Data processing method for control rod of remote controller of underwater robot

Abstract

The invention discloses a data processing method for a remote controller control rod of an underwater robot, which comprises the following steps: accurately positioning the position of the underwater robot, performing path navigation according to the environment, sending a remote control signal to the underwater robot, and controlling the advancing path of the underwater robot; according to a potentiometer voltage stabilization module, monitoring voltage output of the potentiometer in real time, comparing voltage real-time data according to a potentiometer threshold parameter, and designing a counter to adjust voltage according to a state; underwater data needing to be collected are collected through the data collection module, data collected by multiple sensors of the underwater robot are processed, the underwater robot is put in a preset putting place of the underwater robot by arranging the putting device, the underwater robot is controlled to return according to a specified path, and the underwater robot is recycled through the recycling device. Through the state transition method of the potentiometer, the interference of the abnormal jump of the voltage of the potentiometer on the control instruction is reduced, and the operation precision and safety of the remote controller are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a data processing method for a control rod of a remote controller of an underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme underwater robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. With the development of underwater robot technology, underwater robots have been widely used in underwater detection, salvage, maintenance and other fields. Underwater robots usually need to be operated by remote controls, and the performance of the remote control directly affects the operating accuracy and safety of underwater robots. Underwater robots can replace humans in highly dangerous environments, polluted environments, and waters with zero visibility. Underwater robots are generally equipped with sonar systems, cameras, lighting, and robotic arms, which can provide real-time video and sonar images. The robotic arms can grab heavy objects. Underwater robots are used in oil development, maritime law enforcement and evidence collection, scientific research, and military fields. It has been widely used in many fields; due to the complex environment in which underwater robots operate, the noise of hydroacoustic signals is large, and various hydroacoustic sensors generally have the disadvantages of poor accuracy and frequent jumps. Therefore, filtering technology is extremely important in the motion control system of underwater robots. The position sensors commonly used in the motion control of underwater robots are short-baseline or long-baseline hydroacoustic positioning systems, and the speed sensors are Doppler velocimeters, which will affect the accuracy of the hydroacoustic positioning system. The factors mainly include sound velocity error, measurement error of transponder response time, and correction error of transponder position, i.e., spacing. The factors affecting the accuracy of the Doppler velocimeter mainly include sound velocity c, physical and chemical properties of the medium in seawater, and bumps of the carrier. Therefore, how to solve this type of problem has become the direction of research.

[0003] However, the traditional data processing method of the underwater robot remote control joystick cannot meet people's needs, and it has the following defects: First, in the prior art, the remote control often uses a potentiometer to detect the angle change of the joystick, but the voltage value of the potentiometer is easily affected by factors such as unstable power supply voltage and causes jumps. This jump may cause the MCU (microcontroller unit) to mistakenly believe that the user has turned the joystick, thereby sending erroneous control instructions, affecting the normal operation of the underwater robot, and may even cause an accident. Although the abnormal jump of the potentiometer voltage can be reduced by filtering, filtering will change the original voltage value of the potentiometer and affect the control effect of the remote control; second, when the underwater robot is operating in the water, it needs to obtain mission-related ocean data through various sensors. However, the collected ocean data is usually huge in information and cannot be effectively and accurately processed. At the same time, when the underwater robot moves in the ocean, due to the complex marine environment and difficult maintenance, the data received by the sensor may contain certain noise and errors, making the collected data invalid; third, the existing underwater robot positioning technologies are mainly sonar positioning and GPS positioning. Sonar positioning sends sound waves to the underwater environment and calculates the position and speed of the underwater robot according to the delay time of the reflected signal. It has high reliability and wide coverage, but it cannot transmit signals in time and has a certain delay. GPS positioning technology requires the use of ground satellite networks or underwater positioning beacons for positioning. The positioning accuracy is relatively high, but it is greatly affected by factors such as coverage and distance, and cannot achieve accurate and timely positioning. Summary of the invention

