Underwater robot control system

Abstract

The utility model discloses an underwater robot control system, which comprises a control moment gyroscope arranged at the front end of an underwater robot; the driving motor is mounted at the front end of the underwater robot, and a rotating shaft of the driving motor is in transmission connection with a rotor of the control moment gyroscope; the motor control module is mounted in the underwater robot; the main control module is installed in the underwater robot, the main control module is provided with a parameter acquisition port, the acquisition port is electrically connected with an operation parameter sensor of the control moment gyroscope, and the main control module is electrically connected with the driving motor through the motor control module; and the upper computer is in signal connection with the main control module. According to the embodiment provided by the utility model, the stability of the underwater robot control system can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot control technical field, especially relate to a kind of underwater robot control system. BACKGROUND

[0002] At present, underwater robot is often inclined due to water environment change when operating underwater, however, after inclining, the traditional control system cannot control underwater robot to restore normal posture, which is easy to affect the operation effect of underwater robot, and the stability of underwater robot is poor. SUMMARY

[0003] The following is a summary of the subject matter described in detail in this document, and this summary is not intended to limit the scope of protection of the claims.

[0004] The utility model provides a kind of underwater robot control system, can improve the stability of underwater robot control system.

[0005] The utility model provides a kind of underwater robot control system, including: control moment gyro, install in the front end of underwater robot;Driving motor, install in the front end of underwater robot, the rotating shaft of the driving motor is connected with the rotor transmission of control moment gyro;Motor control module, install in the inside of underwater robot;Master module, install in the inside of underwater robot, the master module is provided with parameter acquisition port, the parameter acquisition port is electrically connected with the operating parameter sensor of control moment gyro, the master module is electrically connected with the driving motor by the motor control module;Host computer, the host computer is signal connected with the master module.

[0006] In some embodiments, the master module is also provided with first data transmission port, the host computer is provided with second data transmission port, and the first data transmission port is signal connected with the second data transmission port through data transmission bus.

[0007] In some embodiments, the underwater robot control system further includes a posture detection module, the posture detection module is provided with a third data transmission port, and the third data transmission port is electrically connected with the master module through the data transmission bus.

[0008] In some embodiments, the parameter acquisition port includes a first acquisition port, the operating parameter sensor includes a rotational speed sensor, and the first acquisition port is electrically connected with the rotational speed sensor.

[0009] In some embodiments, the parameter acquisition port includes a second acquisition port, the operating parameter sensor includes an angle sensor, and the second acquisition port is electrically connected with the angle sensor.

[0010] In some embodiments, the master module is provided with a drive signal output port, the motor control module is provided with a drive signal input port, a positive drive port and a negative drive port, the drive signal output port is electrically connected with the drive signal output port, the positive drive port is electrically connected with the positive pole of the drive motor, and the negative drive port is electrically connected with the negative pole of the drive motor.

[0011] In some embodiments, the master module is further provided with a direction signal output port, and the motor control module is further provided with a direction signal input port, the direction signal output port is electrically connected with the direction signal output port.

[0012] In some embodiments, the underwater robot control system further comprises a temperature sensor, which is electrically connected with the master module through a temperature output port.

[0013] In some embodiments, the underwater robot control system further comprises a depth sensor, which is electrically connected with the master module through a depth output port.

[0014] The utility model discloses still provide a kind of underwater robot, comprising: control moment gyro, install in the front end of underwater robot;Driving motor, install in the front end of underwater robot, the rotating shaft of the driving motor is transmission connection with the rotor of control moment gyro;Motor control module, install in the inside of underwater robot;Master module, install in the inside of underwater robot, the master module is provided with parameter acquisition port, the parameter acquisition port is electrically connected with the operating parameter sensor of control moment gyro, the master module is electrically connected with the driving motor by the motor control module, and the master module is connected with host computer signal.

[0015] The utility model embodiment at least includes following beneficial effects: control moment gyro and driving motor are installed in the front end of underwater robot, can improve the speed that underwater robot adjusts posture, motor control module and master module are installed in the inside of underwater robot, master module is provided with parameter acquisition port, since parameter acquisition port is electrically connected with the operating parameter sensor of control moment gyro, therefore master module can acquire the data of operating parameter sensor by parameter acquisition port, and master module is also connected with host computer signal, so host computer can assist the control process of master module, and since master module is electrically connected with the driving motor by the motor control module, and the rotating shaft of the driving motor is transmission connection with the rotor of control moment gyro, so after underwater robot inclines, master module can effectively control the state of control moment gyro by motor control module and the driving motor, and then control underwater robot restores normal posture, optimizes the operation effect of robot, improves the stability of underwater robot.

