CN111352436A - An autonomous underwater robot remote wireless remote control device - Google Patents
An autonomous underwater robot remote wireless remote control deviceDownload PDFInfo
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- CN111352436A CN111352436ACN201811582236.5ACN201811582236ACN111352436ACN 111352436 ACN111352436 ACN 111352436ACN 201811582236 ACN201811582236 ACN 201811582236ACN 111352436 ACN111352436 ACN 111352436A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及自主式水下机器人遥控技术领域，具体地说是一种自主式水下机器人远程无线遥控装置。The invention relates to the technical field of autonomous underwater robot remote control, in particular to an autonomous underwater robot remote wireless remote control device.
背景技术Background technique
近几年来，自主式水下机器人(AUV)逐渐得到了世界各国的重视，在海洋经济开发、生态研究、地质勘探、水文监测、油气管道检测等领域得到了很广泛的应用，逐渐成为水下作业的重要工具。In recent years, autonomous underwater vehicles (AUVs) have gradually attracted the attention of countries all over the world, and have been widely used in marine economic development, ecological research, geological exploration, hydrological monitoring, oil and gas pipeline detection and other fields, and gradually become an underwater vehicle. An important tool for work.
水下机器人在进坞，出坞过程中，目前更多的采用遥航的方式，传统的遥控装置只是对水下机器人进行简单的航向控制，并不具备水下机器人状态信息显示功能，在实际使用过程中，操控者无法及时获取水下机器人的航行状态信息，操控者在操作遥控装置时，往往需要其他人员在旁边观察水下机器人的姿态信息，实际体验性很差。而且传统遥控装置操作不便捷，舒适性差。In the process of docking and un-docking, the underwater robot is currently more remote-controlled. The traditional remote control device only performs simple heading control for the underwater robot, and does not have the function of displaying the status information of the underwater robot. During use, the operator cannot obtain the navigation status information of the underwater robot in time. When the operator operates the remote control device, he often needs other personnel to observe the posture information of the underwater robot, which is very poor in actual experience. Moreover, the traditional remote control device is inconvenient to operate and has poor comfort.
发明内容SUMMARY OF THE INVENTION
针对现有技术的不足，本发明提供一种自主式水下机器人远程无线遥控装置，解决操控者无法及时获取水下机器人的航行状态信息，在操作遥控装置时，需要其他人员在旁边观察水下机器人的姿态信息问题。In view of the shortcomings of the prior art, the present invention provides an autonomous underwater robot remote wireless remote control device, which solves the problem that the operator cannot obtain the navigation status information of the underwater robot in time, and other personnel are required to observe the underwater when operating the remote control device. Robot pose information problem.
本发明为实现上述目的所采用的技术方案是：The technical scheme that the present invention adopts for realizing the above-mentioned purpose is:
一种自主式水下机器人远程无线遥控装置，包括：An autonomous underwater robot remote wireless remote control device, comprising:
控制处理电路；control processing circuit;
操控杆，连接所述控制处理电路的操控杆解码电路，发送操控杆控制命令给控制处理电路，用于水下机器人的航向控制和速度控制；a joystick, connected to the joystick decoding circuit of the control processing circuit, and sending joystick control commands to the control processing circuit for heading control and speed control of the underwater robot;
旋钮，连接所述控制处理电路的旋钮解码电路，发送旋钮控制命令给控制处理电路，用于水下机器人的直线运动过程中的速度控制和水平航向控制；The knob is connected to the knob decoding circuit of the control processing circuit, and sends the knob control command to the control processing circuit for speed control and horizontal heading control during the linear motion of the underwater robot;
按键，连接所述控制处理电路的按键输入电路，发送按键控制命令给控制处理电路，用于显示屏显示功能选择切换；a button, which is connected to the button input circuit of the control processing circuit, and sends a button control command to the control processing circuit, which is used for the selection and switching of the display screen display function;
无线通信模块，连接天线，接收和传输无线电波信号，无线通信模块还连接所述控制处理电路的第二串口输入/输出电路，接收水下机器人的状态信息和传输遥控控制指令。The wireless communication module is connected to the antenna to receive and transmit radio wave signals. The wireless communication module is also connected to the second serial input/output circuit of the control processing circuit to receive the state information of the underwater robot and transmit remote control commands.
