CN111942530A - An unmanned ship device connected to an underwater robot - Google Patents

Abstract

The invention discloses an unmanned ship device for connecting a robot, including a ship and a robot, and an electrical connection between the robot and the ship, characterized in that the carrier of the electrical connection is an ROV cable, and a GPS positioning module, 4G communication module and the first camera module; the ship is set on the water surface, and the robot is set under the water surface; the positioning function of the GPS positioning module is used to determine its own position, and the navigation track is set according to the current own position; the first camera module is used to realize the line-of-sight range Recognition of water surface obstacles in the interior; establish a connection with the base station on the road through the equipped 4G communication module, and transmit the internal data of the ship to the upper computer for reception and display. The invention realizes the identification of water surface obstacles within the line of sight through the camera module located on the ship, and adjusts the navigation trajectory by analyzing the position of the obstacles.

Description

An unmanned ship device connected to an underwater robot

Technical field:

The invention relates to the technical field of unmanned ships, in particular to an unmanned ship device that can realize intelligent delivery and recovery of underwater robots.

Background technique:

The main workplace of the unmanned ship is located on the water surface, which can facilitate production practice in water parameter monitoring and surface operations. Collaborative devices for unmanned ships are often born to solve communication problems. When signals cannot be directly transmitted over long distances, a fixed base station needs to be used to temporarily store data and then complete the sending and receiving. Data transmission is difficult for underwater robots in the process of working underwater, and underwater wireless communication is easily interfered by underwater sound, making transmission extremely inconvenient.

Invention content:

In order to overcome the defects in the existing technology, in order to solve the problem that unmanned ships cannot complete underwater operations, underwater robots are used to complete corresponding tasks, and at the same time, underwater robots cannot communicate through 4G or Wi-Fi links during work in deep water areas. , the present invention designs a primary ROV cable to realize the connection and cooperative work of the two, and provides a cooperative work scheme for an unmanned ship that is autonomously launched and recovered by an underwater robot. The problem that data cannot be accurately transmitted to land base stations in real time during underwater work.

The technical solution of the present invention is as follows: an unmanned ship device for connecting a robot, including a ship and a robot, the robot and the ship are electrically connected, the carrier of the electrical connection is an ROV cable, and the ship is provided with a GPS positioning module, 4G A communication module and a first camera module; the ship is set on the water surface, and the robot is set under the water surface; the positioning function of the GPS positioning module is used to determine its own position, and the navigation track is set according to the current own position; Recognition of obstacles on the water surface; establish a connection with the base station on the road through the equipped 4G communication module, and transmit the internal data of the ship to the upper computer for reception and display.

In one embodiment, a second camera module is provided on the robot, which collects underwater images and transmits them back in real time through the ROV cable.

In one embodiment, the ship includes a hull and a cabin, and the cabin is provided in the hull; wherein, the cabin includes a first cabin and a second cabin, the circuit board and the circuit module can be placed in the first cabin, and the second cabin can be placed robot.

In one embodiment, the circuit board and the circuit module further include a voltage regulator module and a first main controller.

In one embodiment, thrusters are installed on both the robot and the ship.

In one embodiment, a gimbal is installed on the first camera module, and the first camera module provides different shooting angles for the ship through the rotation of the gimbal.

In one embodiment, a wire organizer and a spool are also provided in the second cabin, and the ROV cable is partially or fully wound on the spool, and the spool will adjust the water entry length of the ROV cable according to the depth of the robot; The ROV cable is arranged by a wire organizer, and is connected to the robot through a small hole opened at the bottom of the boat.

In one embodiment, a second main controller is also installed on the robot, and the second main controller is connected to the ship through the ROV cable.

In one embodiment, a rudder assembly for controlling the direction is also provided on the ship, and the heading control of the ship is realized through its angular rotation.

In one embodiment, the propellers are propellers, one propeller is provided at the head and the tail of the hull, and two propellers are provided at the head or the tail of the robot.

The main beneficial effects of the present invention are:

1) The unmanned ship device determines its own position through the positioning function of the GPS global satellite positioning module.

2) The unmanned ship device sets the navigation trajectory by analyzing its current position.

