CN108132631B - power supply control system and method for deep sea equipment - Google Patents
power supply control system and method for deep sea equipment Download PDFInfo
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- CN108132631B CN108132631B CN201810094176.6A CN201810094176A CN108132631B CN 108132631 B CN108132631 B CN 108132631B CN 201810094176 A CN201810094176 A CN 201810094176A CN 108132631 B CN108132631 B CN 108132631B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2639—Energy management, use maximum of cheap power, keep peak load low
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Abstract
The embodiment of the invention provides a power supply control system for deep sea equipment. The system comprises: the device comprises a liquid level sensor, an acceleration sensor and a processor; the liquid level sensor is used for sending self capacitance values corresponding to different environments where the deep sea equipment is located to the processor; the acceleration sensor is used for detecting the motion acceleration of the deep sea equipment and sending the motion acceleration to the processor; the processor is used for receiving the capacitance value sent by the liquid level sensor and judging the environment of the deep sea equipment according to the capacitance value; receiving acceleration data sent by the acceleration sensor, and judging the motion state and the position state of the deep sea equipment according to the acceleration data; and controlling the power supply state of the deep sea equipment according to the environment, the motion state and the position state of the deep sea equipment. The invention further provides a power supply control method of the deep sea equipment. The invention can form a system by itself and independently supply power to deep sea equipment.
Description
Technical Field
the invention relates to a deep sea detection technology, in particular to a power supply control system and method for deep sea equipment.
Background
Compared with an HOV (manned submersible vehicle), an ROV (remote unmanned vehicle), an AUV (unmanned underwater vehicle) and the like, the deep sea lander has limited operation capability, but is very practical in occasions with lower requirements due to simple structure and control mode, such as fixed-point data acquisition and the like. The landing device generally comprises a plurality of pressure-resistant glass floating ball systems, such as a main electric control system, a power supply system, a camera system and the like. The data of each subsystem on the lander is centralized into the main electric control system, and the state of the current lander is also sent to each subsystem by the main electric control system, namely the whole lander system forms a star topology structure. The device power supply strategy in the subsystem is completely completed by the main electric control system.
The star topology structure causes more signals which are required to be connected to a main electrical control system by each system, the main electrical control system must reserve enough data interfaces, and a special junction box is generally designed to meet the requirement for simple wiring. Meanwhile, the equipment power supply strategy in the subsystem is completely completed by the main electric control system, so that the subsystem cannot work independently without the main electric control system. Even if the subsystem has a separate power supply, the subsystem cannot perform corresponding reaction actions according to the state of the lander unless the subsystem is in a working state all the time in the whole process. Such as: the camera system needs to start working after landing of the lander for a minute, and the camera system is connected to the main control system from the camera system subsystem through a watertight connector, and a command is sent by the main control system after the lander lands.
Disclosure of Invention
In view of this, embodiments of the present invention are expected to provide a system and a method for controlling power supply of deep sea equipment, which can enable a common electronic system to have an autonomous capability, so as to reduce system connection and reduce system control difficulty.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
the embodiment of the invention provides a power supply control system for deep sea equipment, which comprises: the device comprises a liquid level sensor, an acceleration sensor and a processor;
The liquid level sensor is used for sending self capacitance values corresponding to different environments where the deep sea equipment is located to the processor;
The acceleration sensor is used for detecting the motion acceleration of the deep sea equipment and sending the motion acceleration to the processor;
the processor configured with processor-executable operational instructions, the operational instructions comprising:
Receiving a capacitance value sent by the liquid level sensor, and judging the environment of the deep sea equipment according to the capacitance value;
Receiving acceleration data sent by the acceleration sensor, and judging the motion state and the position state of the deep sea equipment according to the acceleration data;
and controlling the power supply state of the deep sea equipment according to the environment, the motion state and the position state of the deep sea equipment.
preferably, the system further comprises a relay module, the relay module is arranged between the processor and the deep sea equipment, the relay module comprises a plurality of relay modules, each relay module corresponds to one deep sea equipment, the power supply control signal input end of each relay module is connected with the power supply control signal output end of the processor, and the power supply control signal output end of each relay module is connected with the power supply control signal input end of each deep sea equipment.
preferably, the system further comprises a memory, a data signal input/output terminal of the memory being connected with a data signal output/input terminal of the processor;
The storage is used for storing the voltage value and/or the current value of a power output channel between the relay module and the deep sea equipment.