[0004] The object of the present invention is to provide a data processing method for a control rod of an underwater robot remote controller to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: The purpose of the present invention is to provide a data processing method for a control rod of an underwater robot remote controller, comprising: a system parameter debugging module sets a potentiometer threshold parameter and an underwater robot parameter value; according to an integrated navigation algorithm module, the position parameters of the underwater robot are located and path navigation is performed according to the environment; according to a remote control module, a remote control signal is sent to the underwater robot to control its forward path; according to a potentiometer voltage stabilization module, the voltage output of the potentiometer is monitored in real time, the real-time data of the voltage is compared according to the potentiometer threshold parameter, and a counter is designed to adjust the voltage according to the state; after the potentiometer voltage stabilization module adjusts the voltage to a normal value, the required underwater data is collected according to a data collection module, and transmitted to a host terminal through a data sending module; according to a data preprocessing module, a data quality control module and a data fusion module, the data collected by multiple sensors of the underwater robot are processed, and the underwater robot is launched at a preset location for launching the underwater robot by setting a launching device; according to the remote control module, the underwater robot is controlled to return along a specified path, and a recovery device is set to recover the underwater robot.

[0006] In one embodiment, the potentiometer voltage stabilization module controls the potentiometer to switch to a silent state when the value of the state transfer counter of the potentiometer is less than zero; and controls the potentiometer to switch to an active state when the value of the state transfer counter of the potentiometer is greater than zero.

[0007] In one of the embodiments, the method further includes setting up a launching device at the location where the underwater robot is required to be launched, and after completing the signal connection of the underwater robot, transporting the underwater robot to the location where it is required to be launched, confirming the landmark to set up the launching device, and after the launching device is set up, launching the underwater robot at a preset launching point.

[0008] In one embodiment, the position of the underwater robot is located by integrating a navigation algorithm module and path navigation is performed according to the environment. The user confirms the position of the underwater robot based on the positioning chip provided in the underwater robot.

[0009] In one of the embodiments, a remote control signal is sent to the underwater robot through the remote control module to control its forward path. After the travel route is calculated, remote operation is performed through the remote control module on the remote controller, data communication is performed with the underwater robot through the host module and the signal transmission module, and the underwater robot is controlled to move along a preset route through the command receiving module.

[0010] In one embodiment, whether the signal sent by the remote controller is valid is determined based on the state conversion module and the signal determination module.

[0011] In one of the embodiments, the required underwater data is collected through the data collection module and transmitted to the host terminal through the data sending module, the underwater robot is controlled to reach the required operating range, the required information is collected and recorded through the data collection module, and the collected information is transmitted to the host terminal through the data sending module.

[0012] In one of the embodiments, data collected by multiple sensors of the underwater robot are processed through a data preprocessing module, a data quality control module and a data fusion module. The underwater robot completes data collection and transmits the collected information, and the host terminal receives the processed data through a data receiving module.

[0013] In one of the embodiments, the system parameter debugging module is used to adjust the parameters required for setting the underwater robot, the underwater robot to be deployed is activated, and a connection is established between the underwater robot module and the host module. After the connection is completed, the various parameters of the underwater robot are confirmed through the system parameter debugging module on the host module.

[0014] In one of the embodiments, the underwater robot is controlled by a remote control module to return along a specified path and is recovered by setting a recovery device. After completing the operation, the underwater robot is controlled by the remote control module to return along the planned route.

[0015] As a further technical solution of the present invention, a connection is established between the host and the underwater robot through a system parameter debugging module and the required setting parameters are adjusted. The underwater robot to be deployed is activated and connected to the host module through the underwater robot module. After the connection is completed, the various parameters of the underwater robot are confirmed through the system parameter debugging module on the host module to ensure that the various modules on it can operate normally, and timely achieve signal interaction with the host module, and input the required setting data.

[0016] As a further technical solution of the present invention, a launching device is set up at the location where the underwater robot is required to be released. After the signal connection of the underwater robot is completed, the underwater robot is transported to the location where it is required to be launched, and the launching device is set up according to the actual situation. Before the device is set up, the underwater robot is tested again to ensure that all structures are within the normal use range. After the launching device is set up, the underwater robot is launched above the best launching point.

