CN110572110A - A device and method for transmitting information by using an underwater robot propulsion motor - Google Patents

Abstract

The invention discloses a device and method for transmitting information by using an underwater robot propulsion motor. The 6 IO interfaces of the controller are respectively connected to the 6 grid inputs of the drive module for the normal rotation of the motor; at the same time, the IO interface can also send pulses during the PWM invalid time to change the instantaneous force of the motor rotor for The motor vibrates relative to the initial position. The usage method includes: by adjusting the pulse cycle frequency, the motor can be set in low-frequency vibration mode and high-frequency vibration mode, which is used in different scenarios and information volume requirements. The basic signal of the Morse signal is realized through the vibration time of the motor; the time interval of the Morse signal is realized through delay control; the Morse signal is coded according to the Morse code table, thus playing a role in information transmission Effect.

Description

A device and method for transmitting information by using an underwater robot propulsion motor

technical field

The invention belongs to the technical field of brushless DC motors, in particular to a device and method for transmitting information by using an underwater robot propulsion motor.

Background technique

Brushless DC motors have been widely used in recent years, and have the characteristics of simple control, high efficiency, good speed regulation performance, and large output torque. It is widely used in the motion function of surface and underwater robotic equipment. There are two main methods of communication for underwater robotic equipment. One is wired communication, which often uses wires or optical cables as channels for information transmission; the other is wireless communication, which often uses wireless long-wave communication, underwater acoustic communication, etc. wirelessly. With the continuous development of brushless DC motor control technology, a method and device for using the propulsion motor of an underwater robot to vibrate and using its coded communication has been proposed. Be an alternative to traditional underwater communication, or an alternative when remaining underwater communication devices fail and fail.

In order to realize this method and device, during the operation of the motor, it is necessary to make full use of the free working area of the propulsion motor. When communication is required, the motor can be controlled by a software program to achieve vibration without the help of external equipment, so that the vibration signal follows the Morse code rule. , to realize the transmission of underwater information.

Contents of the invention

The purpose of the present invention is to provide a method and device for transmitting information by using the propulsion motor of an underwater robot, using the vibration of the motor body to make the vibration signal according to the Morse code table, so as to easily realize the function of using the motor body for information transmission.

In order to achieve the above purpose, the present invention discloses a device for transmitting information by propulsion motors of underwater robots, including a drive module, a three-phase stator winding of a brushless DC motor, and a controller, wherein: the drive module and the three-phase stator winding of a brushless DC motor The phase stator windings are connected to drive the motor to rotate and vibrate; the 6 IO interfaces of the controller are respectively connected to the 6 gate inputs of the drive module, and can send PWM to the gates of the 6 MOS tubes for the normal rotation of the motor .

The output IO interface of the controller can send pulses during the PWM invalid time to change the instantaneous force of the motor rotor, which is used to control the vibration of the motor and transmit information.

As a further improvement of the present invention, the drive module includes: DC power supply VDC, MOS tube S1, MOS tube S2, MOS tube S3, MOS tube S4, MOS tube S5, MOS tube S6, diode VD1, diode VD2, diode VD3, diode VD4, Diode VD5, diode VD6; the anode of the DC power supply VDC is respectively connected to the drain of the MOS transistor S1, the drain of the MOS transistor S3, the drain of the MOS transistor S5, the cathode of the diode VD1, the cathode of the diode VD3, and the cathode of the diode VD5; The source of MOS transistor S1 and the drain of MOS transistor S4 are connected to phase A of the brushless DC motor, the source of MOS transistor S1 is connected to the drain of MOS transistor S4; the source of MOS transistor S3 and the drain of MOS transistor S6 The pole is connected to the B phase of the motor, the source of the MOS transistor S3 is connected to the drain of the MOS transistor S6; the source of the MOS transistor S5, the drain of the MOS transistor S2 are connected to the C phase of the motor, the source of the MOS transistor S5 is connected to the The drains of the MOS transistor S2 are connected.

