CN102323584A - A kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to - Google Patents
A kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to Download PDFInfo
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Abstract
The object of the present invention is to provide a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to; Comprise housing, horizontal direction transducer array, transducer, transducer, underwater sound signal conditioning unit, transmitter unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery vertically downward vertically upward; The horizontal direction transducer array is installed in the front end of housing; Vertically upward transducer and vertically downward transducer be installed in the above and below of housing respectively, transmitter unit, underwater sound signal conditioning unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery are installed in the housing.The present invention has autonomous detection and recognition capability, can export the concrete azimuth-range information of barrier, is easy to install and operation, and precision is high, reliability is high, usable range is wide.
Description
Technical field
What the present invention relates to is a kind of device that underwater units is surveyed and avoided colliding that is used for.
Background technology
21 century is human century of marching to the ocean.The deep-sea has become the grand strategy target of various countries as one of the still undeveloped treasured place of the mankind and high-tech sector, also is one of focus of cut-throat competition in the world in recent years.Underwater robot as a kind of hi-tech means in ocean development and the importance of utilizing the field not second to spaceship and the effect of rocket in the exploration of the universe space.Underwater robot is the special detection system of a cover that possesses vision and perceptional function under water; Use some auxiliary prospecting tools to replace the human part device of task under water that goes to accomplish through various modes of operation, be referred to as " unmanned autonomous underwater vehicle " (AUV or UUV) usually.AUV is when carrying out various mission; Can carry out global path planning according to the electronic chart data message that carries, carry out operation according to the global path of cooking up again; But because the complicacy of submarine topography landforms and existence the unknown under water and the barrier that is difficult to predict; For timely these information of perception, need the detection that the anticollision sonar system carries out barrier be installed to AUV, the information such as position and shape of the barrier of static or motion are provided for local paths planning.Can AUV accomplish voyage smoothly, finishes the work smoothly, and anticollision sonar will play crucial effects.
The anticollision sonar that AUV equipped belongs to the active sonar category; Difference according to working method can be divided into two types: one type is the distance measuring type sonar; Mainly be the measurement that realizes obstacle distance through the echo of detection of reflected, also can launch a series of range observation sound waves in different angular orientation, obtain the distance and bearing parameter of barrier target through the mechanical rotation transducer; Be transferred to the control platform of AUV, can directly instruct the action of AUV.The advantage of such sonar be the transducer array yardstick little, be convenient to install, easy operating, available frequency of operation is lower, can realize operating distance far away, the output visual result need not AUV and carries out secondary discrimination; Shortcoming is that this sonar resolution is lower, quantity of information is less, accuracy rate is not high yet, and mechanical scanning type ranging sonar data update rate has limited the translational speed under water of AUV.Another kind of is imaging sonar; Mainly be that mode through machinery or electron scanning generates subrange or image under water on a large scale, the control platform of AUV is through obtaining the information such as barrier orientation, size and form that can instruct the AUV action to the analysis of image with after handling.The advantage of this sonar is that resolution is high, and available quantity of information is abundant, and accuracy rate is high; Shortcoming is that the sonar array of small-bore causes frequency of operation higher; Limited the raising of operating distance, work such as Installation And Calibration are comparatively complicated, need big, the having relatively high expectations to power consumption of data volume of handling; The measurement result of output is directly perceived inadequately, needs AUV to carry out secondary discrimination and path planning.
Number of patent application is that 200810137590.7 patent application document discloses a kind of " AUV intelligence anticollision device and collision prevention method "; The fundamental purpose of this invention is to use multi-beam Forward-looking Sonar and other related sensor information; Make AUV make correct Decision of Collision Avoidance, employed multi-beam Forward-looking Sonar equipment is external product purchasing.Volume is little, the resolution advantages of higher though the external collision avoidance aids of introducing has; But be output as the image information of barrier; Independence is poor; Need to extract useful information and then to instruct the action of AUV, identification and the judgement of AUV proposed higher requirement through the further processing of AUV platform.Along with the development of AUV and UUV platform technology, the collision avoidance aids that development has independent intellectual property right has become the task of top priority.
Summary of the invention
The object of the present invention is to provide high precision and high reliability; Have autonomous detection and recognition capability, can export barrier concrete azimuth-range information and for AUV under water safety traffic with reclaim a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to that provides safeguard.