3) The unmanned ship device realizes the identification of water surface obstacles within the line of sight through the camera module located on the ship.

4) The unmanned ship device adjusts the navigation trajectory by analyzing the position of the obstacle.

5) The unmanned ship device is equipped with a 4G communication module to establish a connection with the road base station, and can transmit the internal data of the unmanned ship to the upper computer platform for reception and display.

6) The underwater robot performs image data collection and environment perception through the second underwater camera module.

7) The data interaction between the underwater robot and the unmanned ship is realized through the ROV cable, and the underwater robot is supplemented with corresponding energy.

Description of drawings:

The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which like reference numerals refer to like features throughout, wherein:

FIG. 1 discloses a schematic diagram of the installation of onboard components in an unmanned ship device connected to an underwater robot according to an embodiment of the present invention.

FIG. 2 discloses a schematic diagram of the overall installation of an unmanned ship device connected to an underwater robot according to an embodiment of the present invention.

FIG. 3 discloses a component structure diagram of an unmanned ship device connected to an underwater robot according to an embodiment of the present invention.

FIG. 4 discloses a signal transmission path diagram of an unmanned ship device connected to an underwater robot according to an embodiment of the present invention.

FIG. 5 discloses a flow chart of a procedure for connecting an unmanned ship device of an underwater robot according to an embodiment of the present invention.

Referring to Fig. 1 and in conjunction with Fig. 2-Fig. 5, in conjunction with Fig. 1, in one embodiment, an unmanned ship device for connecting a robot includes a ship 1 and a robot 2, and the robot 2 and the ship 1 are electrically connected. The carrier of the sexual connection is the ROV cable 3, and a GPS positioning module 11, a 4G communication module 14 and a first camera module 13 are provided on the ship; the ship 1 is set on the water surface, and the robot 2 is set under the water surface; The positioning function determines its own position, and sets the navigation trajectory according to the current own position; realizes the identification of water surface obstacles within the line of sight through the first camera module 13; Connect, and transmit the internal data of ship 1 to the upper computer (not marked in the figure) for reception and display.

As a preference, a second camera module 21 is provided on the robot 2 to collect underwater images and transmit them back in real time through the ROV cable 3 .

As a preference, the ship 1 includes a hull 15 and a cabin 12, and the cabin is arranged in the hull; wherein,

The cabin 12 includes a first cabin and a second cabin, and a circuit board and a circuit module can be placed in the first cabin, and a robot (not marked in the figure) can be placed in the second cabin.

As a preferred option, the circuit board and the circuit module further include a voltage regulator module and a first main controller (not marked in the figure).

As a preference, propellers are installed on both the robot 2 and the ship 1 .

As a preference, a pan/tilt (not marked in the figure) is installed on the first camera module 13, and the first camera module 13 provides different shooting angles for the ship through the rotation of the pan/tilt.

As a preference, a wire organizer 18 and a spool 19 are also provided in the second cabin, and the ROV cable 3 is partially or fully wound on the spool 19. Length of water entry; the released ROV cable 3 is arranged by the wire organizer 18 and is connected to the robot 2 through a small hole (not marked in the figure) opened at the bottom of the boat 1 .

As a preference, a second main controller (not marked in the figure) is also installed on the robot 2, and the second main controller is connected to the ship 1 through the ROV cable 3.

As a preferred example, the ship 1 is also provided with a rudder assembly 17 for controlling the direction, and the heading control of the ship is realized through its angular rotation.

As a preferred example, the propeller may be a propeller, one propeller 16 is provided at the head or the tail of the hull, and two propellers 23 are provided at the head and the tail of the robot.

It can be understood that the ROV cable realizes the data transmission between the main controllers of the two by connecting the underwater robot and the unmanned vehicle, ensuring that the collected data can be transmitted to the land base station through the 4G communication module.