Further improvement of the present invention, the controller includes: IO interface P1, IO interface P2, IO interface P3, IO interface P4, IO interface P5, IO interface P6 of the controller; the gate of the MOS tube S1 and the IO interface P1 of the controller connected; the gate of MOS transistor S2 is connected to the IO interface P2 of the controller; the gate of MOS transistor S3 is connected to the IO interface P3 of the controller; the gate of MOS transistor S4 is connected to the IO interface P4 of the controller; the MOS transistor S5 The grid of the MOS transistor S6 is connected to the IO interface P6 of the controller.

The present invention also provides the specific steps of using the underwater robot propulsion motor to transmit information as follows: Step 1: set the pulse mode and pulse cycle of the IO interface of the controller; The pulse makes the stator of the motor vibrate near the equilibrium position. The delay time of the pulse is fixed, and the cycle frequency F of the pulse increases and decreases, which makes the motor generate different vibrations and vibration intervals. Step 3: Pre-store the F parameters corresponding to each character of the Morse code table in the control code, and when the corresponding character needs to be output, the controller reads the pre-stored information to control the vibration of the motor.

The issued pulse cycle frequency F and motor vibration frequency D are calculated by the following formula: D=F/8000.

In the above method, when the pulse cycle frequency F is reduced to 0-160Khz, the vibration frequency of the motor is 0-20hz. At this time, the motor is in a low-frequency vibration mode, which is used to transmit signals with a relatively long distance and less information; when the pulse cycle frequency F When it rises to 50Mhz-80Mhz, the vibration frequency D of the motor is 6.25Khz-10Khz. At this time, the motor is in the high-frequency vibration mode, which is used to transmit signals with a large amount of information at short distances.

This life realizes the basic signal of the Morse signal through the vibration time of the motor; through the delay control, realizes the time interval of the Morse signal; makes the Morse signal coded according to the Morse code table, thus achieving the effect of information transmission.

Among them, the Morse coded signal includes: two basic signals and different interval times. The two basic signals include: a short dot signal "·", read "Di" (Di); a long signal "—" that lasts for a certain period of time, read "Da"; the interval time includes: "Dick", 1t; "咚", 3t; between "drip" and "咒", 1t; between characters, 3t; between characters, 7t.

Optionally, the interval time t includes: assigning a value to t by the minimum hourly interval τ of the vibration mode where the motor is located, the minimum time interval τ is when using the low-frequency vibration mode, τ=0.05s; the minimum time interval τ is using the high-frequency vibration mode When τ=0.0001s; Optionally, the Morse code table includes: use "·—" to represent the character "A"; use "—···" to represent the character "B"; use "—·—·" to represent the character "C"; use "—··" to represent the character "D"; use "·" to represent the character "E"; use "··—·" to represent the character "F"; use "—··" to represent the character "G" ; Use "····" to represent the character "H"; use "··" to represent the character "I"; use "·————" to represent the character "J"; use "—·—" to represent the character "K"; Use "·—··" to represent the character "L"; use "——" to represent the character "M"; use "—· " to represent the character "N"; use "———" to represent the character "O"; use "· — —·” to represent the character “P”; use “— —·—” to represent the character “Q”; use “·—·” to represent the character “R”; use “···” to represent the character “S”; use “— "Represents the character "T"; uses "··—" to represent the character "U"; uses "···—" to represent the character "V"; uses "·— —" to represent the character "W"; uses "—··— "Denotes the character "X"; uses "—·— —" to represent the character "Y"; uses "— — ··" to represent the character "Z"; uses "·—— ——" to represent the character "1"; uses "· · — — —” means the character “2”; use “···— —” to represent the character “3”; use “····—” to represent the character “4”; use “······” to represent the character “ 5"; use "—····" for the character "6"; use "— —···" for the character "7"; use "— — —··" for the character "8"; use "— — — —·” represents the character “9”; use “— — — — —” to represent the character “0”.