[0016] Other features and advantages of the present application will be set forth in the following description of the application, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. The objects and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0018] Figure 1 A system block diagram of the underwater robot control system provided by the embodiment of the present application is shown in the figure;

[0019] Figure 2 An optional system block diagram of the underwater robot motion system provided by the embodiment of the present application is shown in the figure;

[0020] Figure 3 An optional circuit schematic diagram of the main control module provided by the embodiment of the present application is shown in the figure;

[0021] Figure 4 An optional circuit schematic diagram of the motor control module provided by the embodiment of the present application is shown in the figure;

[0022] Figure 5 An optional circuit schematic diagram of the port connector of the rotation speed sensor and the driving motor provided by the embodiment of the present application is shown in the figure;

[0023] Figure 6 An optional circuit schematic diagram of the angle sensor provided by the embodiment of the present application is shown in the figure;

[0024] Figure 7 An optional circuit schematic diagram of the first voltage reduction module provided by the embodiment of the present application is shown in the figure;

[0025] Figure 8 An optional circuit schematic diagram of the second voltage reduction module provided by the embodiment of the present application is shown in the figure;

[0026] Figure 9 An optional circuit schematic diagram of the clock signal module provided by the embodiment of the present application is shown in the figure;

[0027] Figure 10 An optional circuit schematic diagram of the connector of the data transmission bus and the clock synchronization bus provided by the embodiment of the present application is shown in the figure;

[0028] Figure 11An optional circuit schematic diagram of the download module provided by the embodiment of the utility model;

[0029] Figure 12 An optional circuit schematic diagram of the start module provided by the embodiment of the utility model;

[0030] Figure 13 An optional circuit schematic diagram of the reset module provided by the embodiment of the utility model;

[0031] Figure 14 An optional circuit schematic diagram of the anti-static module provided by the embodiment of the utility model;

[0032] Figure 15 An optional circuit schematic diagram of the voltage source module provided by the embodiment of the utility model. DETAILED DESCRIPTION

[0033] The embodiments of the utility model are described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the utility model, and cannot be understood as limiting the utility model.

[0034] In the description of the utility model, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model.

[0035] In the description of the utility model, the meaning of several is one or more, and the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, and above, below, etc. are understood as including the number. If the first and the second are described, they are only used to distinguish technical features for the purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0036] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installing and connecting should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0037] At present, the underwater robot often tilts due to the change of water environment when working underwater, however, the traditional control system cannot control the underwater robot to restore normal posture after tilting, which easily affects the operation effect of the underwater robot and the stability of the underwater robot is poor.

[0038] In view of the problem of poor stability of the control system of the underwater robot, the utility model provides a kind of underwater robot control system, the underwater robot control system includes: control moment gyro, install in the front end of underwater robot;Driving motor, install in the front end of underwater robot, the rotating shaft of driving motor is connected with the rotor of control moment gyro transmission;Motor control module, install in the inside of underwater robot;Main control module, install in the inside of underwater robot, main control module is provided with parameter acquisition port, parameter acquisition port is electrically connected with the operating parameter sensor of control moment gyro, main control module is electrically connected with driving motor by motor control module;Host computer, host computer is signal connected with main control module.According to the scheme provided in the embodiment of the utility model, control moment gyro and driving motor are both installed in the front end of underwater robot, which can help to improve the speed of underwater robot to adjust posture quickly, motor control module and main control module are both installed in the inside of underwater robot, main control module is provided with parameter acquisition port, since parameter acquisition port is electrically connected with the operating parameter sensor of control moment gyro, therefore, main control module can acquire the data of operating parameter sensor through parameter acquisition port, and main control module is also signal connected with host computer, so host computer can assist the control process of main control module, and since main control module is electrically connected with driving motor by motor control module, and the rotating shaft of driving motor is connected with the rotor of control moment gyro transmission, so after underwater robot tilts, main control module can effectively control the state of control moment gyro through motor control module and driving motor, to control underwater robot to restore normal posture, optimize the operation effect of robot, improve the stability of underwater robot.The embodiment of the utility model is further described below with reference to the drawings.

