CN103823471A - Vector-propelled small four-axis underwater robot control system - Google Patents
Vector-propelled small four-axis underwater robot control system Download PDFInfo
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Abstract
The invention discloses a vector-propelled small four-axis underwater robot control system. The system can be divided into a man-machine collaboration layer, a decision making layer, a planning layer and an executive layer, wherein the man-machine collaboration layer is composed of a land-based/boat load monitoring system and used for sending an AUV (Autonomous Underwater Vehicle) course control signal, receiving sensor data and displaying the sensor data in upper computer monitoring software in real time; the decision making layer comprises a multi-sensor information collection and fusion system which is used for receiving the course control signal and collecting and fusing sensor data; an intelligent decision making system is used for receiving the sensor data and the course control signal fused by the multi-sensor information collection and fusion system and processing the fused sensor data and course control signal through a decision algorithm to generate a decision instruction; the planning layer comprises a gait generation system in charge of planning movement gaits of the robot according to the decision instruction and collaborating data communication between an upper layer and a lower layer; and the executive layer comprises a driving and executing system and is used for controlling a steering engine and a direct-current water spraying motor in real time. The vector-propelled small four-axis underwater robot control system is high in reliability, excellent in flexibility, easy to expand and maintain, and wide in application prospect.
Description
Technical field
The present invention relates to Robotics field, the control system of the small-sized four axle underwater robots that particularly advance about a kind of vector.
Background technology
Underwater robot be a kind ofly can in water, move about, operation or be engaged in the underwater navigation device of special work.At present, underwater robot has had application very widely in China, particularly explores the fields such as investigation at resource exploration, environmental monitoring, the geology and geomorphology in lake, ocean and is bringing into play irreplaceable effect.
Vector propulsion system can provide powerful power for small underwater robot, and the adjustment that also can be underwater robot self attitude and operational configuration provides strong help.The vector propulsion mode of the good autonomous underwater robot of application prospect (AUV) adopts water spray drive principle mostly at present, and its advantage one is that underwater robot still has high controllability and high maneuverability under the low speed; The 2nd, underwater robot can change rapidly navigation direction, realizes fast steering.But underwater robot is the rigid body that has six degree of freedom hydrogymnastic, itself is exactly the nonlinear system of a strong coupling, adds vector propulsion system, make control problem become complicated and difficult.Conventional underwater robot control system, particularly Control System for Autonomous Underwater Vehicle, adopt centralized control mode more, realizes the data collection and control to all the sensors and equipment by main control computer.But this control mode makes the task of main control computer very heavy, and efficiency is lower, once and main control computer break down, whole system will be paralysed, poor reliability; Because various passages, address, the interrupt resources of main control computer are limited, be difficult to arbitrarily increase other equipment, poor expandability.Along with the variation of the complicated and user's request of this body structure of underwater robot, traditional centralized control method cannot meet the demand of underwater robot control system development.
Summary of the invention
The object of the present invention is to provide a kind of control system of small-sized four axle underwater robots of vector propelling, this system adopts the structure similar to animal nerve control system, by the collaborative work between each layer of CPU, realize the effective control to each joint of robot, in guaranteeing that AUV has enough dynamic roles and reliability, can utilize sensor information emerging system to realize the real-time perception to external environment condition, thereby make AUV there is certain autokinetic movement ability.
For achieving the above object, technical scheme of the present invention is:
Comprise that intelligent decision system, gait generation system, driving executive system, multi-sensor information gather emerging system, power-supply system and continental rise/ship and carry supervisory system by digital rudder controller and the motor-driven small-sized four axle underwater human bodies of direct current water spray.Described small-sized four axle underwater human bodies have four vector propulsive mechanisms that structure is identical, and are distributed in the discoid fuselage of robot in same level, identical with four-axle aircraft topology layout.Each vector propulsive mechanism has two joints, wherein, by the axial freedom that realizes a vector propulsive mechanism near the steering wheel at robot center, is defined as intrinsic articulation; The radially degree of freedom that realizes a vector propulsive mechanism away from the steering wheel at robot center, is defined as extrinsic articulation, and direct current water spray motor is fixed on mechanism's outermost end.