Beneficial effects of the present invention: 1. Vibration signals are generated by utilizing the working spare time of the propulsion motor to realize information transmission, which can replace the traditional underwater communication method, or become an alternative method when other underwater communication devices fail or fail. 2. Through the information transmission mode of Morse code signal, it is convenient for encryption and decryption, and improves the confidentiality of underwater information transmission. 3. When the pulse cycle frequency decreases, the vibration frequency of the motor becomes lower, and the motor can be set to a low-frequency vibration mode, which is used to transmit signals with a long distance and less information; when the pulse cycle frequency increases, the vibration frequency of the motor becomes higher , which can be set to high-frequency vibration mode, which is used to transmit signals with a large amount of information at short distances.

Description of drawings

Fig. 1 is a schematic circuit diagram of an information transmission device utilizing an underwater robot propulsion motor according to the present invention.

Fig. 2 is a flow chart of an indication method of an underwater robot propulsion motor transmitting information device according to the present invention.

Detailed ways

In order to deepen the understanding of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments, which are only used to explain the present invention and do not limit the protection scope of the present invention.

Embodiment: as shown in Fig. 1, a kind of device that utilizes the propulsion motor of underwater robot to transmit information, comprises drive module, the three-phase stator winding of brushless DC motor, controller, the three-phase stator of drive module and brushless DC motor The windings are connected to drive the motor to rotate and make sound; the 6 IO interfaces of the controller are respectively connected to the 6 gate inputs of the drive module, and can send PWM to the gates of the 6 MOS tubes for the normal rotation of the motor; at the same time The IO interface can also send pulses during the PWM invalid time to change the instantaneous force of the motor rotor for vibration of the motor relative to the initial position.

In this embodiment, the drive module includes DC power supply VDC, MOS transistor S1, MOS transistor S2, MOS transistor S3, MOS transistor S4, MOS transistor S5, MOS transistor S6, diode VD1, diode VD2, diode VD3, diode VD4, diode VD5, diode VD6; the positive pole of the DC power supply VDC is connected to the drain of the MOS transistor S1, the drain of the MOS transistor S3, the drain of the MOS transistor S5, the cathode of the diode VD1, the cathode of the diode VD3, and the cathode of the diode VD5; The negative pole of the power supply is respectively connected to the source of MOS transistor S4, the source of MOS transistor S6, the source of MOS transistor S2, the anode of diode VD4, the anode of diode VD6, and the anode of diode VD2; the source of MOS transistor S1, the MOS The drain of the tube S4 is connected to the A phase of the brushless DC motor, the source of the MOS tube S1 is connected to the drain of the MOS tube S4; the source of the MOS tube S3, the drain of the MOS tube S6 are connected to the B phase of the motor, The source of MOS transistor S3 is connected to the drain of MOS transistor S6; the source of MOS transistor S5 and the drain of MOS transistor S2 are connected to phase C of the motor; the source of MOS transistor S5 is connected to the drain of MOS transistor S2.

In this embodiment, the controller includes: IO interface P1, IO interface P2, IO interface P3, IO interface P4, IO interface P5, IO interface P6 of the controller; the gate of the MOS transistor S1 and the controller connected to the IO interface P1 of the MOS transistor S2; the gate of the MOS transistor S2 is connected to the IO interface P2 of the controller; the gate of the MOS transistor S3 is connected to the IO interface P3 of the controller; the gate of the MOS transistor S4 The gate is connected to the IO interface P4 of the controller; the gate of the MOS transistor S5 is connected to the IO interface P5 of the controller; the gate of the MOS transistor S6 is connected to the IO interface P6 of the controller .