[0017] As a further technical solution of the present invention, the position of the underwater robot is accurately located through an integrated navigation algorithm module and path navigation is performed according to the environment. After the underwater robot is launched, its position is confirmed according to the positioning chip set on the underwater machine and calculated through the integrated navigation algorithm module. It adopts IMU and GNSS fusion positioning. IMU provides a short-term motion state estimation by measuring acceleration and angular velocity, while GNSS provides geographic location information by receiving satellite signals. The data of these two sensors are integrated to make up for each other's shortcomings and improve the accuracy and stability of positioning. During use, when the GNSS signal is blocked, IMU can provide a short-term position estimation, and the error of IMU can be adjusted at any time. Time accumulation can be reduced by GNSS correction. After obtaining the position information, a joint state model of IMU and GNSS is established, including state variables such as position, velocity, attitude and IMU drift error. At the same time, an observation model is established, in which the observation values ​​of IMU are acceleration and angular velocity, while the observation values ​​of GNSS are position and time. Through these models, the observation information of IMU and GNSS can be fused, the state estimation is updated, and nonlinear filtering algorithms such as strong tracking filtering are used. It can handle nonlinear systems well and has good tracking performance. It can also fuse multiple sensor information, combine the collected observation information and the established model, update the state estimation, complete the confirmation of the subsequent underwater robot's route and update it in real time.

[0018] As a further technical solution of the present invention, a remote control signal is sent to the underwater robot through a remote control module to control its forward path. After the travel route is calculated, remote operation is performed through the remote control module on the remote controller. The remote controller is composed of an MCU, a joystick and a potentiometer. The MCU model is STM32F103C8T6, which is used to process control instructions and potentiometer signals. The joystick model is JH-D202X-R2. There are four joysticks, each of which has two built-in potentiometers for detecting user operations. The eight potentiometers are respectively connected to the eight ADC channels of the MCU to convert the physical position of the joystick into an electrical signal. The MCU is connected to the host module of the ground station computer through a MicroUSB interface. The host module communicates with the underwater robot through a signal transmission module, and controls the underwater robot to move forward along the planned route through the command receiving module. The state conversion module and the signal judgment module are used to determine whether the signal sent by the remote control is valid. In order to reduce the abnormal jump of the potentiometer voltage, the potentiometer is in an active state when it is powered on and initialized. When the value of the state transfer counter of the potentiometer is less than zero, the potentiometer is converted to a silent state. When the value of the state transfer counter of the potentiometer is greater than zero, the potentiometer is converted to an active state. The value of the state transfer counter is between [-50,50]. The voltage change of the potentiometer in the silent state will not trigger the MCU to send control instructions, thereby reducing the occurrence of misoperation.

[0019] As a further technical solution of the present invention, the required underwater data is collected through a data collection module and transmitted to a host terminal through a data sending module. When the underwater robot is controlled to reach the required operating range, the required information collected nearby is collected and recorded through the data collection module thereon, and the collected information is transmitted to the host terminal through the data sending module to facilitate subsequent data analysis.

[0020] As a further technical solution of the present invention, data collected by multiple sensors of the underwater robot are processed and gradually processed through a data preprocessing module, a data quality control module and a data fusion module. After the underwater robot completes data collection and transmits back the collected information, the host terminal receives the collected data through a data receiving module and analyzes and processes the data. First, the huge amount of data collected by multiple sensors is preliminarily processed through the data preprocessing module, and a certain degree of screening, cleaning and conversion are performed. After the conversion is completed, the data is further processed through the data quality control module, duplicate data or information errors are deleted and corrected, and the processed data is integrated and optimized through the data fusion module to obtain more accurate and practical data results.

[0021] The data preprocessing module performs preliminary data processing by filtering, sampling and normalization. Normalization is a data preprocessing technology that aims to adjust the data to a specific range, usually [-1, 1], to simplify subsequent data processing and analysis. It mainly uses minimum-maximum normalization and zero-mean normalization in combination. The formula is:

[0022]

[0023] Among them, X1 is the normalized data, X is the original data, min is the minimum value in the original data, max is the maximum value in the original data, μ is the mean value of the original data, and σ is the standard deviation of the original data; the data quality control module adopts the differential correction method to eliminate errors such as temperature and water pressure in the data by making equal differences in the data collected by different sensors at the same position; the data fusion module uses Kalman filtering and particle filtering to analyze, and combined with other estimated values ​​or measured values, more accurate observation values ​​can be obtained. The key idea of ​​Kalman filtering is data fusion and iterative update. By combining prior information and actual measurements, the system can better estimate the current state and gradually improve the accuracy of estimation through iterative updates.