The objective of the invention is to realize like this:
A kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to of the present invention; It is characterized in that: housing, horizontal direction transducer array, transducer, transducer, underwater sound signal conditioning unit, transmitter unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery vertically downward vertically upward; The horizontal direction transducer array is installed in the front end of housing; Vertically upward transducer and vertically downward transducer be installed in the above and below of housing respectively; Transmitter unit, underwater sound signal conditioning unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery are installed in the housing; Electric battery connects Underwater acoustic signal processing unit and IO interface unit; The horizontal direction transducer array, transducer all is connected underwater sound signal conditioning unit through transmitter unit with transducer vertically downward vertically upward, and underwater sound signal conditioning unit, pressure transducer, IO interface unit all connect the Underwater acoustic signal processing unit.
The present invention can also comprise:
1, described signal condition unit comprises interconnective 6 tunnel underwater sound signal receivers and 6 tunnel photoelectric coupled circuit, the underwater sound signal receiver comprise connect successively first penetrate with, pre-amplifier, BPF., post-amplifier, second penetrate with.
2, described transmitter unit comprises optical coupling isolation circuit, radiating circuit, match circuit, the transmit-receive switch that links to each other successively.
3, described signal processing unit comprises processor, 6 road D/A, low-pass filter, 6 road A/D, FLASH, reservation A/D and D/A interface; Low-pass filter connects 6 road D/A, and 6 road D/A, 6 road A/D, FLASH, reservation A/D and D/A interface all link to each other with processor.
4, described interface unit comprises RS232 interface, network interface control chip, USB mouth and network interface, and RS232 interface, network interface control chip, USB mouth all link to each other with network interface.
Advantage of the present invention is: to the characteristics of AUV work situation and self structure; Phased multi-beam sonar and ranging sonar are combined; Not only can ensure the safe navigation of AUV on horizontal direction under the high-speed motion condition, also can guarantee the safety of AUV in dive and removal process; Can independently accomplish emission, reception, input and the barrier identification of underwater sound signal, and the distance and bearing information of output barrier, the control platform that need not AUV carries out secondary discrimination; Be easy to install and operation, reliability is high, usable range is wide.
Description of drawings
Fig. 1 is a system chart of the present invention;
Fig. 2 is a design frame chart of the present invention;
Fig. 3 is a underwater sound signal receiver block diagram of the present invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3, the present invention is that a kind of autonomous anticollision sonar equipment of AUV platform that is applicable under water comprises horizontal direction transducer array 1, transducer 2, transducer 3, underwater sound signal conditioning unit 5, Underwater acoustic signal processing unit 6, IO interface unit 7, pressure transducer 9, transmitter unit 11 and electric battery 10 vertically downward vertically upward; Transmitting-receiving is closed and is put the front end that transducer array 1 is installed in AUV housing 8 and be used for the barrier on the detection level direction, and the echoed signal that receives is sent into signal condition unit 5 through cable 4, carries out sending into signal processing unit 6 after the pre-service.Single transmitting-receiving close put transducer 2,3 be installed in respectively the AUV housing directly over and under, be responsible for to survey the barrier of vertical direction and below, the echoed signal that receives is sent into signal condition unit 5 and signal processing unit 6.Pressure transducer 9 is transferred to signal processing unit 6 with the pressure data that collects through cable 4.Electric battery 10 is responsible for signal condition unit 5, signal processing unit 6 and 7 power supplies of IO interface unit.Signal processing unit 6 is being controlled whole system operation, has the ability of input and barrier identification, and sends the barrier azimuth-range data that calculate the control platform of AUV to through IO interface unit 7.
As shown in Figure 1, the present invention is that a kind of autonomous anticollision sonar equipment of AUV platform that is applicable under water comprises horizontal direction transducer array 1, transducer 2, transducer 3, underwater sound signal conditioning unit 5, Underwater acoustic signal processing unit 6, IO interface unit 7, pressure transducer 9, transmitter unit 11 and electric battery 10 vertically downward vertically upward.