As shown in Figure 2, a method of using the underwater robot to propel the motor to transmit information, taking the conduction of the MOS tubes S1 and S6 when the motor is working normally, and using the low-frequency vibration mode to send the string information "X SOS" as an example to introduce the specific operation steps: Step A1: Set the pulse mode and pulse period of the IO interface of the controller; Step A2: Send a pulse to each of the MOS transistors S1 and S6 through the IO interface of the controller in the free working interval of the motor. The delay time of the pulse is fixed, and the cycle of the pulse The increase or decrease of the frequency F causes the motor to generate vibrations and vibration intervals with different lengths of time; Step A3: Prestore the F parameters corresponding to each character of the Morse code table in the control code, and when the corresponding character needs to be output, the controller reads Fetch pre-stored information for motor vibration control.

Among them, the pulse cycle frequency F and the motor vibration frequency D are calculated by the following formula: D=F/8000. When the pulse cycle frequency F is reduced to 0-160Khz, the vibration frequency of the motor is 0-20hz. At this time, the motor is in a low-frequency vibration mode, which is used to transmit signals with a long distance and less information; when the pulse cycle frequency F increases to 50Mhz -80Mhz, the vibration frequency D of the motor is 6.25Khz-10Khz. At this time, the motor is in the high-frequency vibration mode, which is used to transmit signals with a large amount of information at short distances.

Optionally, when the pulse cycle frequency decreases, the vibration frequency of the motor becomes low, and the motor can be set to a low-frequency vibration mode, which is used to transmit a signal with a relatively long distance and a small amount of information; when the pulse cycle frequency increases, the vibration frequency of the motor Higher, it can be set to high-frequency vibration mode, which is used to transmit signals with a large amount of information at short distances.

Optionally, the basic signal of the Morse signal is realized through the vibration time of the motor; the time interval of the Morse signal is realized through delay control; and the Morse signal is coded according to the Morse code table.

Optionally, "—" represents the "click" signal, "·" represents the "tick" signal, and the steps for expressing the character string information "X SOS" are as follows: 1. The first "—" signal of the "X" character, through The motor continues to vibrate for 0.15s. 2. The interval signal between the second "·" signal and the first "—" signal is represented by the continuous idle operation of the motor for 0.05s. 3. The second "·" signal of the "X" character is indicated by the continuous vibration of the motor for 0.05s. 4. The interval signal between the third "·" signal and the second "·" signal is represented by the continuous idle operation of the motor for 0.05s. 5. The third "·" signal of the "X" character is indicated by the continuous vibration of the motor for 0.05s. 6. The interval signal between the fourth "—" signal and the third "·" signal is represented by the continuous idle operation of the motor for 0.05s. 7. The fourth "—" signal of the "X" character is indicated by the continuous vibration of the motor for 0.15s. 8. The inter-word interval signal between "X" and "SOS" is represented by the continuous idle operation of the motor for 0.35s. 9. The first "·" of the first "S" character is indicated by the continuous vibration of the motor for 0.05s. 10. The interval signal between the second "·" signal and the first "·" signal is represented by the continuous idle operation of the motor for 0.05s. 11. The second digit "·" of the first "S" character is indicated by the continuous vibration of the motor for 0.05s. 12. The interval signal between the third "·" signal and the second "·" signal is represented by the continuous idle operation of the motor for 0.05s. 13. The third "·" of the first "S" character is indicated by the continuous vibration of the motor for 0.05s. 14. The interval signal between the second "O" character and the first "S" character is represented by the continuous idle operation of the motor for 0.15s. 15. The first "—" signal of the second "O" character is passed through the motor Indicates continuous vibration for 0.15s. 16. The interval signal between the second "—" signal and the first "—" signal is represented by the continuous idle operation of the motor for 0.05s. 17. The second "—" signal of the second "O" character is indicated by the continuous vibration of the motor for 0.15s. 18. The interval signal between the third "—" signal and the second "—" signal is represented by the continuous idle operation of the motor for 0.05s. 19. The third "—" signal of the second "O" character is indicated by the continuous vibration of the motor for 0.15s. 20. The interval signal between the third "S" character and the second "O" character is represented by the continuous idle operation of the motor for 0.15s. 21. The first "·" of the third "S" character is indicated by the continuous vibration of the motor for 0.05s. 22. The interval signal between the second "·" signal and the first "·" signal is represented by the continuous idle operation of the motor for 0.05s. 23. The second digit "·" of the third "S" character is indicated by the continuous vibration of the motor for 0.05s. 24. The interval signal between the third "·" signal and the second "·" signal is represented by the continuous idle operation of the motor for 0.05s. 25. The third "·" of the third "S" character is represented by the continuous vibration of the motor for 0.05s.

