阅读说明：本技术 一种利用水下机器人推进电机传送信息的装置及方法 (Device and method for transmitting information by using underwater robot propulsion motor ) 是由 苗奎星 魏海峰 王浩陈 李垣江 张懿 于 2019-10-17 设计创作，主要内容包括：本发明公开了一种利用水下机器人推进电机传送信息的装置及方法,包括驱动模块、无刷直流电机的三相定子绕组、控制器,驱动模块与无刷直流电机的三相定子绕组相连；控制器的6个IO接口分别和驱动模块的6个栅极输入相连,用于电机的正常转动；同时IO接口也可在PWM无效时间内发送脉冲,改变电机转子瞬时的受力情况,用于电机相对于初始位置振动。其中使用方法包括：通过调节脉冲循环频率,可设置电机为低频振动模式与高频振动模式,用于不同场景和信息量的需求中。通过电机振动时间长短,实现所述摩尔斯信号的基本信号；通过延时控制,实现所述摩尔斯信号的时间间隔；令该摩尔斯信号按照所述摩尔斯编码表编码,因此起到了信息传输的效果。(The invention discloses a device and a method for transmitting information by using an underwater robot propulsion motor, wherein the device comprises a driving module, a three-phase stator winding of a brushless direct current motor and a controller, wherein the driving module is connected with the three-phase stator winding of the brushless direct current motor; 6 IO interfaces of the controller are respectively connected with 6 grid inputs of the driving module and used for normal rotation of the motor; meanwhile, the IO interface can also send pulses within the PWM invalid time, so that the instantaneous stress condition of the motor rotor is changed, and the motor vibrates relative to the initial position. The using method comprises the following steps: by adjusting the pulse cycle frequency, the motor can be set to be in a low-frequency vibration mode and a high-frequency vibration mode, and the motor can be used in different scenes and the requirements of information quantity. Realizing a basic signal of the Morse signal according to the vibration time of the motor; realizing the time interval of the Morse signals through time delay control; the Morse signal is encoded according to the Morse encoding table, thereby achieving the effect of information transmission.)

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.

Technical Field

The invention belongs to the technical field of brushless direct current motors, and particularly relates to a device and a method for transmitting information by using an underwater robot propulsion motor.

Background

Brushless dc motors have been widely used in recent years, and have the characteristics of simple control, high efficiency, good speed regulation performance, large output torque, and the like. The method has wide application in the motion function of the water surface and underwater robot equipment. The communication of the underwater robot equipment is mainly divided into two modes at present, one mode is wired communication, and a wire or an optical cable is usually adopted as a channel for information transmission; the other is wireless communication, and wireless modes such as wireless long-wave communication, underwater acoustic communication and the like are often adopted. With the continuous development of the brushless direct current motor control technology, a method and a device for vibrating by using an underwater robot propulsion motor and utilizing the underwater robot propulsion motor to carry out coding communication are provided. Becomes an alternative to traditional underwater communications or to failure and malfunction of the remaining underwater communications devices.

In order to realize the method and the device, in the running process of the motor, the vacant working interval of the propulsion motor needs to be fully utilized, and when communication is needed, the motor can be controlled by using a software program to realize vibration without external equipment, so that the vibration signal realizes the transmission of underwater information according to the Morse coding rule.

Disclosure of Invention

The invention aims to provide a method and a device for transmitting information by using a propulsion motor of an underwater robot.

In order to achieve the above object, the present invention discloses an apparatus for transmitting information by using a propulsion motor of an underwater robot, comprising a driving module, a three-phase stator winding of a brushless dc motor, and a 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 respectively connected with 6 grid inputs of the driving module, and the controller can send PWM to the grids of the 6 MOS tubes for normal rotation of the motor.

The output IO interface of the controller can send pulses within the PWM invalid time to change the instantaneous stress condition of the motor rotor for controlling the motor to vibrate and transmit information.

In a further development of the invention, the drive module comprises: a direct-current power supply VDC, a MOS tube S1, a MOS tube S2, a MOS tube S3, a MOS tube S4, a MOS tube S5, a MOS tube S6, a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5 and 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 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 motor B, 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 C phase of the motor, and the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.

In a further development of the invention, the controller comprises: an IO interface P1, an IO interface P2, an IO interface P3, an IO interface P4, an IO interface P5 and 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 to the IO interface P6 of the controller.