还包括指示灯连接所述控制处理电路的指示灯输出电路，用于遥控过程中水下机器人运行状态显示和故障报警显示。It also includes an indicator light output circuit connected to the control processing circuit by an indicator light, which is used for the display of the running state of the underwater robot and the display of fault alarms during the remote control process.
还包括显示屏连接所述控制处理电路的第一串口输入/输出电路，显示水下机器人的位置信息、姿态信息以及设备状态信息。The display screen also includes a first serial input/output circuit connected to the control processing circuit, and displays the position information, attitude information and equipment status information of the underwater robot.
所述操控杆采用霍尔型电压信号输出操控杆，根据摇杆偏转方向控制水下机器人航向，同时根据摇杆偏转角度的大小控制水下机器人的速度。The joystick adopts a Hall-type voltage signal output joystick, controls the course of the underwater robot according to the deflection direction of the joystick, and controls the speed of the underwater robot according to the deflection angle of the joystick.
所述旋钮包括速度调节旋钮和航向调节旋钮，所述速度调节旋钮用于水下机器人从零速度到最大速度的均匀调节控制；所述航向调节旋钮用于水下机器人垂直舵机舵角从最小值到最大值的均匀控制。The knob includes a speed adjustment knob and a heading adjustment knob, the speed adjustment knob is used for uniform adjustment and control of the underwater robot from zero speed to the maximum speed; the heading adjustment knob is used for the underwater robot. Uniform control of value to maximum value.
所述无线通信模块用于与水下机器人的无线通信模块进行信息交互，接收水下机器人的姿态信息、位置信息、设备状态信息，并且向水下机器人发送运动控制命令。The wireless communication module is used for information interaction with the wireless communication module of the underwater robot, receiving attitude information, position information and equipment status information of the underwater robot, and sending motion control commands to the underwater robot.
还包括电池组连接所述控制处理电路的电源输入电路，为控制处理电路供电。It also includes a battery pack connected to the power input circuit of the control and processing circuit to supply power to the control and processing circuit.
本发明具有以下有益效果及优点：The present invention has the following beneficial effects and advantages:
1.本发明通过无线通信模块可以与水下机器人进行信息交互，同时将信息实时显示在显示屏上，用户可以实时了解到水下机器人的状态信息；1. The present invention can carry out information interaction with the underwater robot through the wireless communication module, and simultaneously display the information on the display screen in real time, so that the user can know the status information of the underwater robot in real time;
2.本发明采用霍尔型球形操控杆设计，便于用户握持操作，具有操控灵敏，中间零点范围大，保证了遥控命令准确性。2. The present invention adopts the Hall-type spherical control rod design, which is convenient for users to hold and operate, has sensitive control, and has a large range of intermediate zero points, which ensures the accuracy of remote control commands.
附图说明Description of drawings
图1是本发明的硬件结构图；Fig. 1 is the hardware structure diagram of the present invention;
图2是本发明的按键电路原理图；2 is a schematic diagram of a key circuit of the present invention;
图3是本发明的操作杆解码电路原理图；3 is a schematic diagram of a joystick decoding circuit of the present invention;
图4是本发明的指示灯输出电路原理图。FIG. 4 is a schematic diagram of an indicator light output circuit of the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明做进一步的详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但本发明能够以很多不同于在此描述的其他方式来实施，本领域技术人员可以在不违背发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施的限制。In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the invention. Therefore, the present invention is not limited by the specific implementation disclosed below.
需要说明的是，当元件被称为“设置于”另一个元件，它可能直接在另一个元件上，或也可以存在居中的元件。当一个元件被称为是“连接”另一个元件，它可以直接连接到另一个元件或者可能同时存在居中元件。It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the invention are for the purpose of describing specific embodiments only and are not intended to limit the invention.
实施例：Example:
如图1所示为本发明的硬件结构示意图。Figure 1 is a schematic diagram of the hardware structure of the present invention.