Described continental rise/ship carries supervisory system and comprises hyperchannel transmitting machine, long wave receive-transmit system, host computer monitoring of software, can build in land, the water surface or be equipped on naval vessels.Model plane transmitter transmits control signal to AUV by long wave receive-transmit system, and sensing data, image information that AUV sends are received and are presented in real time on host computer monitoring of software by long wave receive-transmit system.
Described multi-sensor information gathers emerging system and comprises leakage sensor, altitude gauge, depthometer, long wave receive-transmit system in digital signal processor, multichannel serial expansion board, vision sensor, three axis accelerometer, single beam Forward-Looking Sonar, pressure transducer, temperature sensor, cabin, for receiving course control signal and collection and merging sensing data.
Described intelligent decision system is received by sensor information and the continental rise/ship of multi-sensor information collection emerging system collection fusion and is carried the course control signal that supervisory system is launched by CAN bus, generates required decision instruction by decision making algorithm module analysis.
Described gait generation system comprises dual port RAM controller module, CPG Walking Gait Planning Algorithm module, CAN bus controller module, and the information transmission with described driving executive system by the realization of CAN bus.Described intelligent decision system is connected by dual port RAM with described gait generation system, realizes the data communication between the two.
Described driving executive system comprises field programmable gate array and motor driver, and field programmable gate array can produce the PWM ripple of controlling multichannel steering wheel and multichannel motor, drives direct current water spray motor by motor driver.
The small-sized four axle underwater robot control system that a kind of vector of the present invention advances organically combine hierarchical technology control system and dcs (being called again Distributed Control System (DCS)), form a kind of half autonomous collecting and distributing hierarchical control system, the coordinated allocation of control task can be realized, the integrality of system can be guaranteed again.Its core is that the whole control system that AUV carries can be divided into three levels: decision-making level, planning layer, execution level, each level is made up of single CPU or many CPU.
Decision-making level of the present invention mainly comprises that intelligent decision system and multi-sensor information gather emerging system.Intelligent decision system is made up of the ARM9 of embedded real time operating system RT-Linux, and its main functional modules comprises obstacle avoidance algorithm module, decision making algorithm module, dual port RAM driver module.Obstacle avoidance algorithm module is divided into again environmental modeling algorithm submodule, local obstacle avoidance algorithm submodule.Described multi-sensor information gathers emerging system and adopts digital signal processor DSP as core processor, processor embedded sensors driver module, Signal processing of sonar module, Data Fusion of Sensor module, blending algorithm module, and be connected with airborne longwave transceivers and each sensor with multichannel serial expansion board serial ports by interface on sheet, carry for receiving continental rise/ship course control signal and collection and the fusion of sensor to AUV work waters environmental information that supervisory system is sent, guarantee that AUV has certain autokinetic movement ability.In this subsystem, vision sensor is for realizing the three-dimensional reconstruction of AUV front visibility region; Three axis accelerometer is for measuring the linear acceleration of three directions of AUV work space; Single beam Forward-Looking Sonar is for surveying the position of the relative barrier of AUV; Pressure transducer and temperature sensor are respectively used to detect pressure and the temperature in AUV work waters; In cabin, whether leakage sensor is for detection of intaking in AUV cabin; Altitude gauge and depthometer are measured respectively the distance of AUV apart from water-bed and the water surface.The corresponding interface by multichannel serial expansion board of various kinds of sensors information and course control signal and DSP the corresponding interface transfer to multi-sensor information and gather the Data Fusion of Sensor module of emerging system, data message is sampled and encapsulate on the one hand, send to continental rise/ship to carry supervisory system through longwave transceivers again, recalls information blending algorithm on the other hand, produce the required data of decision making algorithm module, data are sent to intelligent decision system by CAN bus, if barrier detected, intelligent decision system transfer environment modeling algorithm, adopt unit number algorithm to set up inner barrier thing and represent cartographic model, call again local obstacle avoidance algorithm, adopt Artificial Potential Field algorithm to represent to calculate in cartographic model automatic obstacle avoiding local paths planning by inner barrier thing, call again decision making algorithm processing, finally obtain corresponding steering order, if barrier do not detected, after directly being processed by decision making algorithm, the data of intelligent decision system obtain corresponding steering order through CAN bus transfer, this instruction is stored in the decision instruction address space of dual port RAM appointment, so that gait generation system reads at any time by dual port RAM driver module.
