signal into a network signal and send it to the network switch; The video distributor is connected to a video encoder, and the video encoder converts the video signal received from the video distributor into a network signal and sends it to a network switch; The network switch is connected to the satellite communication mother ship end, converts the network signal into an electromagnetic wave signal through the satellite communication mother ship end and sends it to the satellite, and at the same time receives the network signal sent by the shore-based interactive system and sends it to the serial port server and the first manipulator serial port server respectively, and converts it into a serial port signal through the serial port server and the first manipulator serial port server and sends it to the ROV; The shore-based interactive system is used to receive network signals from the ROV communication system via satellite, decode the network signals, simulate the simulation screen, and send ROV control instructions and manipulator control instructions to the ROV communication system according to the needs of the operator; The shore-based interactive system includes: a shore-based switch, a hard disk video recorder, an industrial computer system, a video integrated platform, a video matrix, a WAGO control module, a control panel, a manipulator operating main hand, a second manipulator serial port server and a video decoder; The shore-based switch is used to send network signals to the hard disk recorder, the industrial computer system, the WAGO control module, the second manipulator serial port server and the video decoder respectively; The hard disk recorder is used to receive the video signal of the ROV and record the ROV video information; The industrial computer system is used to run the sonar processing software, display the current surrounding environment information of the submersible, and provide environmental information to the operator; The video decoder is used to parse the video signal transmitted in the network signal received from the shore-based switch into a coaxial video signal and transmit it to the video integration platform; The video integration platform is connected to the video matrix and is used to combine the simulated environmental information with the parsed coaxial video signal and display it in the video matrix; The WAGO control module is used to collect the command signal from the control panel and send the command signal to the shore-based interactive machine; The second manipulator serial port server is connected to the manipulator operating main hand, and is used to convert the network signal received from the shore-based switch into a serial port signal, so as to realize the real-time display of the manipulator operating main hand of the ROV on the shore. At the same time, the operator generates a serial port command signal by controlling the manipulator operating main hand. The second manipulator serial port server converts the serial port command signal into a network signal to the shore-based switch, so as to be used for the ROV communication system to operate the manipulator operating main hand of the ROV.

2. A satellite remote-controlled ROV control system according to claim 1, characterized in that: The video signals include: ROV driving camera video signals, overhead camera video signals and sampling tool camera video signals.

3. A satellite remote-controlled ROV control system according to claim 1, characterized in that: The serial port signal includes: a camera control signal and a manipulator control signal.

4. A satellite remote-controlled ROV control system according to claim 1, characterized in that: The shore-based interactive system also includes a satellite communication shore-based terminal connected to the shore-based switch, which is used to convert the electromagnetic wave signal of the satellite-transmitted ROV communication system into a network signal and send it to the shore-based switch.

5. A satellite remote-controlled ROV control system according to claim 1, characterized in that: The industrial computer system includes a sonar computer and a control computer which are connected to each other.

6. The control method of a satellite remote-controlled ROV control system according to claim 1, characterized in that: The following steps are involved: 1) ROV outputs the video signal collected by ROV to the video distributor through the optical transceiver, and outputs the serial port signal of ROV to the serial port server and the first manipulator serial port server through the optical transceiver respectively; 2) The serial port server and the first robot serial port server convert the received serial port signal into a network signal and send it to the network switch; the video encoder converts the video signal received from the video distributor into a network signal and sends it to the network switch; 3) The network switch sends the network signal to the satellite communication mother ship, and converts the network signal into an electromagnetic wave signal and sends it to the satellite communication shore-based terminal via satellite. The satellite sends it to the satellite communication shore-based terminal, and then converts the electromagnetic wave signal into a network signal and sends it to the shore-based switch; 4) The shore-based switch sends the network signal to the industrial computer system for simulation to obtain the simulated environmental information, the hybrid video recorder for recording, the video encoder for decoding and parsing into coaxial video signals, and the second manipulator serial port server for the demonstration of the manipulator operating the main hand; 5) The industrial computer system is used to run the sonar processing software, display the current surrounding environment information of the submersible, and provide environmental information to the operator; 6) Based on the displayed results and the demonstration of the manipulator’s main hand, the operator remotely controls the ROV.

7. A satellite remote control ROV control method according to claim 6, characterized in that: In step 6), the operator remotely controls the ROV, specifically: The WAGO control module collects the command signal from the control panel and sends it to the shore-based switch. The shore-based switch sends the command signal to the satellite communication mother ship end of the ROV communication system via satellite. The satellite communication mother ship converts the electromagnetic wave signal into a network signal and sends it to the network switch of the ROV communication system; The network switch receives the network signal sent by the shore-based interactive system and sends it to the serial port server and the first manipulator serial port server respectively, and converts it into a serial port signal through the serial port server and the first manipulator serial port server and sends it to the ROV.

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