[0039] Reference Figures 1 to 4 , Figure 1 The system block diagram of the underwater robot control system provided in the embodiment of the utility model, Figure 2 An optional system block diagram of the underwater robot motion system provided in the embodiment of the utility model, Figure 3 An optional circuit principle diagram of the main control module provided in the embodiment of the utility model, Figure 4 An optional circuit principle diagram of the motor control module provided in the embodiment of the utility model, the utility model provides a kind of underwater robot control system, comprising:

[0040] Control moment gyro 100, install in the front end of underwater robot 800;

[0041] The driving motor 200 is installed at the front end of the underwater robot 800, and the rotating shaft 210 of the driving motor 200 is in driving connection with the rotor 110 of the control moment gyro 100.

[0042] The motor control module 300 is installed inside the underwater robot 800.

[0043] The main control module 400 is installed inside the underwater robot 800, and the main control module 400 is provided with a parameter acquisition port, which is electrically connected with the operating parameter sensor of the control moment gyro 100. The main control module 400 is electrically connected with the driving motor 200 through the motor control module 300.

[0044] The upper computer 500 is in signal connection with the main control module 400.

[0045] The rotating shaft 210 of the driving motor 200 is in driving connection with the rotor 110 of the control moment gyro 100, so that the angular velocity and direction of the rotating shaft 210 of the driving motor 200 and the rotor 110 of the control moment gyro 100 are consistent.

[0046] The control moment gyro 100 can be a single-frame control moment gyro 100, a double-frame control moment gyro 100, a magnetic suspension control moment gyro 100, a variable-speed control moment gyro 100, or a composite shaft control moment gyro 100, which is not limited in the embodiment of the present disclosure.

[0047] It should be noted that when the entire control moment gyro 100 is a single rotor 110 control, the control moment gyro 100 is only responsible for controlling the pitch angle of the underwater robot 800, and needs to be aligned with the central axis of the robot during installation.

[0048] The driving motor 200 can be a permanent magnet synchronous motor, a permanent magnet three-phase brushless direct current synchronous motor, or a frameless torque motor, which is not limited in the embodiment of the present disclosure.

[0049] The motor control module 300 can be a second chip U6, and the model of the second chip U6 can be TB6612FNG, which is not limited in the embodiment of the present disclosure.

[0050] The motor control module 300 and the main control module 400 can be integrated on the same circuit board, and other circuit structures for supporting the underwater robot control system are also arranged on the circuit board, including a first voltage reduction module 600, a second voltage reduction module 640, a clock signal module 650, a download module 660, a start-up module 670, a reset module 680, an anti-static module 690, and a voltage source module 700.

[0051] The main control module 400 performs filtering operation on the data after obtaining the data through the parameter acquisition interface.

[0052] The reference Figure 7 , Figure 7 An optional circuit schematic diagram of the first voltage reduction module is provided in the embodiment of the utility model, the first voltage reduction module 600 can be the third chip U3, the model of the third chip U3 can be U3XL4013E1, the first voltage reduction module 600 is provided with a first voltage reduction unit and a second voltage reduction unit, for example, the first voltage reduction unit is electrically connected with the second voltage reduction unit through the third chip U3, the first voltage reduction unit includes a first resistor R3, a second resistor R4 and a first capacitor C6, the first resistor R3 is connected with the second resistor R4 in series, the series circuit formed by the first resistor R3 and the second resistor R4 is connected with the first capacitor C6 in parallel, the connecting point of the first resistor R3 and the first capacitor C6 is a first voltage node of 5V, and the connecting point of the second resistor R4 and the first capacitor C6 is a first ground point GND;The second voltage reduction unit includes a second capacitor C5 and a third capacitor C3, the second capacitor C5 is connected with the third capacitor C3 in parallel, one connecting point of the parallel circuit formed by the second capacitor C5 and the third capacitor C3 is a second voltage node of 12V, and the other connecting point of the parallel circuit formed by the second capacitor C5 and the third capacitor C3 is a second ground point Enc_GND.

