CN103064296A - Underwater robot auxiliary control system - Google Patents

Abstract

The invention relates to an underwater robot control technology, in particular to an underwater robot auxiliary control system. The invention includes a strapdown inertial navigation system and a visual simulation system, and is characterized in that the strapdown inertial navigation system for transmitting the position and attitude information of the underwater robot is installed on the underwater robot carrier, and the strapdown inertial navigation system and the virtual display underwater The visual simulation system of the robot motion trajectory is connected, and the visual simulation system is installed in the underwater robot control room. The present invention simulates and displays the attitude and movement of the underwater robot in the deep sea, which is convenient for operators to control the underwater robot; the structure is simple, and the system is convenient to build; the present invention and the main control system of the underwater robot are two independent systems, and they are mutually Independent of each other; small size, easy to install.

Description

Auxiliary control system for underwater robot

technical field

The invention relates to an underwater robot control technology, in particular to an underwater robot auxiliary control system.

Background technique

The 21st century is the century of the ocean, and the ocean, which accounts for 71% of the world's area, will be the next century and the environment on which human beings will live in the future. Underwater robot (ROV) is a powerful tool for humans to explore the marine environment and develop marine resources today, but the ROV control system is complicated, the operation process is cumbersome, and the ROV carrier is in the deep sea of several kilometers, the operator cannot directly observe and control the ROV carrier , the position and attitude of the ROV can only be controlled by means of digital information fed back by a series of sensors, which is the so-called "blind operation". This method of operation requires the operator to continuously read data such as the position and attitude of the ROV, and form a sensory awareness of the ROV's motion state in his own brain, and then control the ROV carrier through a series of operations. Obviously, this process is cumbersome. .

Contents of the invention

In view of the above problems, the present invention provides an auxiliary control system for an underwater robot.

The technical scheme adopted by the present invention to achieve the above object is: an auxiliary control system for underwater robots, including a strapdown inertial navigation system and a visual simulation system. A strapdown inertial navigation system, the strapdown inertial navigation system is connected with a connected visual simulation system for virtually displaying the movement track of the underwater robot, and the visual simulation system is installed in the control room of the underwater robot.

The strapdown inertial navigation system is used to output the attitude, displacement and velocity information of the underwater robot.

The strapdown inertial navigation system is connected with the visual simulation system through the RS485 bus.

The visual simulation system is a device equipped with a visual simulation program.

The data that the strapdown inertial navigation system transmits to the visual simulation system passes through the formula

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\end{array}\right.$

Carry out data processing and convert it into a visual simulation display of the carrier, among which,

X is the displacement of the carrier in the X direction of the world coordinate system;

Y is the displacement of the carrier in the Y direction of the world coordinate system;

Z is the displacement of the carrier in the Z direction of the world coordinate system;

Sx is the displacement of the carrier in the X direction in the motion coordinate system;

Sy is the displacement of the carrier in the Y direction in the motion coordinate system;

Sz is the displacement of the carrier in the Z direction in the motion coordinate system;

θ is the angle between the moving direction of the carrier and the Y axis of the moving coordinate system.

The three-dimensional model of the carrier in the visual simulation system is made by MultiGen Creator.

The mathematical model of the mooring cable in the described visual simulation system is a space parabola, which is dynamically displayed by the method of drawing points in the visual simulation system, and the parabolic model is:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; bx</span>}\end{array}\right.$

Among them, (x, y, z) is the coordinate of any point on the parabola;

a, b are parabolic model parameters.

The technical solution adopted by the present invention for achieving the above object is: an auxiliary control system for an underwater robot. The present invention has the following advantages:

1. Simulate and display the posture and motion of the underwater robot in the deep sea. The three-dimensional model is simple and efficient, and the real-time display capability is strong, which is convenient for the operator to control the underwater robot.

2. The underwater robot auxiliary control system only includes a strapdown inertial navigation device and a visual simulation computer, which is simple in structure and easy to build;

3. The auxiliary control system of the underwater robot and the main control system of the underwater robot are two independent systems that do not affect each other.