Preferably, the system further comprises a data interface module, wherein a command signal input end of the data interface module is connected with a command signal output end of an external device, and a command signal output end of the data interface module is connected with a command signal input end of the memory;
The data interface module is used for receiving a power supply control script instruction sent by the external equipment and sending the power supply control script instruction to a memory;
The memory is also used for sending the power supply control script sent by the data interface module to the processor and storing the power supply control script;
The processor configured with processor-executable operational instructions, the operational instructions further comprising: and receiving a power supply control script instruction sent by the processor, and controlling the power supply state of the deep sea equipment according to the power supply control script instruction.
Preferably, the processor is configured with processor-executable operating instructions, the operating instructions further comprising: and judging whether the script in the power supply control script instruction is executed completely, if so, controlling the deep sea equipment to enter a sleep mode or power off.
Preferably, the system further comprises a power supply module, wherein the power supply module is used for supplying power to the liquid level sensor, the acceleration sensor, the processor and the relay module.
the embodiment of the invention also provides a power supply control method for the deep sea equipment, which comprises the following steps:
Receiving environmental parameters of the deep sea equipment;
Judging the environment of the current deep sea equipment according to the environment parameters;
Receiving the motion acceleration of the deep sea equipment;
Judging the motion state and the position state of the current deep sea equipment according to the motion acceleration;
And controlling the power supply state of the deep sea equipment according to the environment, the motion state and the position state of the deep sea equipment.
preferably, the process of receiving the environmental parameters of the deep sea device comprises: receiving a capacitance value of a liquid level sensor arranged on the deep sea equipment, wherein the capacitance value is an environmental parameter of the deep sea equipment.
Preferably, the method further comprises: and receiving a power supply control script instruction sent by external equipment, and controlling the power supply state of the deep sea equipment according to the power supply control script instruction.
preferably, the method further comprises: and judging whether the script in the power supply control script instruction is executed completely, if so, controlling the deep sea equipment to enter a sleep mode or power off.
the invention has the following beneficial effects:
the power supply control system provided by the invention can judge whether the current deep sea equipment is underwater or not through the liquid level sensor, and can judge the motion state and the position state of the current deep sea equipment through the acceleration sensor, so that the processor can autonomously control the power supply of the deep sea equipment according to the judgment information. The power supply control system can form a system and independently supply power to deep sea equipment. The power supply control system can also perform instruction transmission with external equipment, the power supply state is controlled by the external equipment, and the system is simple in connection, low in control difficulty and high in practicability.
Drawings
Fig. 1 is a schematic diagram of a power supply control system for deep sea equipment according to an embodiment of the present invention;
FIG. 2 is a schematic view of an installation position of a liquid level sensor according to an embodiment of the present invention;
Fig. 3 is a flowchart of a power supply control method for deep sea equipment according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention more apparent, the following further detailed description of the exemplary embodiments of the present invention is provided with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and are not exhaustive of all the embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
example 1
As shown in fig. 1, the present embodiment provides a power supply control system for deep sea equipment, the system including: the device comprises a liquid level sensor, an acceleration sensor and a processor;
the liquid level sensor is used for sending self capacitance values corresponding to different environments where the deep sea equipment is located to the processor;
The acceleration sensor is used for detecting the motion acceleration of the deep sea equipment and sending the motion acceleration to the processor;
The processor configured with processor-executable operational instructions, the operational instructions comprising:
Receiving a capacitance value sent by the liquid level sensor, and judging the environment of the deep sea equipment according to the capacitance value;
Receiving acceleration data sent by the acceleration sensor, and judging the motion state and the position state of the deep sea equipment according to the acceleration data;
and controlling the power supply state of the deep sea equipment according to the environment, the motion state and the position state of the deep sea equipment.