In conjunction with Fig. 2 and Fig. 3, signal condition unit 5 is made up of 6 tunnel underwater sound signal receivers 12 and 6 tunnel photoelectric coupled circuit 13.The pre-service of underwater sound signal receiver charge completion signal, by penetrate with 28, pre-amplifier 29, BPF. 30, post-amplifier 31 form.Transmitter unit 11 is made up of 6 road optical coupling isolation circuits 23, radiating circuit 24, match circuit 25 and transmit-receive switch 26.Signal processing unit 6 is made up of dual core processor 21,6 road D/A22, low-pass filter 27,6 road A/D14, FLASH16, reservation A/D and D/A interface 15.Interface unit 7 is made up of RS232 interface 17, network interface control chip 19, network interface 18 and USB mouth 20.
Main control chip of the present invention is a slice dual core processor 21, this chip is integrated a slice DSP67X kernel and a slice ARM9 kernel, and the DSP67X kernel is accomplished the reception and the processing of signal emission control and signal, and the ARM9 kernel is accomplished interface and is controlled and communication protocol management.In the course of work; Nuclear control 6 road D/A22 emission detection signals in the DSP67X; Wherein 4 road D/A are transmitting in the surface level; Directly in addition two-way D/A is respectively with under transmit, send through 6 road optical coupling isolation circuits 23, radiating circuit 24, match circuit 25 and transmit-receive switch 26 rear drive transducers 1,2,3.The transducer that adopts among the present invention all is that transmitting-receiving is closed and put transducer, through transmit-receive switch 26 realize receiving signals and transmit between switching.The effect of radiating circuit 24 is to carry out power amplification, adopts match circuit 25 to improve load impedance characteristic, improves matching efficiency.The main effect of 6 road optical coupling isolation circuits 23 is the work that prevents the strong interference affects signal processing unit 6 of radiating circuit generation.When receiving signal; The signal that transducer receives gets into 6 tunnel underwater sound signal receivers 12 behind transmit-receive switch 26; Is digital signal by 6 road A/D converters with analog signal conversion through 6 road optical coupling isolation circuits, 13 backs; Send into the DSP67X kernel and carry out signal Processing, send result to ARM9, ARM9 is transferred to result through the IO interface unit control platform of AUV.For the ease of data processing and analysis, also can result be stored among the FLASH16.In design for DSP67X has reserved A/D, D/A interface, to satisfy the demand of different task.The main effect of 6 tunnel photoelectric coupled circuit 13 is to prevent the influence of digital noise to underwater sound receiver.
What electric battery 10 was selected for use is polymer Li-ion battery, and this battery not only has high voltage, long circulation life, the discharging voltage balance of liquid lithium ion electricity core, difficult leakage safe in utilization.
The present invention also possesses following characteristics:
1,4 yuan of transmitting-receivings of a level are installed closes and puts transducer array in the dead ahead of AUV; Adopt in the process of detecting obstacles thing that phased quaternary paroxysm is penetrated, the working method of split beam directive reception; Cover the scope in 30 ° in 30 ° in left side in the surface level to the right side with the low frequency broad beam; Phase measurement resolution is 1.5 °, and range resolution is 0.1m, and the operating distance scope is 1.5m～300m.
2, the method for described vertical direction detecting obstacles thing is: AUV just go up and just descending both direction that upper and lower two single transmitting-receivings are installed respectively to close and put transducer, adopt the echo ranging mode to accomplish obstacle detection, range resolution is 0.1m.In the process of AUV come-up, the depth data that utilizes pressure transducer output compares to distinguish the water surface and barrier with square vertically upward echo ranging result as auxiliary.According to the demand of different task, can with directly over or under list transmitting-receiving close and put transducer and be replaced by transmitting-receiving and close and put transducer array, scan with phased mode.
3, the working method of transducer is on described horizontal direction and the vertical direction: the signal of all directions not only frequency division but also timesharing alternation, signal scanning interval time is 0.2s.
4, described signal condition unit and signal processing unit possess dilatation ability and interface.
Expansion interface has been reserved in described IO interface unit.
