Underwater cable-controlled robot navigation controller

Abstract

The utility model provides a navigation controller for an underwater cable-controlled robot, which realizes navigation control of the underwater cable-controlled robot and data communication with a water surface platform and consists of a power supply management unit, an MCU (Microprogrammed Control Unit), an isolation digital communication unit, a PWM (Pulse-Width Modulation) isolation driving unit, an acquisition unit and a carrier communication module, the power supply management unit is used for providing required power supplies for the units; the MCU unit acquires a water entry alarm signal and power supply voltage and current signals through the acquisition unit, and generates a PWM control signal required by navigation control; the isolation digital communication unit is used for communication isolation between the MCU unit and the carrier communication module and between the MCU unit and the depth and navigation attitude sensor equipment; the PWM isolation driving unit is used for performing isolation and power amplification on the PWM signal generated by the MCU unit; and the carrier communication module is used for realizing wired data communication between the cable-controlled robot and the water surface platform. Due to the integrated design, the size and the weight of the controller are reduced, and the utilization rate of underwater sealed space is saved.

Description

Technical Field

[0001] The utility model relates to a navigation controller, in particular to a navigation controller for an underwater cable-controlled robot. Background Art

[0002] At present, underwater cable-controlled robots have been widely used in underwater detection, underwater archaeology, underwater salvage and other fields. Underwater cable-controlled robots exchange information with the surface platform through cables, so as to realize the remote control of the cable-controlled robots by the surface platform operator. The navigation controller of the underwater cable-controlled robot is used to receive the remote control command of the surface platform, and complete the navigation action expected by the surface remote control command by modulating the speed of the robot's thrusters according to the current posture data of the cable-controlled robot. At the same time, the navigation controller also transmits the operation data of the cable-controlled robot and the underwater video data to the surface platform. Utility Model Content

[0003] The utility model provides a navigation controller of an underwater cable-controlled robot, which is used for remote control operation and two-way data transmission of the cable-controlled robot.

[0004] A navigation controller for an underwater cable-controlled robot is used for navigation control of the underwater cable-controlled robot and data communication with a surface platform. The navigation controller is characterized in that the navigation controller comprises a power supply management unit, an MCU unit, an isolated digital communication unit, a PWM isolated drive unit, a collection unit, and a carrier communication module; the power supply management unit provides the MCU unit, the isolated digital communication unit, the PWM isolated drive unit, the collection unit, and the carrier communication module with their respective required power supplies; the MCU unit collects water entry alarm signals and power supply voltage and current signals through the collection unit, the MCU unit generates a PWM speed signal and controls the speed of the propeller through the PWM isolated drive unit to achieve the posture adjustment of the robot, and the MCU unit simultaneously transmits the navigation data of the cable-controlled robot to the surface platform through the carrier communication module; the isolated digital communication unit is used to achieve communication isolation between the MCU unit and the carrier communication module and depth and navigation attitude sensor equipment; the PWM isolated drive unit is used to isolate and amplify the signal power of the PWM signal generated by the MCU unit; the collection unit is used for data collection of voltage, current, and water entry alarm sensors; and the carrier communication module is used to achieve wired data communication between the cable-controlled robot and the surface platform.

[0005] Preferably, the power supply management unit also includes a secondary power supply circuit and a distribution circuit, the secondary power supply circuit is used to generate a variety of DC voltage sources required by the MCU unit, isolated digital communication unit, PWM isolation drive unit, acquisition unit, and carrier communication module, and the distribution circuit is used to realize the up and down power control of the power supply of the cable-controlled robot thruster.

[0006] Preferably, the MCU unit obtains the depth and posture data of the cable-controlled robot through the isolated digital communication unit, and calculates the PWM speed control signals of all thrusters of the cable-controlled robot according to the surface remote control navigation instructions, thereby realizing the depth and posture adjustment of the robot.

[0007] Preferably, the isolated digital communication unit includes multiple identical isolated digital communication circuits for realizing digital communication between the MCU unit and different devices.

[0008] Preferably, the acquisition unit further includes an isolated acquisition circuit and a non-isolated acquisition circuit, the isolated acquisition circuit is used for acquiring voltage and current signals that need to be isolated, and the non-isolated acquisition circuit is used for acquiring water entry alarm signals.