Planning layer of the present invention is made up of fpga chip and corresponding Peripheral Interface, and main being responsible for carried out the implementary plan of robot motion's gait and coordinated the data communication between levels according to decision instruction.The inner integrated soft core flush bonding processor of Nios II of gait generation system, utilizes the hardware system of SPOC Builder developing instrument CONTROLLER DESIGN, utilizes the software systems of Quarts II CONTROLLER DESIGN.Gait generation system, under the guiding of decision-making level's trigger pip, carries out read operation to dual port RAM decision instruction address space, obtains decision instruction; CPG network resolves module and utilizes numerical solution algorithm to resolve according to corresponding decision instruction, obtains each joint motions instruction; CAN bus controller module is encapsulated as movement instruction after CAN packet, puts into bus communication layer.Gait generation system based on FPGA improves robot movement-control system's stability and real-time by giving full play to the parallel data processing power of FPGA.
Execution level of the present invention adopts fpga chip as core processor, be connected with 8 road steering wheels by optocoupler, realize the complete electrical isolation of steering wheel and FPGA, adopt motor drive ic to form direct current water spray motor-drive circuit, realize the driving control to direct current water spray motor.Described gait generation system is given joint motions command to drive executive system by CAN bus, drive executive system to utilize the interior multi-channel PWM generator of FPGA sheet to generate the pwm control signal of corresponding steering wheel and direct current water spray motor, control in real time the rotation of steering wheel and direct current water spray motor.
Continental rise/ship of the present invention carries supervisory system on decision-making level, belongs to man-machine collaboration layer.Transmitter adopts common hyperchannel model plane transmitter.Transmitter control be the course of AUV, on it, have two operating rods, the course that operating rod 1 corresponding A UV surface level is 360 °, upper and lower two courses of operating rod 2 corresponding A UV, these two operating rods can be realized the motion on any direction of AUV space.Transmitter is launched continuous course signal, longwave transceivers by AUV receives, after merging with sensor signal, be sent to intelligent decision system through CAN bus, call decision making algorithm and process the generation corresponding course of AUV steering order (if there is barrier, obstacle-avoiding route planning has been merged in instruction), be stored in by dual port RAM driver module in the decision instruction address space of dual port RAM appointment.Demonstration and emulation platform that host computer monitoring of software adopts LABVIEW and Solidworks co-design to write, this platform comprises sampled images display interface, barrier prompt interface, pressure, temperature, highly, depth data display interface, water-leakage alarm in cabin, three axis accelerometer data display interface, in real time Attitude Simulation interface.Long wave receive-transmit system receives the long-wave signal that is loaded with sensing data, image information being sent by AUV, sends host computer to and be presented in the respective interface that shows emulation platform after demodulation by USB.The attitude data that the controller analysis that this system utilization is built in LABVIEW is passed back, directly drives the AUV three-dimensional model in Solidworks by the interface of LABVIEW and Solidworks, the attitude of real-time simulation AUV in water on display.This system also can automatically arrange and generate Surveillance by all data that gathered back, image information and be kept in host computer, and convenient analysis is afterwards used.
Beneficial effect of the present invention shows:
1. the present invention organically combines hierarchical technology control system and dcs by using, form a kind of half autonomous collecting and distributing hierarchical control system, the framework that whole control system is set up is consistent with animal nerve control system, and system has that real-time is high, extensibility strong, good reliability, stability is strong, configuration is flexible, safe, be easy to the plurality of advantages such as maintenance.