[0053] The reference Figure 8 , Figure 8 An optional circuit schematic diagram of the second voltage reduction module is provided in the embodiment of the utility model, the second voltage reduction module 640 can be the first voltage stabilizer V1, the model of the first voltage stabilizer V1 can be AMS1117-3.3V, the second voltage reduction module 640 is provided with a fourth capacitor C10 and a fifth capacitor C11, for example, the fourth capacitor C10 is connected with the Vin pin of the first voltage stabilizer, the Vin pin of the first voltage stabilizer V1 is connected with the first voltage node of 5V, the fifth capacitor C11 is connected with the Vout pin of the first voltage stabilizer V1, and the Vout pin of the first voltage stabilizer V1 is the third voltage node of 3.3V.

[0054] The reference Figure 9 , Figure 9The clock signal module 650 comprises a first crystal oscillator Y1, a second crystal oscillator X1 and a third resistor R1, two ends of the first crystal oscillator Y1 are a first clock port PD0 and a second clock port PD1 respectively, signals output by the first clock port PD0 and the second clock port PD1 are first clock signals, the second crystal oscillator X1 is connected with the third resistor R1 in parallel, two ends of a parallel circuit composed of the second crystal oscillator X1 and the third resistor R1 are a third clock port PC14 and a fourth clock port PC15 respectively, signals output by the third clock port PC14 and the fourth clock port PC15 are second clock signals.

[0055] Wherein, reference Figure 11 , Figure 11 The download module 660 is provided with a download data port WSDIO and a download clock port SWCLK.

[0056] Wherein, reference Figure 12 , Figure 12 The starting module 670 comprises a fourth resistor R2 and a fifth resistor R5, one end of the fourth resistor R2 is connected with the first grounding point GND, the other end of the fourth resistor R2 is a first starting port, one end of the fifth resistor R5 is connected with the first grounding point GND, the other end of the fifth resistor R5 is a second starting port.

[0057] Wherein, the first grounding point GND is a reference ground of the circuit, and is a common reference point of all signals and power supplies; all voltage and current measurements are performed with respect to the first grounding point GND; the second grounding point Enc_GND is a ground of a device shell or a case, and is used for connecting a metal shell of the device to the ground to provide electromagnetic interference (EMI) shielding and a safe ground

[0058] Wherein, reference Figure 13 , Figure 13 The reset module 680 comprises a reset switch and a sixth capacitor C12, the reset switch is connected with the sixth capacitor C12 in parallel, one end of a parallel circuit composed of the reset switch and the sixth capacitor C12 is connected with the first grounding point GND, and the other end of the parallel circuit is a reset port.

[0059] Wherein, reference Figure 14 , Figure 14An optional circuit schematic diagram of the anti-static module provided by the utility model embodiment, the anti-static module 690 includes a seventh capacitor C13 and a sixth resistor R6, the seventh capacitor C13 and the sixth resistor R6 are in parallel, one end of the parallel circuit composed of the seventh capacitor C13 and the sixth resistor R6 is connected with a first grounding point GND, the other end of the parallel circuit composed of the seventh capacitor C13 and the sixth resistor R6 is connected with a second grounding point Enc_GND.

[0060] Wherein, reference Figure 15 , Figure 15 An optional circuit schematic diagram of the voltage source module provided by the utility model embodiment, the voltage source module 700 is provided with a positive power port and a negative power port, the voltage of the positive power port can be 12V, and the negative power port is connected with the second grounding point Enc_GND.

[0061] Therefore, the control moment gyro 100 and the driving motor 200 are installed at the front end of the underwater robot 800, which can help to improve the speed of the underwater robot 800 in adjusting the posture, the motor control module 300 and the main control module 400 are installed inside the underwater robot 800, the main control module 400 is provided with a parameter acquisition port, since the parameter acquisition port is electrically connected with the operating parameter sensor of the control moment gyro 100, the main control module 400 can acquire the data of the operating parameter sensor through the parameter acquisition port, and the main control module 400 is also signal connected with the upper computer 500, so that the upper computer 500 can assist the control process of the main control module 400, and since the main control module 400 is electrically connected with the driving motor 200 through the motor control module 300, and the rotating shaft 210 of the driving motor 200 is drivingly connected with the rotor 110 of the control moment gyro 100, therefore, after the underwater robot 800 is tilted, the main control module 400 can effectively control the state of the control moment gyro 100 through the motor control module 300 and the driving motor 200, so as to control the underwater robot 800 to restore the normal posture, optimize the operation effect of the robot, and improve the stability of the underwater robot 800.