[0009] Preferably, the carrier communication module utilizes a power carrier mode to transmit serial port data and Ethernet data through the power line, thereby realizing data exchange between the surface platform and the cable-controlled robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural block diagram of the utility model;

[0011] Figure 2 This is a structural diagram of the power supply management unit of the utility model;

[0012] Figure 3 This is a structural diagram of the MCU unit of the utility model;

[0013] Figure 4 This is a schematic diagram of the isolated digital communication unit of the utility model;

[0014] Figure 5 This is the principle diagram of the PWM drive isolation unit of the utility model;

[0015] Figure 6 This is a voltage isolation collection principle diagram of the collection unit of the utility model;

[0016] Figure 7 This is a schematic diagram of the water entry alarm signal collection principle of the collection unit of the utility model;

[0017] Figure 8 This is a structural diagram of the carrier communication module of the present utility model. DETAILED DESCRIPTION

[0018] In order to make the implementation objectives, technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0019] See Figure 1A navigation controller of an underwater cable-controlled robot includes a power supply management unit 1, an MCU unit 2, an isolated digital communication unit 3, a PWM drive isolation unit 4, a collection unit 5, and a carrier communication module 6.

[0020] Figure 1 The power supply management unit 1 provides the DC power required by the MCU unit 2, the isolated digital communication unit 3, the PWM drive isolation unit 4, the acquisition unit 5, and the carrier communication module 6.

[0021] Figure 2 The specific structure diagram of the power supply management unit 1 is described. The power supply management unit 1 generates a stepped-down 15V secondary power supply through the main power supply. The 15V power supply then generates the required DC power supply for the MCU unit 2, the isolated digital communication unit 3, the PWM drive isolation unit 4, the acquisition unit 5, and the carrier communication module 6. The carrier communication module 6 not only needs the power generated by the 15V isolated power supply, but also uses the main power supply as a carrier medium for signal transmission. Figure 2 The power distribution circuit in the cable-controlled robot is controlled by the MCU unit 2, thereby realizing the power-on and power-off operations of each thruster of the cable-controlled robot.

[0022] See Figure 3 The core component of the MCU unit 2 is the MCU chip. In this embodiment, 10 PWM pins, 5 serial ports, 6 AD sampling channels, and 6 IO port pins of the MCU chip are used; the PWM pins are used to control the propeller speed of the cable-controlled robot, and the PWM signal is isolated and amplified by the PWM isolation drive unit 4 and then transmitted to the propeller; the 5 serial ports are respectively used to realize digital communication with each sensor and the carrier communication module 6; the AD function performs analog-to-digital conversion on the total power supply voltage, current and water entry alarm signal through the acquisition unit 5; the IO port is used to realize the power-on and power-off operations of the distribution circuit in the power supply management unit 1; the storage circuit is used to store and read system parameters.

[0023] See Figure 4 In this embodiment, the same serial communication circuit is used. U23 is a serial transceiver chip. The chip has a built-in 5V isolated power supply and digital signal isolation function, and supports two communication modes, RS485 and RS422. The two communication modes can be selected by hardware through resistors R74 and R82. Figure 4 It is RS485 communication mode; U23 pins 7 and 4 are the sending and receiving pins connected to MCU unit 2, U23 pin 5 is the sending and receiving mode switching pin, pins 15 and 17 are differential signal pins connected to external devices, and resistors R80 and R90 are total terminal resistance configuration resistors.

[0024] Figure 5 It is a PWM isolation drive circuit. In this embodiment, there are 10 circuits. Figure 5 The PWM isolation drive circuit shown; U7 is a high-speed optocoupler driver chip, pin 1 is connected to the PWM pin of MCU unit 2 through resistor R20, R20 is a current limiting resistor; U7 pin 6 is connected to a 15V isolated power supply, pin 5 is connected to the thruster of the cable-controlled robot, and pin 5 is the isolated and amplified PWM output pin.