Claims (9)
1. one kind is applicable to the autonomous anticollision device of AUV/UUV platform under water; It is characterized in that: comprise housing, horizontal direction transducer array, transducer, transducer, underwater sound signal conditioning unit, transmitter unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery vertically downward vertically upward; The horizontal direction transducer array is installed in the front end of housing; Vertically upward transducer and vertically downward transducer be installed in the above and below of housing respectively; Transmitter unit, underwater sound signal conditioning unit, Underwater acoustic signal processing unit, IO interface unit, pressure transducer and electric battery are installed in the housing; Electric battery connects Underwater acoustic signal processing unit and IO interface unit; The horizontal direction transducer array, transducer all is connected underwater sound signal conditioning unit through transmitter unit with transducer vertically downward vertically upward, and underwater sound signal conditioning unit, pressure transducer, IO interface unit all connect the Underwater acoustic signal processing unit.
2. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 1; It is characterized in that: described signal condition unit comprises interconnective 6 tunnel underwater sound signal receivers and 6 tunnel photoelectric coupled circuit, the underwater sound signal receiver comprise successively connect first penetrate with, pre-amplifier, BPF., post-amplifier, second penetrate with.
3. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 1 and 2 is characterized in that: described transmitter unit comprises optical coupling isolation circuit, radiating circuit, match circuit, the transmit-receive switch that links to each other successively.
4. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 1 and 2; It is characterized in that: described signal processing unit comprises processor, 6 road D/A, low-pass filter, 6 road A/D, FLASH, reservation A/D and D/A interface; Low-pass filter connects 6 road D/A, and 6 road D/A, 6 road A/D, FLASH, reservation A/D and D/A interface all link to each other with processor.
5. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 3; It is characterized in that: described signal processing unit comprises processor, 6 road D/A, low-pass filter, 6 road A/D, FLASH, reservation A/D and D/A interface; Low-pass filter connects 6 road D/A, and 6 road D/A, 6 road A/D, FLASH, reservation A/D and D/A interface all link to each other with processor.
6. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 1 and 2; It is characterized in that: described interface unit comprises RS232 interface, network interface control chip, USB mouth and network interface, and RS232 interface, network interface control chip, USB mouth all link to each other with network interface.
7. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 3; It is characterized in that: described interface unit comprises RS232 interface, network interface control chip, USB mouth and network interface, and RS232 interface, network interface control chip, USB mouth all link to each other with network interface.
8. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 4; It is characterized in that: described interface unit comprises RS232 interface, network interface control chip, USB mouth and network interface, and RS232 interface, network interface control chip, USB mouth all link to each other with network interface.
9. a kind of autonomous anticollision device of AUV/UUV platform under water that is applicable to according to claim 5; It is characterized in that: described interface unit comprises RS232 interface, network interface control chip, USB mouth and network interface, and RS232 interface, network interface control chip, USB mouth all link to each other with network interface.
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Cited By (15)
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| CN102709993A (en) * | 2012-05-16 | 2012-10-03 | 中国海洋大学 | Laser alignment device and method for underwater wireless charging system |
| CN102879786A (en) * | 2012-09-19 | 2013-01-16 | 上海大学 | Detecting and positioning method and system for aiming at underwater obstacles |
| CN104133375A (en) * | 2014-08-14 | 2014-11-05 | 大连海事大学 | Multi-AUV synchronous controller structure and design method |
| CN104317302A (en) * | 2014-09-28 | 2015-01-28 | 江苏华宏实业集团有限公司 | Intellectualized underwater robot system |