[0024] As a further technical solution of the present invention, the underwater robot is controlled by a remote control module to return along a prescribed path and is recovered by setting a recovery device. After completing the operation, the underwater robot is controlled by the remote control module to return along the planned route and is recovered by the set delivery device to avoid pollution and damage to the ocean.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention designs a data processing method for the control rod of the underwater robot remote controller, and reduces the interference of abnormal jumps of the potentiometer voltage on the control instructions through the state transfer method of the potentiometer, thereby ensuring the operation accuracy and safety of the remote controller, and effectively reduces the interference of abnormal jumps of the potentiometer voltage on the control instructions, thereby improving the operation accuracy and safety of the remote controller. By adopting the potentiometer state transfer method, the user's real operation signal and the error signal caused by voltage instability can be effectively distinguished, and the situation in which the MCU sends wrong instructions due to misjudgment of the control rod position is reduced, thereby improving the control accuracy of the remote controller over the underwater robot. The voltage jump of the potentiometer will not easily trigger the sending of the control instruction, thereby reducing the risk of misoperation caused by voltage fluctuations, thereby enhancing the safety of the underwater robot operation. At the same time, a data preprocessing module is designed, and a filter is used. The collected raw data are screened, cleaned and converted by means of wave, sampling and normalization, and the original huge database is initially processed to further reduce and integrate it to facilitate subsequent operations. After the integration is completed, the data is screened by the data quality control module, and the data is processed by means of outlier inspection, differential correction and repeated observation. The multi-sensor data is finally processed by the data fusion module, and the information collected by different sensors is integrated and optimized by Kalman filtering and particle filtering, so as to obtain more accurate and practical data results. An integrated navigation algorithm is also designed, which integrates a variety of positioning and navigation technologies to improve the navigation control accuracy and robustness of the underwater robot. By integrating a variety of complex mathematical models and algorithm processing, it can ensure that accurate position, speed and direction information can be provided in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a method in a first embodiment of the present invention;

[0027] Figure 2 This is a structural diagram of the working modules in the first embodiment of the present invention;

[0028] Figure 3 This is a module workflow diagram of the second embodiment of the present invention;

[0029] Figure 4 A system block diagram of the remote controller of the present invention when it is working;

[0030] Figure 5 It is a state transfer flow chart of the control lever potentiometer of the present invention.

[0031] In the figure: 1. Host module; 11. System parameter debugging module; 12. Integrated navigation algorithm module; 13. Data receiving module; 14. Data preprocessing module; 15. Data quality control module; 16. Data fusion module; 17. Signal transmission module; 2. Remote control module; 21. State conversion module; 22. Signal judgment module; 3. Underwater robot module; 31. Data collection module; 32. Data sending module; 33. Command receiving module. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Please refer to the attached Figure 1 -Attached Figure 5 An embodiment of the present invention provides a method for processing data of a remote controller of an underwater robot, comprising: setting a potentiometer threshold parameter and an underwater robot parameter value by a system parameter debugging module; locating the position parameter of the underwater robot according to an integrated navigation algorithm module and performing path navigation according to the environment; sending a remote control signal to the underwater robot according to a remote control module to control its forward path; monitoring the voltage output of the potentiometer in real time according to a potentiometer voltage stabilization module, comparing the voltage real-time data according to the potentiometer threshold parameter, and adjusting the voltage according to a state-designed counter; after the potentiometer voltage stabilization module adjusts the voltage to a normal value, collecting the required underwater data according to a data collection module, and transmitting the data to a host terminal through a data sending module; processing the data collected by multiple sensors of the underwater robot according to a data preprocessing module, a data quality control module and a data fusion module, and launching the underwater robot at a preset launch location of the underwater robot by setting a launching device; controlling the underwater robot to return along a specified path according to the remote control module, and setting a recovery device to recover the underwater robot.

[0034] Assume that the user pushes the joystick 0 forward to the top. During this process, the voltage of the Y-axis potentiometer of the joystick 0 increases from the center value to the maximum value, and the state transfer counter accumulates to the maximum value of 50. If the user pushes the joystick 0 forward to the top and keeps it still, during this process, the voltage of the Y-axis potentiometer of the joystick 0 fluctuates around the maximum value. When the potentiometer voltage is collected, the condition of "the voltage change collected twice in a row is less than the dead zone size" will be met, and the state counter will decrease. Although the voltage jump of the potentiometer may cause the state transfer counter to increase, in general, the number of times the potentiometer voltage is normal will be greater than the number of voltage jumps, and the state transfer counter will eventually decrease to a negative number. At this time, the MCU will set the potentiometer to a silent state, and the small range fluctuation of the potentiometer voltage will not affect the remote control's control of the underwater robot.