Specifically, the processor described in this embodiment may be a programmable logic device such as a single chip, a CPU, an FPGA, or the like. Taking a glass floating ball system of a deep sea landing device as an example, when the glass floating ball system is positioned on water, the glass floating ball system does not need internal equipment to work, and even if the glass floating ball system works, the collected information has no meaning or very little meaning. Therefore, if the glass floating ball system is positioned on water, the internal equipment also enters a working state, and the power resource is greatly wasted. When the floating glass ball system is underwater, the internal equipment is required to enter a working state, so that the first premise for supplying power to the internal equipment of the floating glass ball system is to ensure that the floating glass ball system enters the underwater state. The liquid level sensor used in this embodiment is a non-contact type, and is disposed on the inner wall of the glass float ball system, as shown in fig. 2. At the moment, the capacitance value of the liquid level sensor can change along with different environments of the glass floating ball system, so that whether the glass floating ball system is underwater or not can be judged.
the second premise for supplying power to the internal equipment of the glass floating ball system is to know the position of the glass floating ball system under water. The acceleration sensor is used for monitoring the motion state of the glass floating ball system in real time, including floating, submerging and static, and the acceleration and speed during floating or submerging, and the submerged displacement of the glass floating ball system is calculated by utilizing the principle of inertial navigation. Then, the movement state thereof (the direction of gravity is positive downward) is judged according to table 1.
TABLE 1
After the glass floating ball system is initialized, each state can only be changed according to the sequence shown in table 1, and if the glass floating ball system is in a submergence state, the subsequent glass floating ball system can only be converted into a bottom-sitting state (only the state 1 and the state 2 can be switched).
furthermore, the system also comprises a relay module, the relay module is arranged between the processor and the deep sea equipment, the relay module comprises a plurality of relay modules, each relay module corresponds to the deep sea equipment, the power supply control signal input end of each relay module is connected with the power supply control signal output end of the processor, and the power supply control signal output end of each relay module is connected with the power supply control signal input end of the deep sea equipment.
specifically, still taking the glass float ball system as an example, some devices inside the glass float ball system may have a low power consumption function, and for a device with the low power consumption function, the system of this embodiment can enable the related device to enter a low power consumption state or a sleep state when the glass float ball system does not need to work, and awaken the device again when the glass float ball system needs to work. And for equipment without low power consumption function, direct breakpoint and power-on are needed for control. In this embodiment, the relay module is adopted to directly control the on-off of the power supply of the internal equipment of the glass floating ball system. The relay module comprises a plurality of relay modules, one end of each relay module is correspondingly connected with one device, the other end of each relay module is connected with the processor, and the processor controls the power supply state of each device according to actual working requirements. Therefore, the power supply control of the equipment can be realized to the maximum extent, and the utilization rate of energy sources is improved.
further, the system also comprises a memory, wherein a data signal input/output end of the memory is connected with a data signal output/input end of the processor;
The storage is used for storing the voltage value and/or the current value of a power output channel between the relay module and the deep sea equipment.
the system also comprises a data interface module, wherein the instruction signal input end of the data interface module is connected with the instruction signal output end of external equipment, and the instruction signal output end of the data interface module is connected with the instruction signal input end of the memory;
the data interface module is used for receiving a power supply control script instruction sent by the external equipment and sending the power supply control script instruction to a memory;
the memory is also used for sending the power supply control script sent by the data interface module to the processor and storing the power supply control script;
the processor configured with processor-executable operational instructions, the operational instructions further comprising: and receiving a power supply control script instruction sent by the processor, and controlling the power supply state of the deep sea equipment according to the power supply control script instruction.
specifically, the memory described in this embodiment may be an EEPROM. The memory is responsible for recording voltage and current data output by each power output channel of each relay module and script instructions received from the data interface module, and the data interface module can be an RS232 data interface module. The voltage and current data can reflect the working state of the power supply system in the embodiment in real time so as to be used for subsequent data statistics and equipment maintenance. The data interface module can receive script instructions sent by external equipment and then input the script instructions into the processor through the memory to realize the addition or replacement of the script instructions in the processor.