2. the present invention, by building abundant sensing system, makes AUV can realize the functions such as self-perception, environmental forecasting, automatic obstacle avoiding, improves the adaptability of robot to complicated applications environment.
3. the present invention, by using embedded real time operating system ARM9, has the FPGA of parallel data processing power and forms whole control system by the DSP of high-speed computation rate, has improved the real-time of system, for robot stabilized operation provides guarantee at links.
4. the present invention adopts dual port RAM and CAN bussing technique to realize the information transmission between intelligent decision system, gait generation system, driving executive system, multi-sensor information collection emerging system, this kind of required peripheral circuit of method is simple, data line use amount is little, reduce the complicacy of system, and can ensure the fluency that effective information transmits.
5. the present invention uses model plane transmitter control AUV course, realizes half autonomous control of AUV, has improved the work efficiency of AUV.
6. the human-computer interaction interface that the present invention sets up is that continental rise/ship carries supervisory system and can show in real time AUV pose and work waters environmental information, can judge in time and decision-making for researchist.
7. demonstration provided by the invention and emulation platform have shown attitude data and the detected various data messages of sensor in the current water of AUV in real time, and utilize in LABVIEW, design the attitude data passed back of control system analysis, and then directly drive the AUV three-dimensional model in Solidworks by the interface of LABVIEW and Solidworks, thereby truly reappear the attitude of AUV in water on display.
8. the demonstration that the present invention designs and emulation platform can and generate Surveillance to AUV sensing data, image information automatic arranging and be kept in host computer, and convenient analysis is afterwards used.
Accompanying drawing explanation
Accompanying drawing 1 is the global design block diagram of the small-sized four axle underwater robot control system of a kind of vector propelling of the present invention.
Accompanying drawing 2 carries supervisory system structural representation for continental rise/ship of the present invention.
Accompanying drawing 3 is model plane transmitter operating rod control method schematic diagram of the present invention.
Accompanying drawing 4 is intelligent decision system structural representation of the present invention.
Accompanying drawing 5 is multi-sensor information collection emerging system structural representation of the present invention.
Accompanying drawing 6 is dual port RAM communication mode schematic diagram of the present invention.
Accompanying drawing 7 is gait generation system structural representation of the present invention.
Accompanying drawing 8 is CAN bus communication schematic network structure of the present invention.
Accompanying drawing 9 is for driving executive system function structural representation.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in further detail.Following examples do not form limitation of the invention.
Figure 1 shows that the small-sized four axle underwater robot control system that a kind of vector of the present invention advances, this system is divided into four layers according to 26S Proteasome Structure and Function: man-machine collaboration layer, decision-making level, planning layer, execution level.System comprises that intelligent decision system, gait generation system, driving executive system, multi-sensor information gather emerging system, power-supply system and continental rise/ship and carry supervisory system.Thereby form a perfect control system that can realize robot and have certain autokinetic movement function.Building multi-sensor information in AUV gathers after emerging system merges the data that collect and the course control signal that receives and passes to intelligent decision system by CAN bus, data message is processed computing by intelligent decision system, generate corresponding decision control command, pass to gait generation system by dual port RAM again, gait generation system carries out gait according to corresponding Decision Control instruction and selects and switch, after resolving, CPG network obtains the kinematic parameter in joint, then by CAN bus network, data packet delivery is given and driven executive system, and then drive motor and steering wheel work, realize AUV motion and keep away barrier.
Figure 2 shows that continental rise/ship of the present invention carries supervisory system structural representation.This subsystem is equipped on ground, the water surface or naval vessels, realizes control to AUV course and the supervision of sensor image data.Model plane transmitter adopts the world to fly 7 channel transmitters of WFT07.Transmitter is launched course control signal by operating rod, after the short-wave receiver of long wave receive-transmit system receives, be transferred to coded modulation circuit and power amplification circuit, course control signal is loaded on long wave and is launched to AUV under water by wireless transmit channel waterborne afterwards; The long-wave signal of AUV transmitting receives by the wireless receiving channel waterborne of long wave receive-transmit system, is transferred to intermediate frequency demodulation decoding circuit and amplifies after mixting circuit is processed to send host computer to by USB serial ports; The monitoring software of host computer is presented at respective interface after receiving data, and attitude data drives the true attitude of AUV three-dimensional model real-time simulation AUV after treatment.