[0062] In addition, with reference Figure 10 , Figure 10 An optional circuit schematic diagram of the wiring device of the data transmission bus and the clock synchronization bus provided by the utility model embodiment, in some embodiments of the utility model, the main control module 400 is further provided with a first data transmission port, the upper computer 500 is provided with a second data transmission port, and the first data transmission port is signal connected with the second data transmission port through the data transmission bus.

[0063] The host control module 400 is further provided with a first clock synchronization port corresponding to the first data transmission port, the upper computer 500 is provided with a second clock synchronization port corresponding to the second data transmission port, and the first clock synchronization port is signal connected with the second clock synchronization port through a clock synchronization bus.

[0064] The host control module 400 can be a first chip U1, the model of the first chip U1 can be STM32F103C8T6, a port PB7 on the first chip U1 is used as the first data transmission port, and a port PB6 on the first chip U1 is used as the first clock synchronization port.

[0065] It should be noted that the host control module 400 is a master device, and the upper computer 500 is a slave device, and the host control device performs read-write operation on the upper computer 500 through the data transmission bus and the clock synchronization bus.

[0066] Therefore, by mounting the host control module 400 and the upper computer 500 to the same data transmission bus and clock synchronization bus, more slave device mounting positions can be provided for the host control module 400, the types of devices that can be controlled by the host control module 400 are enriched, the circuit design is simplified, the debugging difficulty is reduced, in addition, the upper computer 500 can acquire and complete the parameter adjustment task of the control moment gyro 100 through the data transmission bus and the clock synchronization bus, the upper computer 500 can be debugged independently of the host control module 400, the debugging difficulty is further reduced, the coupling degree between the upper computer 500 and the host control module 400 is reduced, and the customization degree is improved.

[0067] In addition, some embodiments of the utility model, underwater robot control system still includes attitude detection module 900, attitude detection module 900 is provided with third data transmission port, third data transmission port passes through data transmission bus and host control module 400 electricity is connected.

[0068] The posture detection module 900 is provided with a third clock synchronization port corresponding to the third data transmission port, the third clock synchronization port is connected with the third clock synchronization port signal through a clock synchronization bus, and the posture detection module 900 is a slave device of the master control module 400.

[0069] Therefore, the posture detection module 900 can be used for detecting the roll angle and the yaw angle of the underwater robot 800, preventing the robot from overturning underwater by detecting the roll angle, maintaining the stable posture of the underwater robot 800, and determining the heading of the underwater robot 800 by detecting the yaw angle and the geomagnetic field, and performing accurate navigation.

[0070] In addition, referring to Figure 5 , Figure 5 An optional circuit schematic diagram of the speed sensor and the port connector of the driving motor is provided for the embodiments of the utility model, some embodiments of the utility model, the parameter acquisition port includes a first acquisition port, the operating parameter sensor includes a speed sensor 110, and the first acquisition port is electrically connected with the speed sensor 110.

[0071] The speed sensor 110 is attached to the base of the driving motor 200 and is used for measuring the rotating speed of the rotating shaft 210 of the driving motor 200, and then determining the rotating speed of the rotor 110, the speed sensor 110 is provided with a first rotating speed output port Encoder_mode_1 and a second rotating speed output port Encoder_mode_2, the first acquisition port includes a first rotating speed acquisition port and a second rotating speed acquisition port, the first rotating speed output port Encoder_mode_1 is electrically connected with the first rotating speed acquisition port, and the second rotating speed output port Encoder_mode_2 is electrically connected with the second rotating speed acquisition port.

[0072] The port PA6 on the first chip U1 is connected to the first rotating speed output port Encoder_mode_1 as the first rotating speed acquisition port, and the port PA7 on the first chip U1 is connected to the second rotating speed output port Encoder_mode_2 as the second rotating speed acquisition port.