该遥控装置主要包括：控制处理电路、操控杆、旋钮、按键、显示屏、无线通信模块、天线、指示灯和电池组；The remote control device mainly includes: a control processing circuit, a joystick, a knob, a button, a display screen, a wireless communication module, an antenna, an indicator light and a battery pack;
其中，控制处理电路采用基于Cortex3内核的STM32F103RBT6系列ARM芯片为核心微处理，主要由按键输入电路、旋钮解码电路、操控杆解码电路、串口1输出电路、串口2输入/输出电路、指示灯输出电路以及电源输入电路组成；Among them, the control processing circuit adopts the STM32F103RBT6 series ARM chip based on the Cortex3 core as the core microprocessor, which is mainly composed of key input circuit, knob decoding circuit, joystick decoding circuit,
按键与按键输入电路连接，具体按键输入电路如图2所示，按键与电容C3并联，然后按键引脚1与电阻R8串联后，再接入电源VDD，按键引脚2接地，同时，按键引脚1接入到控制处理电路的按键输入引脚。按键断开状态下，按键输入引脚检测到高电平信号；当按键接通时，按键输入引脚接通地，被拉低到低电平信号，控制处理电路检测到按键输入引脚电平跳变，从而判断相应按键按下；The key is connected to the key input circuit. The specific key input circuit is shown in Figure 2. The key is connected in parallel with the capacitor C3, then the
操控杆连接到操控杆解码电路，具体如图3所示，LM324为放大电路芯片，电阻R25与电阻R27串联，电阻R25引脚1接地，电阻R27引脚2接入到LM324引脚6，电阻R26与电阻R28串联，电阻R26引脚1接入到操控杆的输出X_axis,电阻R28引脚2接入到LM324引脚5，同时电容C22跨接到R27引脚1和R28引脚1，R29跨接到LM324引脚6和引脚7，电阻R30引脚2连接LM324引脚5，电阻R30引脚1连接参考电压VREF，电阻R31与电容C23串联后接地，电阻R31引脚1接入到LM324引脚7，电阻R31引脚2接入到操作杆输入。当操作杆前/后，左/右操作时，霍尔输出电压信号经过LM324放大电路处理后，接入到控制处理电路的操作杆输入引脚，通过解析电压信号大小，转化为相应的水下机器人的航向控制命令和速度控制命令。The joystick is connected to the joystick decoding circuit, as shown in Figure 3, the LM324 is an amplifier circuit chip, the resistor R25 is connected in series with the resistor R27, the
旋钮解码电路原理与操作杆解码电路原理相同，通过读取相应功能旋钮输入电压信号大小，转化为相应水下机器人的航向控制命令和速度控制命令。The principle of the knob decoding circuit is the same as that of the joystick decoding circuit. By reading the magnitude of the input voltage signal of the corresponding function knob, it is converted into the heading control command and speed control command of the corresponding underwater robot.
指示灯接入到指示灯输出电路，具体参见图4所示，U7为光耦型器件，电阻R17引脚1接入到电源VDD，电阻R17引脚2接入到U7的引脚1，电阻R18引脚1接入到电源VDD，电阻R18引脚2接入到U17的引脚2，同时U17引脚2接入到指示灯输出引脚，电阻R19一端接+24V，一端接入到U17的引脚4，指示灯LED0一端接地，一端接入到U17引脚3。当指示灯引脚输出高电平时，光耦U17关断，U17引脚3输出电压为零，指示灯LED熄灭；当指示灯引脚输出低电平时，光耦U17开通，U17引脚3输出电压为+24V，指示灯LED点亮。The indicator light is connected to the indicator light output circuit, as shown in Figure 4, U7 is an optocoupler type device, the
本发明具体工作原理为：The concrete working principle of the present invention is:
无线遥控装置接通电池组，控制处理电路点亮运行指示灯绿色LED，读取相应按键信息，显示屏显示切换相应功能选项，通过操控杆进行上/下，左/右功能选择切换，设置好相应控制参数后，确认键确认；然后控制处理电路读取操控杆动作信息或旋钮旋转角度值，解码后，生成相应控制指令，通过与串口2连接的无线通信模块传输到水下机器人的无线通信模块接收端，同时，无线通信模块接收水下机器人回传的航向信息、位置信息、姿态信息和状态信息等，经过控制处理电路解析处理后，通过串口1传输到显示屏显示；当接收到的水下机器人的故障报警信息时，控制处理电路以频率1Hz接通或关断故障指示灯红色LED。The wireless remote control device is connected to the battery pack, the control processing circuit lights up the green LED of the running indicator, reads the corresponding key information, the display screen displays the corresponding function options, and the up/down, left/right function selection switch is performed through the joystick, and the settings are set. After the corresponding control parameters, press the confirm key to confirm; then the control processing circuit reads the joystick action information or the rotary angle value of the knob, and after decoding, generates the corresponding control command, which is transmitted to the wireless communication of the underwater robot through the wireless communication module connected to the
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