[0035] If the user releases the joystick 0, the joystick 0 will automatically return to the center position. During this process, the voltage of the Y-axis potentiometer of the joystick 0 decreases from the maximum value to the center value. When the potentiometer voltage is collected, the condition of "the voltage change collected twice in a row is greater than the dead zone size" will be met, and the state counter will increase. Although the voltage jump of the potentiometer may cause the state transfer counter to decrease, in general, the number of times the potentiometer voltage is normal will be greater than the number of voltage jumps, and the state transfer counter will eventually increase to a positive number. At this time, the MCU will set the potentiometer to an active state, and the change in the potentiometer voltage will affect the remote control's control of the underwater robot.

[0036] Since the sampling frequency of the ADC is usually less than 1ms, the state transfer of the potentiometer is performed in a very short period of time and will not affect the real-time operation of the joystick by the user.

[0037] According to the above description, the actual function of the potentiometer voltage stabilization module is to monitor the voltage output of the potentiometer in real time to ensure that it can capture small changes in voltage, filter the output voltage of the potentiometer, and use a low-pass filter to reduce high-frequency noise and abnormal jumps. Confirm whether the jump lasts for a certain period of time to distinguish whether it is accidental interference or a real state change. Check the voltage change trend before and after the jump to determine whether it is a valid signal. If it is confirmed that the voltage jump is valid, adjust the control command to adapt to the new potentiometer state. If it is judged to be interference, ignore this voltage change and maintain the original control command.

[0038] The specific steps are: when the value of the state transfer counter of the potentiometer is less than zero, the potentiometer is controlled to be converted to a silent state; when the value of the state transfer counter of the potentiometer is greater than zero, the potentiometer is controlled to be converted to an active state.

[0039] The system parameter debugging module 11 is used to establish a connection between the host and the underwater robot and adjust the required setting parameters. The underwater robot to be deployed is activated and connected to the host module 1 through the underwater robot module 3. After the connection is completed, the system parameter debugging module 11 on the host module 1 is used to confirm various parameters of the underwater robot to ensure that various modules on it can operate normally, and to achieve signal interaction with the host module 1 in a timely manner, and to input the required setting data;

[0040] The underwater robot setting parameters include: navigation and positioning parameters; GPS / INS (inertial navigation system) calibration parameters; depth sensor calibration (such as pressure sensor); motor control parameters, such as PID (proportional-integral-differential) controller parameters. Thruster power limit and speed setting; energy management settings, such as battery charging / discharging strategy; pressure sensor zero calibration; communication frequency and channel settings; signal strength and bit error rate threshold; automatic heading control parameters (such as yaw PID parameters); camera exposure time, contrast, brightness, etc.; sensor sampling rate, range and threshold settings; sonar system parameters, such as gain, beam width, resolution. Predefined behavior modes, such as search mode, tracking mode; mission planning parameters, such as waypoints, speed, time, etc.; emergency procedure settings, such as automatic floating, emergency stop. Anti-collision system settings, such as obstacle avoidance distance and strategy; emergency cut-off function, such as battery overheat protection; operator intervention authority and conditions. The setting of these parameters usually needs to be carried out through the robot's ground control station software, and may require field testing and adjustment before actual operation to ensure that the robot can work reliably under various conditions.