[0073] The PID (proportion-integration-differentiation) control is a control algorithm widely used in automatic control systems, and the PID adjusts the output of the system through three parts of proportion, integration and differentiation to realize accurate control on the target value.

[0074] The master control module 400 can realize the PID control unit, the master control module 400 can acquire the real rotating speed of the rotor 110 in real time through the speed sensor 110, take the real rotating speed as the input of the PID control unit, take the target rotating speed as the target value of the PID control unit, and make the real rotating speed gradually approach the target rotating speed.

[0075] It should be noted that the control parameters obtained by the master module 400 from the host computer 500 are used to change the parameters of the proportional, integral and derivative parts of the PID control unit in real time, thereby improving the adaptability of the underwater robot control system to the complex and changeable underwater environment.

[0076] Based on this, the master module 400 can collect the rotation speed of the rotor 110 of the control moment gyro 100 through the rotation speed sensor 110, analyze the collected rotation speed, obtain the moment parameter corresponding to the rotation speed, and then transmit the moment parameter to the host computer 500 to participate in the deep analysis of the control parameters and control gains of the control moment gyro 100, thereby improving the accuracy of the control parameters and control gains of the control moment gyro 100 and further improving the stability of the underwater robot 800.

[0077] It can be understood that the host computer 500 is used to realize the deep analysis of the control parameters and control gains of the control moment gyro 100, so that the master module 400 can be specially used to perform other control tasks, thereby reducing the system conflict between the control system of the control moment gyro 100 and the master module 400 and improving the stability of the underwater robot control system.

[0078] In addition, with reference to Figure 6 , Figure 6 An optional circuit schematic diagram of the angle sensor provided in the embodiments of the present application, in some embodiments of the present application, the parameter acquisition port includes a second acquisition port, the operating parameter sensor includes an angle sensor 120, and the second acquisition port is electrically connected with the angle sensor 120.

[0079] The angle sensor 120 can be an inertial measurement unit U2, and the model of the inertial measurement unit U2 can be ATK-IMU901, which is not limited in the embodiments of the present application.

[0080] The angle sensor 120 is provided with an angle output port Usart_TX and an instruction input port Usart_RX, the second acquisition port includes a first angle acquisition port, the angle output port Usart_TX is electrically connected with the first angle acquisition port, and the master module 400 is further provided with an instruction output port, and the instruction input port Usart_RX is electrically connected with the instruction output port.

[0081] The port PB10 on the first chip U1 is connected to the angle output port Usart_TX as the first angle acquisition port, and the port PB11 on the first chip U1 is connected to the instruction input port Usart_RX as the instruction output port.

[0082] It should be noted that the angle sensor 120 can measure the acceleration and angle of the rotor 110 of the control moment gyro 100, and then determine the inclination angle of the rotor 110, the inclination angle of the rotor 110 is used to indicate the pitch angle of the underwater robot 800, and the pitch angle of the underwater robot 800 can be used to represent the fluctuation of the water area where the underwater robot 800 is located.

[0083] Wherein, the main control module 400 can transmit the inclination angle of the rotor 110 collected to the host computer 500, so that the host computer 500 determines the control parameters and control gain of the control moment gyro 100 through the inclination angle of the rotor 110.

[0084] It should be noted that the main control module 400 can normalize the different inclination angles and rotational speeds of the rotor 110, so that the main control module 400 can determine the different original rotational speeds of the rotor 110 according to the different inclination angles of the rotor 110, and the control gain is used to amplify or reduce the original rotational speed to obtain the target rotational speed, so that the control system of the underwater robot 800 can control the rotational speed of the rotor 110 more accurately, which can significantly improve the operation accuracy and response speed of the underwater robot 800, so as to realize more efficient and reliable task execution in complex underwater environment.

[0085] Wherein, the target rotational speed can be expressed by a formula, and the formula of the target rotational speed is as follows:

[0086] PWM output = α × PWM encoder

[0087] Wherein, PWM output is the PWM signal corresponding to the target rotational speed, and α is the control gain determined by the host computer 500, α can be greater than or equal to 0 and less than or equal to 2, when α is less than or equal to 1 and greater than or equal to 0, the original rotational speed is reduced to the target rotational speed, when α is greater than 1 and less than or equal to 2, the original rotational speed is amplified to the target rotational speed, and PWM encoder is the PWM signal corresponding to the original rotational speed.