The invention also provides a method for transmitting information by using the underwater robot propulsion motor, which comprises the following specific steps: the method comprises the following steps: setting a pulse mode and a pulse period of an IO interface of a controller; step two: and sending pulses through an IO interface of a controller in a motor working free interval to enable a stator 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, so that the motor generates vibration and vibration intervals with different time lengths. Step three: and F parameters corresponding to each character of the Morse code table are prestored in the control codes, and when the corresponding characters need to be output, the controller reads prestored information to control the vibration of the motor.

The generated pulse cycle frequency F and the motor vibration frequency D are calculated according to the following formula: d = F/8000.

In the method, when the pulse cycle frequency F is reduced to 0-160 Khz, the vibration frequency of the motor is 0-20 hz, and the motor is in a low-frequency vibration mode and is used for transmitting signals with longer distance and smaller information quantity; when the pulse cycle frequency F is increased to 50 Mhz-80 Mhz, the vibration frequency D of the motor is 6.25 Khz-10 Khz, and the motor is in a high-frequency vibration mode and is used for transmitting signals with large information quantity at a short distance.

The command realizes the basic signal of the Morse signal according to the vibration time of the motor; realizing the time interval of Morse signals through time delay control; the Morse signal is encoded according to the Morse encoding table, thereby achieving the effect of information transmission.

Wherein the Morse code signal comprises: two basic signals and different interval times. Two basic signals include: short dot signal "·", read "drop" (Di); a long signal "-" held for a certain time, read "Da"; the interval time includes: "drip", 1 t; "Da", 3 t; 1t between the dropping and the clicking; between characters, 3 t; word space, 7 t.

Optionally, the interval time t includes: assigning t by a minimum small interval tau of the vibration mode of the motor, wherein the minimum time interval tau =0.05s when the low-frequency vibration mode is used; minimum time interval τ when using dither mode, τ =0.0001 s; optionally, the morse code table comprises: the character "A" is denoted with "· -; the character "B" is denoted by "-; the character "C" is denoted with "-; the character "D" is denoted with "-; the character "E" is represented by "·"; the character "F" is denoted by "· - ·"; the character "G" is denoted with "-; the character "H" is denoted by "· · · · · · · · · · · · · · · · · · · · · · · · · · · · ·; the character "I" is represented using "· -; the character "J" is denoted by "· -"; the character "K" is denoted with "-"; the character "L" is denoted by "· - ·"; "is used to denote the character" M "; the character "N" is denoted with "-; "is used" - "means the character" O "; the character "P" is denoted by "· - ·" - "; the character "Q" is denoted with "-"; the character "R" is denoted by "· - ·"; the character "S" is denoted by "· · · · ·"; "is used to denote the character" T "; the character "U" is denoted with "· -"; the character "V" is denoted by "·. · -"; the character "W" is denoted by "· -"; the character "X" is denoted with "-; the character "Y" is denoted with "-; the character "Z" is denoted with "-; the character "1" is denoted by "· -"; the character "2" is denoted with "· -"; the character "3" is denoted with "· · · · · · —"; the character "4" is denoted with "·. · -"; the character "5" is denoted with "· · · · · · · · · · · · · · · · · · · · · · · · · · · · · ·; the character "6" is denoted with "-"; the character "7" is denoted with "-"; the use of "-" means the character "8"; use "-" to denote the character "9"; the word "-" is used to denote the character "0".

The beneficial effect of this hair: 1. the vibration signal is generated by utilizing the working idle time of the propulsion motor, so that information transmission is realized, and the traditional underwater communication mode can be replaced, or the mode can be replaced when other underwater communication devices are in failure and fail. 2. Through the information transmission mode of Morse coded signals, the encryption and decryption are facilitated, and the confidentiality of underwater information transmission is improved. 3. When the pulse cycle frequency is reduced, the vibration frequency of the motor is lowered, and the motor can be set to be in a low-frequency vibration mode and used for transmitting signals with longer distance and less information quantity; when the pulse cycle frequency is increased, the vibration frequency of the motor becomes high, and a dither mode can be set for transmitting a signal having a large information amount at a short distance.

Drawings

Fig. 1 is a schematic circuit diagram of an apparatus for transmitting information using a propulsion motor of an underwater robot according to the present invention.

Fig. 2 is a flowchart of an indicating method of an apparatus for transmitting information using a propulsion motor of an underwater robot according to the present invention.

Detailed Description

For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.