[0041] At the location where the underwater robot is to be deployed, a launching device is set up for release. After the signal connection of the underwater robot is completed, the underwater robot is transported to the location where it is to be deployed, and the launching device is set up according to the actual situation after confirming the landmark. Before the device is set up, the underwater robot is tested again to ensure that all structures are within the normal use range. After the launching device is set up, the underwater robot is launched above the best launching point;

[0042] The position of the underwater robot is accurately located through the integrated navigation algorithm module 12, and path navigation is performed according to the environment. After the underwater robot is launched, its position is confirmed according to the positioning chip set on the underwater machine, and calculated through the integrated navigation algorithm module 12. It adopts IMU and GNSS fusion positioning. IMU provides a short-term motion state estimation by measuring acceleration and angular velocity, while GNSS provides geographic location information by receiving satellite signals. The data fusion of these two sensors can make up for each other's shortcomings and improve the accuracy and stability of positioning. During use, when the GNSS signal is blocked, IMU can provide a short-term position estimation, and the error of IMU can accumulate over time. It is reduced through GNSS correction. After obtaining the position information, a joint state model of IMU and GNSS is established, including state variables such as position, velocity, attitude and IMU drift error. At the same time, an observation model is established, in which the observation values ​​of IMU are acceleration and angular velocity, while the observation values ​​of GNSS are position and time. Through these models, the observation information of IMU and GNSS can be integrated to update the state estimation. Nonlinear filtering algorithms such as strong tracking filtering can be used to handle nonlinear systems well, have good tracking performance, and integrate multiple sensor information. Combined with the collected observation information and the established model, the state estimation is updated, and the subsequent underwater robot's route is confirmed and updated in real time;

[0043] The remote control module 2 sends remote control signals to the underwater robot to control its forward path. After calculating the route, the remote control module 2 on the remote control is used for remote operation. The remote control consists of an MCU, a joystick and a potentiometer. The MCU model is STM32F103C8T6, which is used to process control instructions and potentiometer signals. The joystick model is JH-D202X-R2, with four joysticks. Each joystick has two built-in potentiometers to detect user operations. The eight potentiometers are respectively connected to the eight ADC channels of the MCU to convert the physical position of the joystick into electrical signals. The MCU is connected to the host module 1 of the ground station computer through the MicroUSB interface. The host module 1 transmits signals The transmission module 17 communicates with the underwater robot, controls the underwater robot to move forward along the planned route through the command receiving module 33, and determines whether the signal sent by the remote controller is valid through the state conversion module 21 and the signal judgment module 22. In order to reduce the abnormal jump of the potentiometer voltage, the potentiometer is in an active state when it is powered on and initialized. When the value of the state transfer counter of the potentiometer is less than zero, the potentiometer is converted to a silent state. When the value of the state transfer counter of the potentiometer is greater than zero, the potentiometer is converted to an active state. The value of the state transfer counter is between [-50,50]. The voltage change of the potentiometer in the silent state will not trigger the MCU to send a control instruction, thereby reducing the occurrence of misoperation;

[0044] The underwater data to be collected is collected by the data collection module 31 and transmitted to the host terminal by the data transmission module 32. When the underwater robot is controlled to reach the required operating range, the nearby information to be collected is collected and recorded by the data collection module 31 thereon, and the collected information is transmitted to the host terminal by the data transmission module 32, so as to facilitate the subsequent data analysis;

[0045] According to the data collected by the underwater robot's multiple sensors, the data is processed step by step through the data preprocessing module 14, the data quality control module 15 and the data fusion module 16. After the underwater robot completes data collection and transmits the collected information back, the host terminal receives the collected data through the data receiving module 13 and analyzes and processes it. First, the huge data collected by the multiple sensors is preliminarily processed by the data preprocessing module 14, and a certain degree of screening, cleaning and conversion are performed. After the conversion is completed, the data is further processed by the data quality control module 15, and duplicate data or information errors are deleted and corrected, and the processed data is integrated and optimized by the data fusion module 16 to obtain more accurate and practical data results. The data preprocessing module 14 uses filtering, sampling and normalization to perform preliminary data processing. Normalization is a data preprocessing technology that aims to adjust the data to a specific range, usually or [-1,1], to simplify subsequent data processing and analysis. It mainly adopts the combination of minimum-maximum normalization and zero-mean normalization. The formula is:

[0046]

[0047] Where X1 is the normalized data, X is the original data, min is the minimum value in the original data, max is the maximum value in the original data, μ is the mean value of the original data, and σ is the standard deviation of the original data; the data quality control module 15 adopts the differential correction method to eliminate errors such as temperature and water pressure in the data by making equal differences in the data collected by different sensors at the same position; the data fusion module 16 uses Kalman filtering and particle filtering to analyze, and can obtain more accurate observation values ​​by combining other estimated values ​​or measured values. The key idea of ​​Kalman filtering is data fusion and iterative update. By combining prior information and actual measurements, the system can better estimate the current state and gradually improve the accuracy of the estimation through iterative updates;

[0048] The underwater robot is controlled by the remote control module 2 to return along the prescribed path and is recovered by setting a recovery device. After completing the operation, the underwater robot is controlled by the remote control module 2 to return along the planned route and is recovered by the set delivery device to avoid pollution and damage to the ocean.