[0088] Wherein, pulse width modulation (Pulse Width Modulation, PWM) is a kind of technology used to adjust the output signal in electronic equipment, and PWM controls the average level of the signal by changing the pulse width of the signal.

[0089] For example, in different water areas, the control moment gyro 100 needs to generate different torque sizes for the same inclination angle of the rotor 110, and different control gains need to be configured for the original rotation speed corresponding to the inclination angle of the rotor 110. For example, in one water area, the robot can be well stabilized by the control system of the robot, and the current control gain can be 0 times, or in another water area, the original rotation speed corresponding to the torque size generated by the control moment gyro 100 cannot meet the control demand of the underwater robot 800, and the gain can be 1.3 times or 1.5 times, and the original rotation speed is enlarged to the target rotation speed.

[0090] Therefore, the second acquisition port of the parameter acquisition port is electrically connected with the angle sensor 120, so that the main control module 400 can acquire the inclination angle of the rotor 110 of the control moment gyro 100, and provide guidance for the control parameters and control gains of the control moment gyro 100, so as to optimize the management of the control moment gyro 100 and improve the stability, robustness and adaptability of the underwater robot 800.

[0091] In addition, referring to Figure 3 and Figure 4 Some embodiments of the utility model, the main control module 400 is provided with drive signal output port, motor control module 300 is provided with drive signal input port, positive drive port and negative drive port, drive signal output port and drive signal output port electric connection, positive drive port and the positive pole of drive motor 200 electric connection, negative drive port and the negative pole of drive motor 200 electric connection.

[0092] Wherein, motor control module 300 can be fourth chip U6, the model of fourth chip U6 can be TB6612FNG, the port PWMA of fourth chip U6 is used as drive signal input port Encoder_PWM, the port A01 of fourth chip U6 is used as positive drive port Motor_mode_1, and the port A02 of fourth chip U6 is used as negative port Motor_mode_2, which is not limited in the embodiment of the present disclosure.

[0093] Wherein, the port PB0 on the first chip U1 is used as drive signal output port and is connected to the drive signal input port Encoder_PWM of the fourth chip U6.

[0094] Wherein, the signals output to the drive signal input port by the drive signal output port are all PWM output corresponding PWM control signals.

[0095] Therefore, the motor control module 300 inputs PWM outputThe corresponding PWM control signal enables the motor control module 300 to finely control the driving motor 200, so that the output of the driving motor 200 can be changed according to the required torque of the underwater robot 800, the adaptability of the output of the driving motor 200 is improved, the robustness of the control moment gyro 100 is improved, and the stability of the underwater robot 800 is improved.

[0096] In addition, with reference to Figure 3 and Figure 4 In some embodiments of the utility model, the master control module 400 is further provided with a direction signal output port, the motor control module 300 is further provided with a direction signal input port, and the direction signal output port is electrically connected with the direction signal output port.

[0097] The direction signal output port includes a first direction output port and a second direction output port, the direction signal input port includes a first direction input port and a second direction input port, the first direction output port is electrically connected with the first direction input port, and the second direction output port is electrically connected with the second direction input port.

[0098] The port PA4 on the first chip U1 is connected to the first direction input port AIN1 of the fourth chip U6 as the first direction output port Encoder_IN_1, and the port PA5 on the first chip U1 is connected to the second direction input port AIN2 of the fourth chip U6 as the second direction output port Encoder_IN_2.

[0099] Therefore, the master control module 400 can control the rotating direction of the driving motor 200 through the motor control module 300, and then adjust the torque direction output by the rotor 110 in real time to cope with the complex and changeable underwater environment, and improve the robustness of the underwater robot 800.

[0100] In addition, in some embodiments of the utility model, the underwater robot control system further includes a temperature sensor, and the temperature sensor is electrically connected with the master control module 400 through a temperature output port.

[0101] Therefore, the master control module 400 can obtain the temperature of the surrounding water area of the underwater robot 800 through the temperature sensor, can measure the temperature under water, help to understand the temperature distribution of the water body, and identify different thermal layers, and understand the vertical temperature structure of the water body. Since the temperature change of the water layer will cause the flow rate change of the water layer, the underwater robot 800 can adjust the torque in advance when moving vertically to cope with the changing water layer environment and maintain the stability of the underwater robot 800.