Fig. 3 is model plane transmitter operating rod control method schematic diagram of the present invention.Known the course of 360 °, transmitter operating rod 1 corresponding A UV surface level by figure (a), upper and lower two courses of operating rod 2 corresponding A UV.The positive pulsewidth scope of PWM ripple that wherein each passage can produce is 0.5ms～2.5ms.Can find out course heading control method from figure (b), for example operating rod 1 is pushed into the vectorial OM direction of diagram, and CH1 and CH2 each corresponding PWM pulsewidth A, a B, by formula
can calculate the size of course angle θ, other quadrant is also like this.The mould of vectorial OM has represented the size of direct current water spray motor thrust component under this course.
Fig. 4 is intelligent decision system structural representation of the present invention.Decision-making level's core processor of the ARM9 chip construction system of embedded real time operating system RT-Linux, the affluent resources of chip internal have reduced hardware device required size space in guaranteeing systemic-function.In this subsystem peripheral hardware, expand a serial ports for program test.Jtag interface is downloaded for system emulation and program.Decision-making level's initialization data leaves in outside SD card, after system reset, automatically reads.Sensing data and course control signal after the real-time reception & disposal of decision-making level merges, and obtain corresponding steering order by decision making algorithm, finally steering order is transferred to planning layer by dual port RAM driver module.
Accompanying drawing 5 is multi-sensor information collection emerging system structural representation of the present invention.This subsystem adopts digital signal processor DSP as core processor, adopts the TMS320C6713 chip of Texas Instrument, and multichannel serial expansion board is made up of two four-way extended chip TLl6C554A and some auxiliary devices.Processor embedded sensors driver module, Signal processing of sonar module, Data Fusion of Sensor module, blending algorithm module, and be connected with airborne longwave transceivers and each sensor with multichannel serial expansion board serial ports by interface on sheet, carry course control signal that supervisory system sends and collection and the fusion of AUV work waters environmental information for receiving continental rise/ship, guarantee that AUV has certain autokinetic movement ability.Wherein, vision sensor is connected with Multi-channel extension plate by serial ports 6,5 single beam Forward-Looking Sonars are connected with multichannel serial expansion board by serial ports 1～5, longwave transceivers is connected with DSP by serial ports on DSP sheet, three axis accelerometer is connected with DSP by I2C bus interface on sheet, and in pressure transducer, temperature sensor, altitude gauge, depthometer, cabin, leakage sensor is connected with DSP by A/D translation interface on sheet respectively.Various kinds of sensors information and course control signal transfer to the Data Fusion of Sensor module of multi-sensor information collection emerging system by corresponding interface and multichannel serial expansion board serial ports, data message sampled and encapsulate on the one hand, then sending to continental rise/ship to carry supervisory system through longwave transceivers; Recalls information blending algorithm on the other hand, produces the required data of decision making algorithm module, and data are sent to intelligent decision system by CAN bus.
Figure 6 shows that dual port RAM communication mode schematic diagram of the present invention.Decision-making level realizes by dual port RAM with communicating by letter of planning layer.Dual port RAM is a kind of completely independently SRAM storer of data line, address wire and read-write control line of two covers that has, this storer allow two independently system it is carried out to random access simultaneously.In hardware design, dual port RAM controller is realized by writing Verilog program in FPGA inside, and ARM9 realizes the access to dual port RAM by corresponding hardware driving.As shown in Figure 6, this module utilizes the hardware resource of FPGA to set up a blocks of data memory block, thereby for realizing the exchanges data of two controllers, ARM9 is stored in the decision instruction of generation in data sharing district, and notify FPGA can carry out the read operation of data, when FPGA reads after corresponding data, notice ARM9 can carry out the renewal of data, thereby guarantees the fluency of data.
