Underwater robot state detection system

Abstract

The invention belongs to the technical field of underwater robots, and discloses an underwater robot state detection system which comprises an upper computer, a master controller, a communication module, a power distribution module, an attitude sensor module, an image acquisition module, a robot carrier and a monitoring system of the upper computer. The upper computer is arranged on the water surface and used for monitoring the underwater state of the underwater robot and interacts with the master control through the communication module. According to the underwater robot state detection system of the scheme, the lower computer is connected with the underwater power line carrier module to convert network signals into electric signals, and data interaction is carried out between the electric signals and the upper computer system through the umbilical cable and the water surface power line carrier module, so that the problems that underwater wireless signals are greatly interfered, the signal attenuation speed is high, and the reliability is high are solved. Stable and reliable signals are difficult to receive, and the stability cannot be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and more specifically, to a state detection system for underwater robots. Background Art

[0002] Underwater robots are robots that can perform various tasks in underwater environments. They usually have the ability to move, sense, control and perform tasks autonomously, and can be used in marine scientific research, underwater exploration, resource exploration and development, submarine engineering construction, marine environment monitoring and other fields.

[0003] At present, the working environment of underwater robots is complex, and the amount of data that needs to be collected is large. In addition, there is interference from submarine currents and marine life on the seabed, and the design is relatively complex, resulting in low system stability.

[0004] Therefore, there is an urgent need for an underwater state detection system with high reliability and good stability. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose an underwater robot state detection system.

[0006] To solve the above problems, the present invention adopts the following technical solutions.

[0007] An underwater robot state detection system comprises a host computer, a main control, a communication module, a power distribution module, a posture sensor module, an image acquisition module, a robot carrier and a monitoring system of the host computer.

[0008] The host computer is arranged on the water surface, and is used to monitor the underwater state of the underwater robot, and interacts with the main control through the communication module.

[0009] The communication module includes a surface power carrier module arranged on the water surface and an underwater power carrier module arranged underwater. The surface power carrier module is connected to the host computer through an umbilical cable, and the underwater power carrier module is connected to the main control through the umbilical cable. The underwater power carrier module converts the network signal into an electrical signal and then exchanges data with the host computer through the umbilical cable and the surface power carrier module.

[0010] The power distribution module includes a power conversion module 1 arranged on the water surface and a power conversion module 2 arranged underwater. The power conversion module 1 and the power conversion module 2 convert the input voltage power supply into the required output voltage through voltage reduction and voltage regulation to power each module.

[0011] The posture sensor module and the image acquisition module are respectively connected to the main control. The posture sensor module is used to collect the posture information data of the underwater robot when performing underwater operations and transmit it to the host computer; the image acquisition module is used to collect the video image of the location of the underwater robot when performing underwater operations and transmit it to the host computer.

[0012] As a further description of the above technical solution: the robot carrier includes at least one propeller, a mechanical claw and a lighting system; the propeller provides power for the underwater movement of the underwater robot; the mechanical claw is used by the underwater robot to grasp or manipulate underwater objects; the lighting system is used to provide light for the underwater robot operation.

[0013] As a further description of the above technical solution: the monitoring system includes serial port settings, motion control, sensor information acquisition, and video monitoring, which are responsible for monitoring the status of the underwater robot, acquiring images captured by the underwater camera through carrier communication, serial port settings to scan the serial port information of the underwater co-processor, motion control to control the completion of the basic functions of the underwater robot, and real-time display of the sensor acquisition information of the underwater robot.

[0014] As a further description of the above technical solution: the attitude sensor module is an MPU9250 attitude sensor, and the MPU9250 attitude sensor is integrated with a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

[0015] As a further description of the above technical solution: it also includes a depth meter and a coprocessor, and the depth meter and the coprocessor are both connected to the main control; the depth meter is used to collect the depth of the underwater robot when operating underwater; the coprocessor is connected to the image acquisition module, and the coprocessor is used for data optimization, signal processing and filtering.

[0016] As a further description of the above technical solution: the image acquisition module is a camera, and the camera adopts an SM501 multimedia coprocessor chip and a 1080P high-definition USB camera module SONY IMX322 chip camera.

[0017] As a further description of the above technical solution: the main control is also connected to a pan-tilt head, which is used in conjunction with a camera. The shooting angle of the camera is adjusted by controlling the pan-tilt head to obtain a wider field of view.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] The underwater robot status detection system of this scheme adopts a lower computer connected to an underwater power carrier module to convert network signals into electrical signals, and then exchanges data with the upper computer system through the umbilical cable and the surface power carrier module, so as to solve the problems that underwater wireless signals are greatly interfered with, the signal attenuates quickly, it is difficult to receive stable and reliable signals, and the stability cannot be guaranteed at all.