[0102] In addition, the underwater robot control system of some embodiments of the present application further comprises a depth sensor, and the depth sensor is electrically connected to the main control module 400 through a depth output port.

[0103] Therefore, the main control module 400 can obtain the diving depth of the underwater robot 800 through the depth sensor to determine the position of the underwater robot 800, and ensure that the underwater robot 800 works within a predetermined depth range.

[0104] In addition, the underwater robot 800 provided by the embodiment of the present application comprises: a control moment gyroscope 100 installed at the front end of the underwater robot 800; a driving motor 200 installed at the front end of the underwater robot 800, and a rotating shaft 210 of the driving motor 200 is in transmission connection with a rotor 110 of the control moment gyroscope 100; a motor control module 300 installed inside the underwater robot 800; a main control module 400 installed inside the underwater robot 800, and the main control module 400 is provided with a parameter acquisition port, the parameter acquisition port is electrically connected with an operating parameter sensor of the control moment gyroscope 100, the main control module 400 is electrically connected with the driving motor 200 through the motor control module 300, and the main control module 400 is signal connected with an upper computer 500.

[0105] The underwater robot 800 has all the technical effects of the underwater robot control system.

[0106] The above describes the embodiments of the present application in detail in combination with the drawings, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range of ordinary skilled in the art without departing from the purpose of the present application.

Claims

1. An underwater robotic control system, characterized by, Include: Control moment gyroscopes are installed at the front end of the underwater robot; Driving motor, installed at the front end of the underwater robot, the driving motor shaft and the rotor of the control moment gyroscopes are drivingly connected; Motor control module, installed inside the underwater robot; Master module, installed inside the underwater robot, the master module is provided with a parameter acquisition port, the parameter acquisition port is electrically connected with the operating parameter sensor of the control moment gyroscopes, the master module is electrically connected with the driving motor through the motor control module; The host computer is signal connected with the master module.

2. The control system for an underwater robot of claim 1, wherein, The master module is also provided with a first data transmission port, and the host computer is provided with a second data transmission port, and the first data transmission port is signal connected with the second data transmission port through a data transmission bus.

3. The control system of claim 2, wherein, The underwater robot control system further comprises a posture detection module, and the posture detection module is provided with a third data transmission port, and the third data transmission port is electrically connected with the master module through the data transmission bus.

4. The control system for an underwater robot of claim 1, wherein, The parameter acquisition port includes a first acquisition port, and the operating parameter sensor includes a speed sensor, and the first acquisition port is electrically connected with the speed sensor.

5. The control system for an underwater robot of claim 1, wherein, The parameter acquisition port includes a second acquisition port, and the operating parameter sensor includes an angle sensor, and the second acquisition port is electrically connected with the angle sensor.

6. The control system for an underwater robot of claim 1, wherein, The master module is provided with a driving signal output port, the motor control module is provided with a driving signal input port, a positive driving port and a negative driving port, the driving signal output port is electrically connected with the driving signal output port, the positive driving port is electrically connected with the positive electrode of the driving motor, and the negative driving port is electrically connected with the negative electrode of the driving motor.

7. The control system of claim 6, wherein, The master module is also provided with a direction signal output port, and the motor control module is also provided with a direction signal input port, and the direction signal output port is electrically connected with the direction signal output port.

8. The control system for an underwater robot of claim 1, wherein, The underwater robot control system further comprises a temperature sensor, and the temperature sensor is electrically connected with the master module through a temperature output port.

9. The control system for an underwater robot of claim 1, wherein, The underwater robot control system further comprises a depth sensor, and the depth sensor is electrically connected with the master module through a depth output port.

10. An underwater robot, characterized in that, Include: Control moment gyroscopes are installed at the front end of the underwater robot; Driving motor, installed at the front end of the underwater robot, the driving motor shaft and the rotor of the control moment gyroscopes are drivingly connected; Motor control module, installed inside the underwater robot; Master module, installed inside the underwater robot, the master module is provided with a parameter acquisition port, the parameter acquisition port is electrically connected with the operating parameter sensor of the control moment gyroscopes, the master module is electrically connected with the driving motor through the motor control module, and the master module is signal connected with the host computer.

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