[0049] Based on the above, the advantages of the present invention are: the present invention designs a data processing method for the control rod of the underwater robot remote controller, through the state transfer method of the potentiometer, through the state conversion module 21 and the signal judgment module 22 on the remote control module 2 to judge whether the signal sent by the remote controller is valid, thereby reducing the interference of abnormal jumps of the potentiometer voltage on the control command, ensuring the operating accuracy and safety of the remote controller, effectively reducing the interference of abnormal jumps of the potentiometer voltage on the control command, thereby improving the operating accuracy and safety of the remote controller, and by adopting the potentiometer state transfer method, it is possible to effectively distinguish the user's real operation signal from the error signal caused by voltage instability, reducing The situation where the MCU sends wrong commands due to misjudgment of the joystick position is reduced, and the control accuracy of the remote controller over the underwater robot is improved. The voltage jump of the potentiometer will not easily trigger the sending of control commands, reducing the risk of misoperation caused by voltage fluctuations, thereby enhancing the safety of underwater robot operation. Assume that the user pushes the joystick 0 forward to the top. During this process, the voltage of the Y-axis potentiometer of the joystick 0 increases from the center value to the maximum value, and the state transfer counter will continue to accumulate to the maximum value of 50. If the user pushes the joystick 0 forward to the top and keeps it still, during this process, the voltage of the Y-axis potentiometer of the joystick 0 jitters around the maximum value. When collecting the potentiometer voltage When the voltage is lowered, the condition of "the voltage change collected twice in a row is less than the dead zone size" will be met, and the state counter will decrease. Although the voltage jump of the potentiometer may cause the state transfer counter to increase, in general, the number of times the potentiometer voltage is normal will be greater than the number of voltage jumps, and the state transfer counter will eventually decrease to a negative number. At this time, the MCU will set the potentiometer to a silent state, and the small range fluctuation of the potentiometer voltage will not affect the remote control of the underwater robot; if the user releases the joystick 0, the joystick 0 will automatically return to the center position. In this process, the voltage of the Y-axis potentiometer of the joystick 0 decreases from the maximum value to the center. When the potentiometer voltage is collected, the condition of "the voltage change collected twice in a row is greater than the dead zone size" will be met, and the state counter will increase. Although the voltage jump of the potentiometer may cause the state transfer counter to decrease, in general, the number of times the potentiometer voltage is normal will be greater than the number of voltage jumps, and the state transfer counter will eventually increase to a positive number. At this time, the MCU will set the potentiometer to be in an active state. The change of the potentiometer voltage will affect the remote control's control of the underwater robot. Since the ADC sampling frequency is usually less than 1ms, the state transfer of the potentiometer is carried out in a very short period of time, which will not affect the real-time operation of the user's joystick.A host module 1 is also designed, in which a system parameter debugging module 11 is used to establish a connection with the underwater robot, and to confirm and modify its system parameters. A data receiving module 13 is used to receive data sent by a data sending module 32 on the underwater robot module 3, and perform preliminary processing through a data preprocessing module 14, which uses filtering, sampling and normalization to perform certain screening, cleaning and conversion operations on the collected original data, and performs initial processing on the original huge database to further reduce and integrate it for convenience of subsequent operations. After the integration is completed, the data is screened through a data quality control module 15, and the data is processed by methods such as outlier inspection, differential correction and repeated observation, and the multi-sensor data is finally processed through a data fusion module 16, and the information collected by different sensors is integrated and optimized by using Kalman filtering and particle filtering. ization, so as to obtain more accurate and practical data results; an integrated navigation algorithm module 12 is also designed, which integrates multiple positioning and navigation technologies, adopts IMU and GNSS fusion positioning, and establishes a joint state model and observation model of IMU and GNSS based on the obtained data, combines nonlinear filtering algorithms such as strong tracking filtering, and handles nonlinear systems very well, has good tracking performance, updates state estimation in real time, and completes the confirmation of the subsequent underwater robot's route. The underwater robot sends instructions through the signal transmission module 17, which can improve the navigation control accuracy and robustness of the underwater robot. By integrating multiple complex mathematical models and algorithm processing, it can ensure that accurate position, speed and direction information can be provided in various environments; the data collection module 31 is used to collect the information to be collected, and the instruction receiving module 33 is used to receive the signal transmitted by the host terminal. ;