4. Small size, easy to install.

Description of drawings

Fig. 1 is an overall structural block diagram of the present invention;

Fig. 2 is a system signal flow chart of the present invention;

Fig. 3 is the computer control flowchart of visual simulation of the present invention;

Fig. 4 is a three-dimensional model diagram of the underwater robot carrier of the present invention;

Fig. 5 is a mathematical model diagram of the mooring cable of the underwater robot of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, a remote control underwater robot auxiliary control system includes a strapdown inertial navigation system and a visual simulation system. The strapdown inertial navigation system that transmits the position and attitude information of the underwater robot is installed on the underwater robot carrier. The strapdown inertial navigation system is connected with the connected visual simulation system that virtually displays the motion track of the underwater robot, and the visual simulation system is installed in the control room of the underwater robot.

The strapdown inertial navigation system is used to output the attitude, displacement and velocity information of the underwater robot.

The strapdown inertial navigation system is connected with the visual simulation system through the RS485 bus.

The visual simulation system is a device equipped with a visual simulation program.

The visual simulation system uses virtual reality technology to simulate and display the posture and motion state of the real underwater robot carrier with a virtual underwater robot model, and then assists the underwater robot operator to operate the real underwater robot's movement in the deep sea.

The auxiliary control system of the underwater robot and the main control system of the underwater robot are two independent systems and do not affect each other.

The system signal flow chart of the present invention is shown in FIG. 2 . The strapdown inertial navigation system is one of the inertial navigation systems. After it is installed on the ROV carrier, it can transmit the position and attitude information of the ROV carrier to the visual simulation system in the control room in real time. The visual simulation system adopts virtual reality technology, which is realized by installing corresponding visual simulation on an industrial computer. When the visual simulation system receives the position and attitude information of the ROV carrier, it can drive the ROV three-dimensional model movement in the virtual ocean environment, so that the ROV carrier model in the visual simulation computer will display the underwater robot in the deep sea in real time. The carrier's posture changes and displacement changes, and finally the operator can conveniently control the underwater robot carrier in the deep sea by observing the visual simulation system.

The control flow chart of the visual simulation computer of the present invention is shown in FIG. 3 . The program is implemented with VisualStudio 2003 and Vega Prime function library, and consists of one thread. The program first initializes the visual simulation environment, and sets the position and attitude of various objects in the environment, especially the position and attitude of ROV. Then read the attitude and displacement information of the ROV carrier in the deep sea sent by the strapdown inertial navigation system through the RS485 bus, and change the motion state of the virtual ROV according to these information. The program sets the frame rate of the picture to 50 frames/s, and updates the position and attitude information of the virtual ROV in each frame of the picture, so that the motion state of the virtual ROV can be intuitively displayed in the continuous picture display. The program also needs to perform collision detection on the virtual ROV carrier. The so-called collision detection is to detect the distance between the virtual ROV 3D model and other 3D models. If the distance between the virtual ROV three-dimensional model and other models is zero (that is, collides), the virtual ROV three-dimensional model is stopped to prevent the phenomenon that the virtual ROV three-dimensional model passes through other three-dimensional models. The position and attitude information of the carrier transmitted by the strapdown inertial navigation system needs to be further processed to convert the information into the visual simulation display of the carrier, which involves the transformation of the motion coordinate system and the world coordinate system. The formula is:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; S</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\end{array}\right.$

Among them, X is the displacement of the carrier in the X direction of the world coordinate system;

Y is the displacement of the carrier in the Y direction of the world coordinate system;

Z is the displacement of the carrier in the Z direction of the world coordinate system;

Sx is the displacement of the carrier in the X direction in the motion coordinate system;

Sy is the displacement of the carrier in the Y direction in the motion coordinate system;

Sz is the displacement of the carrier in the Z direction in the motion coordinate system;

θ is the angle between the moving direction of the carrier and the Y-axis of the moving coordinate system.