[0025] Figure 6 It is the total power supply voltage acquisition circuit of the acquisition unit 5. In this embodiment, the total power supply current acquisition circuit adopts the same circuit form as the voltage acquisition circuit; resistors R36, R40, and R43 form a voltage-dividing sampling network to convert the total power supply high voltage into a low-voltage signal acceptable to U3 in proportion; U3 is a differential linear operational amplifier, which is powered by dual power supplies to achieve isolation and signal amplification of analog signals. U3 and the front-end resistor form an isolation amplifier circuit; U2 is an ordinary operational amplifier to achieve conversion and signal amplification of the differential signal output by U3, and the output pin 1 of U2 is connected to the AD sampling channel of the MCU unit 2.

[0026] Figure 7 It is a water intrusion alarm signal acquisition circuit, R33 is a water intrusion detection resistor, and the resistance of this resistor changes with the ambient humidity; U11 is an operational amplifier, which realizes the signal amplification and following function.

[0027] See Figure 8 In this embodiment, the carrier communication module can transmit one serial port and one Ethernet signal through the main power line for carrier transmission, thereby realizing the information interaction between the underwater cable-controlled robot and the surface platform; the serial port signal is used to realize the transmission of the remote control signal of the surface platform and the navigation status data of the underwater cable-controlled robot; the Ethernet signal is used to realize the data transmission of additional equipment such as underwater cameras and sonars; the power carrier module in this embodiment also needs an additional 15V power supply for power supply.

Claims

1. A navigation controller for an underwater cable-controlled robot, used for navigation control of the underwater cable-controlled robot and data communication with a surface platform, characterized in that: The navigation controller includes a power supply management unit, an MCU unit, an isolated digital communication unit, a PWM isolated drive unit, a collection unit, and a carrier communication module; the power supply management unit provides the MCU unit, the isolated digital communication unit, the PWM isolated drive unit, the collection unit, and the carrier communication module with their respective power supplies; the MCU unit collects the water entry alarm signal and the power supply voltage and current signal through the collection unit, the MCU unit generates a PWM speed signal and controls the speed of the propeller through the PWM isolated drive unit to achieve the posture adjustment of the robot, and the MCU unit simultaneously transmits the navigation data of the cable-controlled robot to the surface platform through the carrier communication module; the isolated digital communication unit is used to achieve communication isolation between the MCU unit and the carrier communication module and the depth and navigation attitude sensor equipment; the PWM isolated drive unit is used to isolate the PWM signal generated by the MCU unit and amplify the signal power; the collection unit is used for data collection of voltage, current, and water entry alarm sensors; the carrier communication module is used to achieve wired data communication between the cable-controlled robot and the surface platform.

2. The underwater cable-controlled robot navigation controller according to claim 1, characterized in that: The power supply management unit also includes a secondary power supply circuit and a distribution circuit. The secondary power supply circuit is used to generate a variety of DC voltage sources required by the MCU unit, isolated digital communication unit, PWM isolation drive unit, acquisition unit, and carrier communication module. The distribution circuit is used to realize the up and down power control of the power supply of the cable-controlled robot thruster.

3. The underwater cable-controlled robot navigation controller according to claim 1, characterized in that: The MCU unit obtains the depth and posture data of the cable-controlled robot through the isolated digital communication unit, and calculates the PWM speed control signals of all thrusters of the cable-controlled robot according to the surface remote control navigation instructions, thereby realizing the depth and posture adjustment of the robot.

4. The underwater cable-controlled robot navigation controller according to claim 1, characterized in that: The isolated digital communication unit includes multiple identical isolated digital communication circuits, which are used to realize digital communication between the MCU unit and different devices.

5. The underwater cable-controlled robot navigation controller according to claim 1, characterized in that: The acquisition unit further comprises an isolated acquisition circuit and a non-isolated acquisition circuit. The isolated acquisition circuit is used for acquiring voltage and current signals that need to be isolated, and the non-isolated acquisition circuit is used for acquiring water entry alarm signals.

6. The underwater cable-controlled robot navigation controller according to claim 1, characterized in that: The carrier communication module uses a power carrier mode to transmit serial port data and Ethernet data through the power line, thereby realizing data exchange between the surface platform and the cable-controlled robot.

Images