[0020] The underwater robot state detection system of this solution performs posture measurement calculations through the posture sensor module, uses hardware acceleration and digital processors to reduce the load of complex fusion calculation data, sensor synchronization, posture sensing, etc., so that the robot can perform tasks efficiently and orderly.

[0021] The underwater robot status detection system of this scheme uses the power distribution module to reduce the input voltage power supply through steps such as voltage reduction and voltage stabilization, so that the voltage of each module meets the design requirements, providing a stable power supply for the operation of the underwater robot to ensure the normal operation of the underwater robot underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is one of the system diagrams of the present invention;

[0023] Figure 2 This is the second system diagram of the present invention;

[0024] Figure 3 It is a schematic diagram of voltage distribution of the present invention.

[0025] Description of the numbers in the figure:

[0026] 1. Host computer; 2. Main control; 3. Communication module; 31. Surface power carrier module; 32. Underwater power carrier module;

[0027] 4. Power distribution module; 41. Power conversion module 1; 42. Power conversion module 2;

[0028] 5. Posture sensor module; 6. Image acquisition module; 7. Robot carrier; 71. Propeller; 72. Mechanical claw; 73. Lighting system;

[0029] 8. Monitoring system; 9. Depth meter; 10. Coprocessor; 11. Pan / tilt head. DETAILED DESCRIPTION

[0030] 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; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-2 , an underwater robot state detection system, including a host computer 1, a main control 2, a communication module 3, a power distribution module 4, a posture sensor module 5, an image acquisition module 6, a robot carrier 7 and a monitoring system 8 of the host computer 1; the host computer 1 is set on the water surface, used to monitor the state of the underwater robot underwater, and interact with the main control 2 through the communication module 3.

[0032] The communication module 3 includes a surface power carrier module 31 arranged on the water surface and an underwater power carrier module 32 arranged underwater. The surface power carrier module 31 is connected to the host computer 1 through an umbilical cable, and the underwater power carrier module 32 is connected to the main control 2 through an umbilical cable. The underwater power carrier module 32 converts the network signal into an electrical signal and then exchanges data with the host computer 1 through the umbilical cable and the surface power carrier module 31.

[0033] The power distribution module 4 includes a power conversion module 1 41 arranged on the water surface and a power conversion module 2 42 arranged underwater. The power conversion module 1 41 and the power conversion module 2 42 convert the input voltage power supply into the required output voltage through voltage reduction and voltage regulation to power each module.

[0034] The posture sensor module 5 and the image acquisition module 6 are respectively connected to the main control 2. The posture sensor module 5 is used to collect the posture information data of the underwater robot when performing underwater operations and transmit it to the host computer 1; the image acquisition module 6 is used to collect the video image of the location of the underwater robot when performing underwater operations and transmit it to the host computer 1.

[0035] Among them, the robot carrier 7 includes at least one propeller 71, a mechanical claw 72 and a lighting system 73; the propeller 71 provides power for the underwater movement of the underwater robot; the mechanical claw 72 is used by the underwater robot to grab or manipulate underwater objects; the lighting system 73 is used to provide light for the underwater robot to operate.

[0036] It should be noted that the monitoring system 8 of the host computer 1 includes serial port settings, motion control, sensor information acquisition, and video monitoring. It is responsible for monitoring the status of the underwater robot, acquiring images captured by the underwater camera through carrier communication, and the serial port settings scan the serial port information of the underwater co-processor. Motion control is used to control the completion of the basic functions of the underwater robot and display the sensor acquisition information of the underwater robot in real time.

[0037] The attitude sensor module 5 is an MPU9250 attitude sensor, which integrates a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The attitude sensor module 5 mainly uses the integrated chip MPU6050 (including an accelerometer and a gyroscope) to perform attitude measurement calculations, and uses hardware acceleration and digital processors to reduce the load of complex fusion calculation data, sensor synchronization, and posture sensing.

[0038] In addition, the AK8975 three-axis magnetometer module is used to integrate and detect the positions of the machine's x, y, and z axes, and the current posture information of the robot can be given through the posture fusion algorithm.

[0039] Among them, the image acquisition module 6 is a camera, which uses the SM501 multimedia coprocessor chip, which supports multiple input and output interfaces, including analog RGB, digital LCD screen interface, 8-bit parallel interface, USB, UART, IrDA, ZoomVideo, AC97 or I2S, SSP, PWM and I2C. It also has GPIO to ensure the quality of video image transmission.