In this embodiment, a brushless DC motor with a rated voltage of 24V and a rated speed of 3000rpm is selected for the underwater vibration test. The controller adopts STM32F103C8T6 controller. The button module includes 3 buttons, which are the positive sequence plus button and the positive sequence minus button and the start and stop buttons according to the order of the Morse code table.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. The utility model provides an utilize underwater robot to promote device of motor transfer information which characterized in that, includes drive module, brushless DC motor's three-phase stator winding, controller, wherein: the driving module is connected with a three-phase stator winding of the brushless direct current motor and is used for driving the motor to rotate and vibrate; 6 IO interfaces of the controller are connected with 6 grid inputs of the driving module respectively, and can send PWM to the grids of the 6 MOS tubes for normal rotation of the motor.

2. The apparatus for transmitting information using a propulsion motor of an underwater robot as claimed in claim 1, wherein the driving module includes a dc power source VDC, a MOS transistor S1, a MOS transistor S2, a MOS transistor S3, a MOS transistor S4, a MOS transistor S5, a MOS transistor S6, a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5, a diode VD 6; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3, the drain electrode of the MOS tube S5, the cathode of the diode VD1, the cathode of the diode VD3 and the cathode of the diode VD 5; the cathode of the direct current power supply is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6, the source electrode of the MOS tube S2, the anode of the diode VD4, the anode of the diode VD6 and the anode of the diode VD 2; the source electrode of the MOS tube S1 and the drain electrode of the MOS tube S4 are connected with the phase A of the brushless direct current motor, and the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 and the drain electrode of the MOS tube S6 are connected with the phase B of the brushless direct current motor, and the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 and the drain electrode of the MOS tube S2 are connected with the phase C of the brushless direct current motor, and the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.

3. The apparatus for transmitting information using the underwater robot propulsion motor as claimed in claim 2, wherein the controller includes an IO interface P1, an IO interface P2, an IO interface P3, an IO interface P4, an IO interface P5, an IO interface P6 of the controller; the grid electrode of the MOS tube S1 is connected with an IO interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with an IO interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with an IO interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with an IO interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with an IO interface P5 of the controller; the gate of the MOS transistor S6 is connected with the IO interface P6 of the controller.

4. A method for transmitting information using a propulsion motor of an underwater robot using the apparatus for transmitting information using a propulsion motor of an underwater robot according to claim 3, comprising the steps of: the method comprises the following steps: setting a pulse mode and a pulse period of an IO interface of a controller; step two: sending pulses through an IO interface of a controller in a motor working free interval to enable a rotor of the motor to vibrate near a balance position, wherein the delay time of the pulses is fixed, and the cyclic frequency F of the pulses is increased or decreased to enable the motor to generate vibration and vibration intervals with different time lengths; step three: pre-storing an F parameter corresponding to each character of a Morse code table in a control code, and reading pre-stored information by a controller to control the vibration of the motor when the corresponding character needs to be output; the pulse cycle frequency F and the motor vibration frequency D are calculated according to the following formula: d = F/8000.

5. The method of claim 4, wherein in the step, when the pulse cycle frequency is decreased, the vibration frequency of the motor becomes lower, and the motor is set to a low frequency vibration mode for transmitting a signal with a smaller information amount at a longer distance; when the pulse cycle frequency is increased, the vibration frequency of the motor becomes high, and a high-frequency vibration mode is set for transmitting a signal with a large information amount at a short distance.