The script command includes two time positioning modes, one is absolute time positioning, for example: the script command is '12 minutes and 11 seconds for opening the power supply of the channel 1 in 2018, 1 month, 12 days and 17 days'; another is a relative time positioning method, for example: the script command is 'open channel 1 power after 5 minutes of sitting at the bottom'. After all scripts in the memory are executed completely, or when the glass floating ball system returns to the state 7 shown in the table 1, the glass floating ball system does not have any task needing to be executed currently, and then the processor controls the relevant equipment to enter a sleep mode or directly power off to save energy.
furthermore, the system also comprises a power module, wherein the power module is used for supplying power to the liquid level sensor, the acceleration sensor, the processor and the relay module.
in addition, for the device with the low power consumption function, the power module can be used for directly supplying power to the device, and then the processor controls the device to enter a normal working mode or a low power consumption mode.
example 2
as shown in fig. 3, the present embodiment proposes a method for controlling power supply to a deep sea device, the method including:
s101, receiving the environmental parameters of the deep sea equipment, and judging the current environment of the deep sea equipment according to the environmental parameters.
Specifically, taking the glass floating ball system of the deep sea landing device as an example, when the glass floating ball system is located on water, the glass floating ball system generally does not need internal equipment to work, and even if the glass floating ball system works, the collected information has no meaning or very little meaning. Therefore, if the glass floating ball system is positioned on water, the internal equipment also enters a working state, and the power resource is greatly wasted. When the floating glass ball system is underwater, the internal equipment is required to enter a working state, so that the first premise for supplying power to the internal equipment of the floating glass ball system is to ensure that the floating glass ball system enters the underwater state. In the embodiment, a non-contact liquid level sensor can be adopted to detect the environment of the glass floating ball system, and the liquid level sensor is arranged on the inner wall of the glass floating ball system. At the moment, the capacitance value of the liquid level sensor changes along with different environments of the glass floating ball system, the capacitance value is an environmental parameter of the deep sea equipment, and therefore whether the glass floating ball system is underwater or not can be judged.
S102, receiving the motion acceleration of the deep sea equipment, and judging the motion state and the position state of the current deep sea equipment according to the motion acceleration.
specifically, the second premise of supplying power to the internal equipment of the glass floating ball system is to know the position of the glass floating ball system under water. The acceleration sensor is used for monitoring the motion state of the glass floating ball system in real time, including floating, submerging and static, and the acceleration and speed during floating or submerging, and the submerged displacement of the glass floating ball system is calculated by utilizing the principle of inertial navigation. Then, the movement state (the gravity direction is positive downward) is judged according to the above table 1. And will not be described in detail herein.
S103, controlling the power supply state of the deep sea equipment according to the environment, the motion state and the position state of the deep sea equipment.
Some devices in the glass floating ball system may have a low power consumption function, and for a device with the low power consumption function, the method described in this embodiment can enable the related device to enter a low power consumption state or a dormant state when the glass floating ball system does not need to work, and awaken the device again when the glass floating ball system needs to work. And for equipment without low power consumption function, direct breakpoint and power-on are needed for control. In this embodiment, the relay module is adopted to directly control the on-off of the power supply of the internal equipment of the glass floating ball system. The relay module comprises a plurality of relay modules, one end of each relay module is correspondingly connected with one device, the other end of each relay module is connected with the processor, and the processor controls the power supply state of each device according to actual working requirements. Therefore, the power supply control of the equipment can be realized to the maximum extent, and the utilization rate of energy sources is improved.
in addition, the method of this embodiment may further receive a script instruction sent by an external device, and then input the script instruction into the processor through the memory, so as to implement addition or replacement of the script instruction in the processor.