| CN104730529A (en) * | 2013-12-19 | 2015-06-24 | 中国科学院声学研究所 | Underwater intelligent obstacle avoidance sonar system and obstacle detection method |
| CN105761608A (en) * | 2016-05-19 | 2016-07-13 | 哈尔滨工程大学 | UUV multidirectional collision avoidance capability training system with safe protective air bag |
| CN104316932B (en) * | 2014-11-05 | 2016-12-07 | 哈尔滨工程大学 | A kind of UUV approaches fixed high navigation system and the sailing method of seabed operation |
| CN106779132A (en) * | 2016-10-11 | 2017-05-31 | 山东科技大学 | Undersea detection device based on chaotic characteristic |
| CN108459614A (en) * | 2018-01-17 | 2018-08-28 | 哈尔滨工程大学 | A kind of UUV Realtime collision free planing methods based on CW-RNN networks |
| CN108847898A (en) * | 2018-06-29 | 2018-11-20 | 中国科学院声学研究所 | A kind of compact water sound communication node |
| CN109189096A (en) * | 2018-09-30 | 2019-01-11 | 华侨大学 | Underwater robot control system based on sensing network |
| CN109269560A (en) * | 2018-09-30 | 2019-01-25 | 华侨大学 | A kind of underwater movable platform data collection and transfering system |
| CN112130585A (en) * | 2020-09-24 | 2020-12-25 | 哈尔滨工程大学 | UUV anti-collision method for static and dynamic obstacles in water outlet area |
| WO2021081385A1 (en) * | 2019-10-25 | 2021-04-29 | Klein Marine Systems, Inc. | Variable geometry sonar system and method |
| CN115865220A (en) * | 2022-11-23 | 2023-03-28 | 厦门大学 | AUV (autonomous underwater vehicle) auxiliary underwater acoustic network data transmission method based on intelligent super surface |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102709993A (en) * | 2012-05-16 | 2012-10-03 | 中国海洋大学 | Laser alignment device and method for underwater wireless charging system |
| CN102879786A (en) * | 2012-09-19 | 2013-01-16 | 上海大学 | Detecting and positioning method and system for aiming at underwater obstacles |
| CN104730529A (en) * | 2013-12-19 | 2015-06-24 | 中国科学院声学研究所 | Underwater intelligent obstacle avoidance sonar system and obstacle detection method |
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| CN104133375A (en) * | 2014-08-14 | 2014-11-05 | 大连海事大学 | Multi-AUV synchronous controller structure and design method |
| CN104133375B (en) * | 2014-08-14 | 2016-08-17 | 大连海事大学 | A kind of many AUV isochronous controller structure and method for designing |
| CN104317302A (en) * | 2014-09-28 | 2015-01-28 | 江苏华宏实业集团有限公司 | Intellectualized underwater robot system |
| CN104316932B (en) * | 2014-11-05 | 2016-12-07 | 哈尔滨工程大学 | A kind of UUV approaches fixed high navigation system and the sailing method of seabed operation |
| CN105761608A (en) * | 2016-05-19 | 2016-07-13 | 哈尔滨工程大学 | UUV multidirectional collision avoidance capability training system with safe protective air bag |
| CN106779132A (en) * | 2016-10-11 | 2017-05-31 | 山东科技大学 | Undersea detection device based on chaotic characteristic |
| CN108459614A (en) * | 2018-01-17 | 2018-08-28 | 哈尔滨工程大学 | A kind of UUV Realtime collision free planing methods based on CW-RNN networks |
| CN108459614B (en) * | 2018-01-17 | 2020-12-04 | 哈尔滨工程大学 | UUV real-time collision avoidance planning method based on CW-RNN network |
| CN108847898A (en) * | 2018-06-29 | 2018-11-20 | 中国科学院声学研究所 | A kind of compact water sound communication node |
| CN108847898B (en) * | 2018-06-29 | 2019-09-06 | 中国科学院声学研究所 | A kind of compact water sound communication node |
| CN109189096A (en) * | 2018-09-30 | 2019-01-11 | 华侨大学 | Underwater robot control system based on sensing network |
| CN109269560A (en) * | 2018-09-30 | 2019-01-25 | 华侨大学 | A kind of underwater movable platform data collection and transfering system |
| WO2021081385A1 (en) * | 2019-10-25 | 2021-04-29 | Klein Marine Systems, Inc. | Variable geometry sonar system and method |
| GB2602942A (en) * | 2019-10-25 | 2022-07-20 | Klein Marine Systems Inc | Variable geometry sonar system and method |
| CN112130585A (en) * | 2020-09-24 | 2020-12-25 | 哈尔滨工程大学 | UUV anti-collision method for static and dynamic obstacles in water outlet area |
| CN112130585B (en) * | 2020-09-24 | 2022-06-21 | 哈尔滨工程大学 | UUV anti-collision method for static and dynamic obstacles in water outlet area |
| CN115865220A (en) * | 2022-11-23 | 2023-03-28 | 厦门大学 | AUV (autonomous underwater vehicle) auxiliary underwater acoustic network data transmission method based on intelligent super surface |
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Application publication date: 20120118 |