Continuing to refer to FIG. 1 and FIG. 2 , the second camera device 21 can collect underwater images in a certain period and return them in real time. The underwater robot 2 can adopt a four-screw propeller structure to realize power propulsion and ensure the movement of the whole front, back, left and right. When the two right propellers work, the underwater robot moves to the left; when the two rear propellers work, The underwater robot moves forward; when the right rear propeller works alone, the underwater robot realizes the left direction adjustment; and so on. The propeller of the unmanned ship can realize the power propulsion of the unmanned ship, and the overall direction control adopts the rudder structure 17, and the heading control of the unmanned ship is realized through its angular rotation. The cabin is used to protect and accommodate the wire organizer 18 and the spool 19, and the spool 19 can control the working depth of the underwater robot: the spool releases the cable during the release of the underwater robot, and the released cable passes through the wire organizer, passes through the small hole and The underwater robot is connected. The function of the cable organizer is to prevent the cable from tangling and knotting, and it is used to organize and straighten the cable.

The first camera module 13 provides a shooting angle for the unmanned ship through the rotation of the built-in PTZ, which is used for image acquisition and image recognition. After connecting with the upper computer, the corresponding processed image can be obtained, and according to the processed image, it can be automatically determined whether the front is not. There are obstacles for automatic obstacle avoidance and autonomous navigation.

The 4G communication module is used to build a communication link with the upper computer to realize the information transmission between the unmanned ship and the upper computer. The GPS satellite positioning module is used to obtain its own position information, and receive the buoy position information and the unmanned ship control task instructions through the satellite link.

Continuing to refer to FIG. 3 , in the embodiment of FIG. 3 , an underwater robot and an unmanned ship are included, and an ROV cable is used to connect the underwater robot and the unmanned ship.

The unmanned ship uses the embedded system as the main controller, and uses the USB interface and multiple I/O ports to realize function expansion and centralized data processing.

The unmanned ship consists of two parts: the hull and the cabin. The hull contains two cabins. The first cabin is the main cabin, which is used to place various circuit boards and circuit modules, including voltage stabilizer modules, GPS satellite modules, 4G communication modules, embedded Main controller and motor, etc. The second cabin is an underwater robot cabin, which is used to park underwater robots. The cable spool and cable organizer structure in the cabin, including the first camera module above it, can be a high-definition camera module. The underwater robot also adopts the embedded system as the main controller, and the main controller is connected with the camera module and the power propulsion module to realize image acquisition and navigation control of the underwater robot device.

Referring to FIG. 4 , FIG. 4 discloses a signal transmission path diagram of an unmanned ship device connected to an underwater robot in an embodiment of the present invention.

The invention can realize the problem of data acquisition and transmission of the underwater robot.

The first is the process of transmitting signals to the upper computer: during the working process of the underwater robot, it needs to transmit the camera capture picture, carry the sensor to collect data parameters and its own position parameters, and then convert the analog quantity into digital through A/D conversion after acquisition by the corresponding module. The amount of outgoing underwater robot main controller. The main controller of the underwater robot is connected to the unmanned ship through the ROV cable, so that the data can be quickly and accurately received by the unmanned ship through wired transmission; the main controller of the unmanned ship receives the corresponding underwater robot data, and needs to Pack and transmit the sensor data, camera picture and position parameters carried by itself to the host computer, and the host computer will receive and display.

On the other hand, it is the transmission link of the command signal sent by the host computer: when the host computer sends commands to the unmanned ship and underwater robot, it first packs and transmits the command to the unmanned ship. The signal sent by the ship, and the rest of the signals are transmitted to the underwater robot through wired communication to make corresponding adjustments to the work tasks.

Referring to Fig. 5 and in conjunction with Fig. 4, Fig. 5 discloses a program flow chart of an unmanned ship device connected to an underwater robot in an embodiment of the present invention, and the operation steps are as follows:

Step S1, the system is initialized, and after completion, go to step 2;

Step S2, start the GPS satellite positioning system, adjust the corresponding port level state and ensure that the signal is periodically transmitted to the satellite, and enter step 3 after completion;

Step S3, determine the coordinates of the end point, obtain the coordinates of the location where the underwater robot is released, and go to step 4 after completion;

Step S4, control the steering gear to adjust the sailing direction, and go to step 5 after completion;

In step S5, the camera collects the image environment, and captures the image of the surrounding environment, and then goes to step 6 after completion;