Figure 7 shows that the built-in function structural drawing of gait generation system of the present invention.Fpga chip forms the core cell of gait generation system, and the concurrent operation ability that FPGA is powerful can be good at the problem of resolution system real-time.Aspect program design, design by hardware description language, and can pass through software emulation, the correctness of proving program design in advance.Gait generation system inside has embedded Nios II kernel, resolves calling of algorithm and other communication modules for realizing CPG network.Structure of the present invention and quadruped robot are similar, therefore special design CPG network being applied in gait planning of the present invention.Resolve aspect algorithm and realize by the mode of utilizing runge kutta method to solve differential equation group at CPG network.The input parameter that CPG network resolves module is obtained in the data storage area of specifying by dual port RAM module, and the result after resolving is carried out data encapsulation and is transferred in CAN bus by CAN bus module.The steering order of the inner each functional module of gait generation system and data are by Avalon bus switch.
Figure 8 shows that CAN bus network frame construction figure of the present invention.The traffic rate of CAN bus is high, and real-time is good, is applicable to very much the coordinated movement of various economic factors control of the each joint shaft of robot, is convenient to form the communication network of multinode, has overcome the shortcoming of other multi-point bus protocol wiring complexity simultaneously.CAN defers to ISO/OSI model, has adopted Physical layer wherein, data link layer and application layer.Adopt twisted-pair feeder as communication media, traffic rate can reach 1Mbps, and directly transmission range can reach 10km farthest.Be the driving executive system that forms of main control chip and be that the gait generation system that main control chip forms forms the node in CAN bus jointly by FPGA by DSP and FPGA, ID of each node device, equipment will determine to receive or shield this message according to the ID of message.FPGA, to driving executive system to transmit before joint kinematic parameter, first encapsulates data the form into specifying, and DSP decodes after receiving data, thereby obtains the required parameter of Electric Machine Control.
Figure 9 shows that the present invention drives executive system function structural representation.Execution level of the present invention adopts fpga chip as core processor, FPGA selects the EP1C3T100 of altera corp, be connected with 8 road steering wheels by optocoupler, realize the complete electrical isolation of steering wheel and FPGA, adopt motor drive ic to form direct current water spray motor-drive circuit, realize the driving control to 4 direct current water spray motors.Described gait generation system passes to driving executive system by CAN bus by joint motions instruction, drive executive system to utilize the interior multi-channel PWM generator of FPGA sheet to generate the pwm control signal of corresponding steering wheel and direct current water spray motor, multi-channel PWM generator is first by decoder for decoding address, select which road PWM pulsewidth output or revise, and store corresponding pwm value for each road PWM arranges a register, with this real-time rotation of controlling steering wheel and direct current water spray motor.
Claims (10)
1. the small-sized four axle underwater robot control system that vector advances, is characterized in that: system can be divided into man-machine collaboration layer, decision-making level, planning layer, execution level, adopt CAN bus to realize all intersubsystem communications; Man-machine collaboration layer comprises that continental rise/ship carries supervisory system, and decision-making level comprises that multi-sensor information gathers emerging system and intelligent decision system, and planning layer comprises gait generation system, and execution level comprises driving executive system.
2. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 1, it is characterized in that: continental rise/ship carries supervisory system and comprises hyperchannel model plane transmitter, long wave receive-transmit system, host computer monitoring of software, this subsystem can be built in land, the water surface or be equipped on naval vessels.
3. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 2, it is characterized in that: model plane transmitter is by 2.4GHz shortwave transmitting underwater robot course control signal, the short-wave receiver of long wave receive-transmit system is transferred to coded modulation circuit and power amplification circuit after receiving signal, course control signal is loaded on long wave, then launches to AUV under water by wireless transmit channel waterborne; The long-wave signal of AUV transmitting receives by the wireless receiving channel waterborne of long wave receive-transmit system, is transferred to intermediate frequency demodulation decoding circuit and amplifies after mixting circuit is processed to send host computer to by USB serial ports; The monitoring software of host computer is presented at respective interface after receiving data, and attitude data drives the true attitude of AUV three-dimensional model real-time simulation AUV after treatment.
4. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 3, it is characterized in that: demonstration and emulation platform that host computer monitoring of software adopts LABVIEW and Solidworks co-design to write, this platform comprises sampled images display interface, barrier prompt interface, pressure, temperature, highly, depth data display interface, water-leakage alarm in cabin, three axis accelerometer data display interface, in real time Attitude Simulation interface; Long wave receive-transmit system receives the long-wave signal that is loaded with sensing data, image information being sent by AUV, after demodulation, send host computer to by USB and be presented in the respective interface that shows emulation platform, the attitude data that the controller analysis that this system utilization is built in LABVIEW is passed back, directly drive the AUV three-dimensional model in Solidworks by the interface of LABVIEW and Solidworks, the attitude of real-time simulation AUV in water on display.This system also can automatically arrange all data that gathered back, image information and generate Surveillance and be kept in host computer.
5. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 1, it is characterized in that: multi-sensor information gathers emerging system and adopts digital signal processor DSP as core processor, processor embedded sensors driver module, Signal processing of sonar module, Data Fusion of Sensor module, blending algorithm module, and be connected with airborne longwave transceivers and each sensor with multichannel serial expansion board serial ports by interface on sheet, carry for receiving continental rise/ship course control signal and collection and the fusion of sensor to AUV work waters environmental information that supervisory system is sent, in this subsystem, vision sensor is for realizing the three-dimensional reconstruction of AUV front visibility region, three axis accelerometer is for measuring the linear acceleration of three directions of AUV work space, single beam Forward-Looking Sonar is for surveying the position of the relative barrier of AUV, pressure transducer and temperature sensor are respectively used to detect pressure and the temperature in AUV work waters, in cabin, whether leakage sensor is for detection of intaking in AUV cabin, and altitude gauge and depthometer are measured respectively the distance of AUV apart from water-bed and the water surface, the corresponding interface by multichannel serial expansion board of various kinds of sensors information and course control signal and DSP the corresponding interface transfer to multi-sensor information and gather the Data Fusion of Sensor module of emerging system, data message is sampled and encapsulate on the one hand, send to continental rise/ship to carry supervisory system through longwave transceivers again, recalls information blending algorithm on the other hand, produce the required data of decision making algorithm module, data are sent to intelligent decision system by CAN bus.
6. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 1, it is characterized in that: intelligent decision system is made up of the ARM9 of embedded real time operating system RT-Linux, its main functional modules comprises obstacle avoidance algorithm module, decision making algorithm module, dual port RAM driver module.Obstacle avoidance algorithm module is divided into again environmental modeling algorithm submodule, local obstacle avoidance algorithm submodule; Intelligent decision system receives after the data of multi-sensor information collection emerging system transmission, if barrier detected, intelligent decision system transfer environment modeling algorithm, adopt unit number algorithm to set up inner barrier thing and represent cartographic model, call again local obstacle avoidance algorithm, adopt Artificial Potential Field algorithm to represent to calculate in cartographic model automatic obstacle avoiding local paths planning by inner barrier thing, then call decision making algorithm processing, finally obtain corresponding steering order; If barrier do not detected, after directly being processed by decision making algorithm, the data of intelligent decision system obtain corresponding steering order through CAN bus transfer, this instruction is stored in the decision instruction address space of dual port RAM appointment, so that gait generation system reads at any time by dual port RAM driver module.
7. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 1, it is characterized in that: gait generation system is made up of fpga chip and corresponding Peripheral Interface, the inner integrated soft core flush bonding processor of Nios II, gait generation system is under the guiding of decision-making level's trigger pip, dual port RAM decision instruction address space is carried out to read operation, obtain decision instruction; CPG network resolves module and utilizes numerical solution algorithm to resolve according to corresponding decision instruction, obtains each joint motions instruction; CAN bus controller module is encapsulated as movement instruction after CAN packet, puts into bus communication layer.