The three-dimensional model diagram of the underwater robot carrier of the present invention is shown in FIG. 4 . The tool for making the 3D model is MultiGen Creator, which uses the method of dynamic modeling to load a texture image proportional to the size of the actual model on the surface of the established model based on the 2D scanning image. It is more realistic. The following four principles are followed in the process of making the ROV 3D model: (1) There must be no overlapping surfaces and surfaces that are too close; (2) Multiple thin strip models cannot be dense; (3) A single thin strip, single-sided model cannot Too thin; (4) The texture pixel size is required to be 2 to the Nth power, and cannot exceed 1024 pixels. In order to display the effect of the propeller rotation in the visual simulation, it is necessary to specify that the propeller is rotatable when building the ROV 3D model, so it is necessary to set the blades of the propeller as DOF nodes, so that it can be controlled in the visual simulation Direction of rotation and speed of rotation of the propeller.

The mathematical model diagram of the mooring cable of the underwater robot of the present invention is shown in FIG. 5 . In order to dynamically display the mooring cable in the visual simulation, it is assumed that the shape of the mooring cable is a space parabola, and at any time, a three-dimensional right-handed coordinate system is established with the position of the ROV model as the coordinate origin, and the apex of the space parabola is at the origin , another point is clearly where the repeater is. This spatial parabola can be seen as produced by the intersection of a paraboloid of revolution with a plane in space. The rotating paraboloid takes the origin as the vertex and passes through the coordinate point where the repeater is located; while the plane in space passes through the origin and passes through the coordinate point where the repeater is located. The result of the intersection of the two space surfaces is the space mathematical model of the mooring cable—space parabola.

Its mathematical model can be described by the following equations.

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; bx</span>}\end{array}\right.$

Among them, (x, y, z) are the coordinates of any point on the parabola; a, b are the parameters of the space parabola model.

When the coordinate positions of the carrier and the repeater are known, the two parameters a and b in the above equations can be calculated, and finally the mathematical model expression of the mooring cable can be obtained.

On the basis of the known mathematical model of the mooring cable, the mooring cable can be displayed by using the method of point drawing in the visual simulation environment, and in the update of each frame of image in the visual simulation, it is necessary to recalculate the mooring cable Mathematical model of the system, and re-draw the drawing, so as to dynamically update the state of the mooring cable.

Claims (7)

1. underwater robot sub-control system, comprise strapdown inertial navigation system and vision emulation system, it is characterized in that, the strapdown inertial navigation system that transmits underwater robot position and attitude information is installed on the underwater robot carrier, strapdown inertial navigation system connects with the vision emulation system that is connected of virtual demonstration underwater robot movement locus, and vision emulation system is installed in the underwater robot pulpit.

2. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system is used for attitude, displacement and the velocity information of output underwater robot.

3. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system is connected with vision emulation system by the RS485 bus.

4. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described vision emulation system is that the equipment that can realize the vision simulation program is housed.

5. a kind of underwater robot sub-control system according to claim 1 is characterized in that, described strapdown inertial navigation system sends the data communication device of vision emulation system to and crosses formula

$\left\{\begin{array}{c}X=S_x*\cos \mathrm{\&theta;}-S_y*\sin \mathrm{\&theta;}\\ Y=S_x*\sin \mathrm{\&theta;}+S_y*\cos \mathrm{\&theta;}\\ Z=S_z\end{array}\right.$

Carry out data and process, be converted into the vision simulation demonstration of carrier, wherein,

X is the displacement of carrier on the world coordinate system directions X;

Y is the displacement of carrier on the world coordinate system Y-direction;

Z is the displacement of carrier on world coordinate system Z direction;

Sx is carrier displacement on the directions X in moving coordinate system;

Sy is carrier displacement on the Y-direction in moving coordinate system;

Sz is carrier displacement on the Z direction in moving coordinate system;

θ is the angle of direction of motion and the moving coordinate system Y-axis of carrier.

6. a kind of underwater robot sub-control system according to claim 1 is characterized in that, the three-dimensional model of carrier adopts MultiGen Creator to make in the described vision emulation system.

7. a kind of underwater robot sub-control system according to claim 1, it is characterized in that, the mathematical model of heaving pile is a space para-curve in the described vision emulation system, and the method that adopts described point to draw in vision simulation shows that dynamically this parabola model is:

$\left\{\begin{array}{c}z=a(x^2+y^2)\\ y=\mathrm{bx}\end{array}\right.$

Wherein, (x, y, z) is the coordinate of arbitrfary point on the para-curve;

A, b are the parabola model parameter.

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