Step S6, the unmanned ship system sends the image information to the upper computer platform (PC terminal) through the 4G communication module, and the upper computer processes the image, and then goes to step 7 after completion;

Step S7, determine whether there is an obstacle ahead, if there is an obstacle, go to step 4, if there is no obstacle, go to step 8;

Step S8, determine whether the end point has been reached, if it has reached the release position of the underwater robot, go to step 9, and if it has not reached it, go to step 4;

In step S9, the underwater robot is launched, the hatch at the bottom of the unmanned ship is opened, and the underwater robot enters the current water area, and after completion, go to step 10;

Step S10, the underwater robot starts work, realizes its own movement through the four-helix propeller structure, and collects environmental images and data in combination with a high-definition camera device (which can be equipped with a sensor), and enters step 11 after completion;

Step S11, determine whether the underwater robot has received the work end command, if it has been received, it will go to step 12, and if it has not arrived, it will go to step 10;

Step S12, recover the underwater robot, wind the spool in the opposite direction, drag the underwater robot to recover, close the bottom hatch after recovery, and go to step 13 after completion;

Step S13, return home and end, and complete the work.

It should be noted that the prior art part in the protection scope of the present invention is not limited to the examples given in this application document, and all prior art that does not contradict the solution of the present invention, including but not limited to the prior art Patent documents, prior publications, prior publications, etc., can all be included in the protection scope of the present invention. In addition, the combination of the technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments, and all the technical features described in this case can be freely combined or combined in any way, unless conflict with each other. It should also be noted that the above-listed embodiments are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and the similar changes or deformations made subsequently can be directly derived from the contents disclosed in the present invention or can be easily thought of by those skilled in the art, and all belong to the protection scope of the present invention. .

Claims (10)

1. The utility model provides a connect unmanned ship device of robot, includes ship and robot, electric connection between robot and the ship, its characterized in that: the carrier of the electrical connection is an ROV cable, and a GPS positioning module, a 4G communication module and a first camera module are arranged on the ship; the ship is arranged on the water surface, and the robot is arranged under the water surface; determining the position of the GPS positioning module through the positioning function of the GPS positioning module, and setting a navigation track according to the current position of the GPS positioning module; the method comprises the steps that water surface obstacles in a sight distance range are identified through a first camera module; the carried 4G communication module is connected with a base station on the road, and internal data of the ship is transmitted to an upper computer for receiving and displaying.

2. The unmanned ship device of claim 1, wherein: and a second camera module is arranged on the robot and used for collecting underwater images and transmitting the underwater images back through the ROV cable in real time.

3. The unmanned ship device of claim 2, wherein: the ship comprises a ship body and a cabin, wherein the cabin is arranged in the ship body; wherein,

the cabin comprises a first cabin and a second cabin, wherein a circuit board and a circuit module can be placed in the first cabin, and a robot can be placed in the second cabin.

4. The unmanned ship device of claim 3, wherein: the circuit board and the circuit module further comprise a voltage stabilizing module and a first main controller.

5. The unmanned ship device of claim 4, wherein: thrusters are mounted on both the robot and the vessel.

6. The unmanned ship device of claim 5, wherein: the cloud platform is installed on the first camera module, and the first camera module provides different shooting visual angles for the ship through rotation of the cloud platform.

7. The unmanned ship device of claim 6, wherein: a line collator and a spool are further arranged in the second cabin, the ROV cable is partially or completely wound on the spool, and the spool can adjust the water inlet length of the ROV cable according to the water inlet depth of the robot; and the released ROV cable passes through a small hole formed in the bottom of the ship after being sorted by the line sorter and is connected with the robot.

8. The unmanned ship device of claim 7, wherein: and the robot is also provided with a second main controller, and the second main controller is connected with the ship through the ROV cable.

9. The unmanned marine vessel arrangement of claim 8, wherein: and a rudder assembly for controlling the direction is also arranged on the ship, and the course control of the ship is realized through the angular rotation of the rudder assembly.

10. The unmanned marine vessel arrangement of any one of claims 5-9, wherein: the propeller is a spiral propeller, the head or the tail of the ship body is respectively provided with a spiral propeller, and the head and the tail of the robot are respectively provided with two spiral propellers.

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