[0040] The main control 2 is also connected to a depth gauge 9, a coprocessor 10, and a gimbal 11. The depth gauge 9 is used to collect the depth of the underwater robot when it is working underwater; the depth gauge 9 mainly measures the vertical distance from the water surface to the robot. The maximum range of the depth gauge 9 is 35Mpa, the communication interface is 485, and the sensor is waterproofed with a waterproof rubber sealing ring. At the same time, the depth gauge 9 sensor has a pressure value temperature drift correction function.

[0041] The coprocessor 10 is connected to the image acquisition module 6. The coprocessor 10 is used for data optimization, signal processing and filtering. The model of the coprocessor 10 is SM501. The camera adopts a 1080P high USB camera module SONY IMX322 chip. The pan-tilt 11 is used in conjunction with the camera. The shooting angle of the camera is adjusted by controlling the pan-tilt 11 to obtain a larger field of view.

[0042] like Figure 3 As shown in the figure, the power supply of the whole machine is to lead the DC power on the ship to the robot through the umbilical cable on the water surface, and convert the voltage on the ship to 24V through the DC-DC voltage regulator power supply to power the underwater robot propulsion system and the main control 2, and then use a 24v to 12v power supply to power the lighting system and the manipulator. The remaining electronic components and sensors are powered by the 24v to 5v and 24v to 3.3v integrated on the main control 2.

[0043] The above is a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater robot state detection system, characterized in that: It comprises a host computer (1), a main control (2), a communication module (3), a power distribution module (4), a posture sensor module (5), an image acquisition module (6), a robot carrier (7) and a monitoring system (8) of the host computer (1); The host computer (1) is arranged on the water surface, and is used to monitor the underwater state of the underwater robot, and interacts with the main control (2) through the communication module (3); The communication module (3) comprises a surface power carrier module (31) arranged on the water surface and an underwater power carrier module (32) arranged underwater, the surface power carrier module (31) being connected to the host computer (1) via an umbilical cable, the underwater power carrier module (32) being connected to the main control (2) via the umbilical cable, the underwater power carrier module (32) converting the network signal into an electrical signal and then performing data exchange with the host computer (1) via the umbilical cable and the surface power carrier module (31); The power distribution module (4) comprises a power conversion module 1 (41) arranged on the water surface and a power conversion module 2 (42) arranged underwater, wherein the power conversion module 1 (41) and the power conversion module 2 (42) convert the input voltage power supply into the required output voltage through voltage reduction and voltage regulation to supply power to each module; The attitude sensor module (5) and the image acquisition module (6) are respectively connected to the main control (2); the attitude sensor module (5) is used to collect attitude information data of the underwater robot when performing underwater operations and transmit it to the host computer (1); the image acquisition module (6) is used to collect video images of the location of the underwater robot when performing underwater operations and transmit it to the host computer (1).

2. The underwater robot state detection system according to claim 1, characterized in that: The robot carrier (7) comprises at least one propeller (71), a mechanical gripper (72) and a lighting system (73); The propeller (71) provides power for the underwater robot to move underwater; The mechanical claw (72) is used by the underwater robot to grasp or manipulate underwater objects; The lighting system (73) is used to provide light for underwater robot operations.

3. The underwater robot state detection system according to claim 1, characterized in that: The monitoring system (8) includes serial port settings, motion control, sensor information collection, and video monitoring, and is responsible for monitoring the status of the underwater robot, obtaining images captured by the underwater camera through carrier communication, serial port settings to scan the serial port information of the underwater co-processor, motion control to control the completion of the basic functions of the underwater robot, and real-time display of the sensor collection information of the underwater robot.

4. The underwater robot state detection system according to claim 1, characterized in that: The attitude sensor module (5) is an MPU9250 attitude sensor (51), and the attitude sensor (51) is integrated with a three-axis accelerometer (52), a three-axis gyroscope (53), and a three-axis magnetometer (54).

5. The underwater robot state detection system according to claim 1, characterized in that: The device also includes a depth meter (9) and a coprocessor (10), wherein the depth meter (9) and the coprocessor (10) are both connected to the main control (2); The depth meter (9) is used to collect the depth of the underwater robot when it is operating underwater; The coprocessor (10) is connected to the image acquisition module (6), and the coprocessor (10) is used for data optimization, signal processing and filtering.

6. The underwater robot state detection system according to claim 1, characterized in that: The image acquisition module (6) is a camera, which adopts an SM501 multimedia coprocessor chip and a 1080P high-definition USB camera module SONY IMX322 chip camera.

7. The underwater robot state detection system according to claim 6, characterized in that: The main control (2) is also connected to a pan / tilt platform (11), which is used in conjunction with a camera. The shooting angle of the camera is adjusted by controlling the pan / tilt platform (11) to obtain a wider field of view.

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