[0050] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A data processing method for a control rod of an underwater robot remote controller, characterized in that: The steps include: The system parameter debugging module sets the potentiometer threshold parameters and the underwater robot parameter values, locates the underwater robot's position parameters according to the integrated navigation algorithm module and performs path navigation according to the environment, and sends remote control signals to the underwater robot according to the remote control module to control its forward path; According to the potentiometer voltage stabilization module, the voltage output of the potentiometer is monitored in real time, the voltage real-time data is compared according to the potentiometer threshold parameter, and the counter is designed to adjust the voltage according to the state; After the potentiometer voltage stabilization module adjusts the voltage to a normal value, the data collection module collects the required underwater data and transmits it to the host terminal through the data transmission module; According to the data preprocessing module, the data quality control module and the data fusion module, the data collected by the underwater robot's multi-sensors are processed, and the underwater robot is deployed at a preset location for the underwater robot by setting a deployment device; The remote control module controls the underwater robot to return along the specified path, and a recovery device is set up to recover the underwater robot.

2. The data processing method of the underwater robot remote controller control rod according to claim 1, characterized in that: The potentiometer voltage stabilization module controls the potentiometer to switch to a silent state when the value of the state transfer counter of the potentiometer is less than zero; and controls the potentiometer to switch to an active state when the value of the state transfer counter of the potentiometer is greater than zero.

3. The data processing method of the underwater robot remote controller control rod according to claim 1, characterized in that: It also includes releasing the underwater robot by setting up a launching device at the location where the underwater robot is required to be launched. After completing the signal connection of the underwater robot, the underwater robot is transported to the location where it is required to be launched, the landmark is confirmed to set up the launching device, and after the launching device is set up, the underwater robot is launched at a preset launching point.

4. The method for processing data of a control rod of an underwater robot remote controller according to claim 1, characterized in that: The position of the underwater robot is located through the integrated navigation algorithm module and path navigation is performed according to the environment. The user confirms the position of the underwater robot based on the positioning chip set in the underwater robot.

5. The method for processing data of a control rod of an underwater robot remote controller according to claim 1, characterized in that: The remote control module sends a remote control signal to the underwater robot to control its forward path. After the route is calculated, remote operation is performed through the remote control module on the remote controller, data communication is performed with the underwater robot through the host module and the signal transmission module, and the underwater robot is controlled to move forward along the preset route through the command receiving module.

6. The data processing method of the underwater robot remote controller control rod according to claim 5, characterized in that: The state conversion module and the signal judgment module determine whether the signal sent by the remote controller is valid.

7. The method for processing data of a control rod of an underwater robot remote controller according to claim 1, characterized in that: The required underwater data is collected through the data collection module and transmitted to the host terminal through the data sending module, the underwater robot is controlled to reach the required operating range, the required information is collected and recorded through the data collection module, and the collected information is transmitted to the host terminal through the data sending module.

8. The method for processing data of a control rod of an underwater robot remote controller according to claim 1, characterized in that: According to the data collected by the underwater robot's multiple sensors, the data is processed through the data preprocessing module, the data quality control module and the data fusion module. The underwater robot completes data collection and transmits the collected information, and the host terminal receives the processed data through the data receiving module.

9. The method for processing data of a control rod of an underwater robot remote controller according to claim 8, characterized in that: The system parameter debugging module is used to adjust the parameters required for the underwater robot, activate the underwater robot to be deployed, and establish a connection with the host module through the underwater robot module. After the connection is completed, the various parameters of the underwater robot are confirmed through the system parameter debugging module on the host module.

10. The method for processing data of a control rod of an underwater robot remote controller according to claim 1, characterized in that: The underwater robot is controlled by the remote control module to return along the prescribed path and is recovered by setting up a recovery device. After completing the operation, the underwater robot is controlled by the remote control module to return along the planned route.

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