8. according to the small-sized four axle underwater robot control system that described in claim 1 or 6,7, a kind of vector advances, it is characterized in that: communicating by letter between described intelligent decision system and gait generation system realizes by dual port RAM.
9. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 1, it is characterized in that: adopt fpga chip as core processor, be connected with 8 road steering wheels by optocoupler, adopt motor drive ic to form direct current water spray motor-drive circuit, realize the driving control to 4 direct current water spray motors; Described gait generation system passes to driving executive system by CAN bus by joint motions instruction, drive executive system to utilize the interior multi-channel PWM generator of FPGA sheet to generate the pwm control signal of corresponding steering wheel and direct current water spray motor, multi-channel PWM generator is first by decoder for decoding address, select which road PWM pulsewidth output or revise, and store corresponding pwm value for each road PWM arranges a register, with this real-time rotation of controlling steering wheel and direct current water spray motor.
10. according to the small-sized four axle underwater robot control system of a kind of vector propelling described in claim 2 or 3, it is characterized in that: model plane transmitter operating rod control method is the course of 360 °, operating rod 1 corresponding A UV surface level, upper and lower two courses of operating rod 2 corresponding A UV.The positive pulsewidth scope of PWM ripple that wherein each passage can produce is 0.5ms～2.5ms.The large I of course angle is by formula
calculate, and the degree of being released by operating rod can calculate the size of direct current water spray motor thrust component under this course.
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| CN104076817A (en) * | 2014-06-18 | 2014-10-01 | 北京计算机技术及应用研究所 | High-definition video aerial photography multimode sensor self-outer-sensing intelligent navigation system and method |
| CN105116904A (en) * | 2015-10-14 | 2015-12-02 | 北京南风科创应用技术有限公司 | Automatic obstacle avoidance device of USV (unmanned surface vessel) |
| CN105319987A (en) * | 2015-11-09 | 2016-02-10 | 哈尔滨工程大学 | Working ROV training simulator motion control simulation system |
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| CN108037766A (en) * | 2017-12-11 | 2018-05-15 | 河海大学 | One kind, which is swum, to be rolled into bottom and dwells type underwater vehicle control system |
| CN108279676A (en) * | 2015-06-19 | 2018-07-13 | 缪雪峰 | Miniature untethered travel robot and its control method |
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| CN111307380A (en) * | 2020-03-30 | 2020-06-19 | 福建省特种设备检验研究院 | Water leakage detection protection method for information fusion of multiple sensors of underwater robot |
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| CN113253740A (en) * | 2021-06-28 | 2021-08-13 | 天津海翼科技有限公司 | Emergency method of underwater robot and electronic equipment |
| CN113885372A (en) * | 2021-09-22 | 2022-01-04 | 河北汉光重工有限责任公司 | Underwater unmanned underwater vehicle controller based on double processors |
| CN114274119A (en) * | 2021-12-17 | 2022-04-05 | 苏州融萃特种机器人有限公司 | Multi-sensor information fusion control system and method for multi-axis parallel robot |
| CN114815859A (en) * | 2022-05-06 | 2022-07-29 | 哈尔滨工程大学 | Portable autonomous underwater robot system and control system thereof |
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| CN110758693A (en) * | 2019-12-25 | 2020-02-07 | 上海遨拓深水装备技术开发有限公司 | Unmanned underwater vehicle control and data management platform |
| CN111307380A (en) * | 2020-03-30 | 2020-06-19 | 福建省特种设备检验研究院 | Water leakage detection protection method for information fusion of multiple sensors of underwater robot |
| CN111813138A (en) * | 2020-07-23 | 2020-10-23 | 山东大学 | Real-time embedded control system of foot type mobile robot |
| CN111813138B (en) * | 2020-07-23 | 2024-02-27 | 山东大学 | Real-time embedded control system of foot type mobile robot |
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