The script command includes two time positioning modes, one is absolute time positioning, for example: the script command is '12 minutes and 11 seconds for opening the power supply of the channel 1 in 2018, 1 month, 12 days and 17 days'; another is a relative time positioning method, for example: the script command is 'open channel 1 power after 5 minutes of sitting at the bottom'. After all scripts in the memory are executed completely, or when the glass floating ball system returns to the state 7 shown in the table 1, the glass floating ball system does not have any task needing to be executed currently, and then the processor controls the relevant equipment to enter a sleep mode or directly power off to save energy.
it will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A deep sea equipment power supply control system, the system comprising: the device comprises a liquid level sensor, an acceleration sensor and a processor;
the liquid level sensor is used for sending self capacitance values corresponding to different environments where the deep sea equipment is located to the processor; the deep sea equipment is a glass floating ball system of a deep sea lander, and the liquid level sensor is a non-contact sensor arranged on the inner wall of the glass floating ball system;
the acceleration sensor is used for detecting the motion acceleration of the deep sea equipment and sending the motion acceleration to the processor;
the processor configured with processor-executable operational instructions, the operational instructions comprising:
Receiving a capacitance value sent by the liquid level sensor, and judging whether the deep sea equipment is underwater or not according to the capacitance value;
receiving acceleration data sent by the acceleration sensor, and judging the motion state and the position state of the deep sea equipment according to the acceleration data;
Controlling the power supply state of the deep sea equipment according to the condition whether the deep sea equipment is underwater, the motion state and the position state; wherein the motion state comprises: the method comprises the following steps of starting submergence, submerging, starting floating and floating, wherein the position states comprise: the water surface is ready for working and sitting.
2. The system of claim 1, further comprising a relay module disposed between the processor and the deep sea equipment, the relay module comprising a plurality of relay modules, each relay module corresponding to a deep sea equipment, the relay module having a power control signal input connected to the power control signal output of the processor and a power control signal output connected to the power control signal input of the deep sea equipment.
3. the system of claim 2, further comprising a memory having a data signal input/output connected to a data signal output/input of the processor; the storage is used for storing the voltage value and/or the current value of a power output channel between the relay module and the deep sea equipment.
4. The system of claim 3, further comprising a data interface module, wherein the command signal input terminal of the data interface module is connected to the command signal output terminal of the external device, and the command signal output terminal of the data interface module is connected to the command signal input terminal of the memory;
the data interface module is used for receiving a power supply control script instruction sent by the external equipment and sending the power supply control script instruction to a memory;
the memory is also used for sending the power supply control script sent by the data interface module to the processor and storing the power supply control script;
The processor configured with processor-executable operational instructions, the operational instructions further comprising: and receiving a power supply control script instruction sent by the processor, and controlling the power supply state of the deep sea equipment according to the power supply control script instruction.
5. the system of claim 4, wherein the processor is configured with processor-executable operational instructions, the operational instructions further comprising: and judging whether the script in the power supply control script instruction is executed completely, if so, controlling the deep sea equipment to enter a sleep mode or power off.
6. The system of claim 5, further comprising a power module for providing power to the level sensor, acceleration sensor, processor, and relay module.
7. a method for controlling power supply to a deep sea facility, the method comprising:
Receiving environmental parameters of deep sea equipment; wherein the process of receiving the environmental parameters of the deep sea device comprises: receiving a capacitance value of a liquid level sensor arranged on deep sea equipment, wherein the capacitance value is an environmental parameter of the deep sea equipment; the deep sea equipment is a glass floating ball system of a deep sea lander, and the liquid level sensor is a non-contact sensor arranged on the inner wall of the glass floating ball system;
Judging whether the current deep sea equipment is underwater or not according to the environmental parameters;
Receiving the motion acceleration of the deep sea equipment;
Judging the motion state and the position state of the current deep sea equipment according to the motion acceleration;
Controlling the power supply state of the deep sea equipment according to the condition whether the deep sea equipment is underwater, the motion state and the position state; wherein the motion state comprises: the method comprises the following steps of starting submergence, submerging, starting floating and floating, wherein the position states comprise: the water surface is ready for working and sitting.
8. The method of claim 7, further comprising: and receiving a power supply control script instruction sent by external equipment, and controlling the power supply state of the deep sea equipment according to the power supply control script instruction.
9. The method of claim 8, further comprising: and judging whether the script in the power supply control script instruction is executed completely, if so, controlling the deep sea equipment to enter a sleep mode or power off.
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