CN101557664B - Dimming system of underwater lamp - Google Patents

Dimming system of underwater lamp Download PDF

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Publication number
CN101557664B
CN101557664B CN 200810010981 CN200810010981A CN101557664B CN 101557664 B CN101557664 B CN 101557664B CN 200810010981 CN200810010981 CN 200810010981 CN 200810010981 A CN200810010981 A CN 200810010981A CN 101557664 B CN101557664 B CN 101557664B
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control
underwater
dimming
lamp
system
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CN 200810010981
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Chinese (zh)
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CN101557664A (en )
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任福林
关玉林
崔胜国
王晓辉
赵洋
郭威
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中国科学院沈阳自动化研究所
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Abstract

The invention relates to a dimming technology of an underwater lamp of an underwater robot, in particular to a dimming system for remotely dimming the brightness of an underwater lamp arranged on an underwater robot by adopting a digital transmission technology. The dimming system comprises I/O acquisition and output modules, a main control computer and underwater lamp dimming devices and is characterized in that the main control computer receives a control signal from the I/O acquisition and output module on the water surface through an Ethernet and transmits the processed control signal to the I/O acquisition and output module underwater through an optical fiber, the I/O acquisition and output module underwater outputs a power control signal and a light dimming signal to the modularly arranged underwater lamp dimming devices, and the control to the light is realized through a control program in the main control computer. The system has the characteristics of modularization, safe interface and simple design, can realize the continuous control to the light of the single-lamp in the whole range as well as the remote light control and is provided with the interference-free dimming devices.

Description

ー种水下灯调光系统ー species underwater lights dimming system

技术领域 FIELD

[0001] 本发明涉及水下机器人水下灯的调光技术,具体说是ー种采用数字传输技术,远距离调节水下机器人上设置水下灯亮度的调光系统。 Dimming technique involves AUV underwater light [0001] The present invention, specifically ー kind digital transmission technology, remotely adjust the brightness of the lamps disposed underwater ROV dimming system.

[0002] 技术背景 [0002] BACKGROUND OF THE INVENTION

[0003] 水下机器人是ー种工作在海中的设备,在它的上面安装有多台水下摄像机,而摄像机要观察海里的情况,需要水下灯提供照明,由于不同海域、不同季节,海水中的能见度不同,而且,随着摄像机距离要观察目标的不同,图像的清晰度也不相同,因此水下机器人上不同位置的摄像机所需要的灯光亮度也不相同。 [0003] underwater robot is ー kinds of work equipment in the sea, on top of it to install more than one underwater camera, and camcorder to observe the sea, underwater lights provide illumination required, due to the different waters in different seasons, sea different visibility, and, as the distance from the camera to observe the target, the sharpness of the image is not the same, so the underwater vehicle the position of the camera in different light levels is not the same need. 常规的水下机器人上水下灯亮度的调节采用水面上可调压的变压器改变电压来实现,该种方法的缺点是若改变电压,所有水下机器人上的灯光全部改变,这导致其它已经调好的摄像机照明的改变,从而造成所观察目标的视频效果不好,而且由于水面到水下机器人载体的传输距离非常长,传输路径上的电阻很大,消耗了不必要的电能,从这个意义上来说,对大深度的水下机器人也是ー个瓶颈。 Conventionally AUV underwater light brightness adjustment using the water regulating transformer can be implemented to change the voltage, a disadvantage of this method is that if the voltage changes, all the lights on all changes underwater vehicle, which has lead to other modulation good camera illumination change, resulting in poor video quality of the observation target, and because the transmission distance to the water surface AUV vector is very long, great resistance in the transmission path, the unnecessary power consumption, this meaning on, the underwater robot is also a great depth ー bottleneck. 随着海洋事业的发展,完成的使命也日趋复杂,要求对水下机器人配备更多的水下摄像机,传统的水下灯调光方式无法同时满足水下机器人上多台摄像机对灯光的需求。 With the development of the marine industry, the completion of the mission are becoming increasingly complex, requiring more underwater robot equipped with underwater cameras, underwater lights dimming traditional methods can not meet the needs of multiple cameras underwater robot to the lights at the same time.

发明内容 SUMMARY

[0004] 为了克服上述不足,本发明的目的是提供一种实用的水下灯调光系统,该系统具有模块化、接ロ安全、设计简单的特点,可实现灯光的全范围单灯、连续调节,可远程调光,调光装置之间彼此不受干扰。 [0004] In order to overcome the above disadvantages, an object of the present invention is to provide a practical underwater lamp dimming system that is modular, then ro safe, simple design features can be realized in the full range of single lamp lighting, continuous adjustment, remote dimming, the dimming means without interference between each other.

[0005]为实现上述目的,本发明采用的技术方案包括:I/O采集及输出模块、主控计算机、水下灯调光装置,主控计算机通过以太网接收来自水面的I/o采集及输出模块的控制信号,将处理后的控制信号通过连接有光多路复用器的光纤送到水下的I/o采集及输出模块,水下的I/o采集及输出模块根据主控计算机命令将电源控制信号和灯光调节信号输出到模块化设置的水下灯调光装置,从而实现灯光的调整; [0006] 其中所述水下灯调光装置包括主控制器、隔离电路及调节电路,其中所述主控制器经过隔离电路接收水下的I/o采集及输出模块的调节信号,输出两路脉冲信号经光电耦合电路至调节电路控制端,控制电压的输出;所述调节电路经隔离电路接电源(作为电源控制信号),并经过光电耦合电路接收主控制器的灯光调节信号,输出调节后的电源信号至水下灯 [0005] To achieve the above object, the present invention adopts the technical solution comprising: I / O acquisition and output modules, the host computer, underwater lights dimming device, the host computer receives the water from the I / o and collected via Ethernet a control signal output module, the control signal processed by the connection to the underwater fiber optical multiplexer I / o acquisition and output modules, underwater I / o the acquisition and host computer output module command signal and the power control signal to adjust the light dimming device modular underwater lights provided, thereby achieving adjustment of light; [0006] wherein the underwater lamp dimming apparatus includes a main controller, the isolation circuit and regulating circuit wherein the main controller receives the adjustment signal through isolation circuit underwater I / o acquisition and output module, the output of two pulse signals outputted by the optical coupling circuit to the control terminal regulator circuit, a control voltage; said regulating circuitry power signal isolation circuit connected to the power supply (as the power control signal) and, after receiving a master controller circuit photocoupler light adjustment signal, to an underwater light output adjustment 主控制器的水下电源同步信号经第二电阻和反并联第一〜ニニ极管串联取样。 Subsea main power controller synchronization signal through the second resistor and a first anti-parallel diode connected in series ~ ni ni sampling.

[0007] 主控制器与光电耦合电路之间加设发光二极管,用于调试指示; [0007] The light emitting diode is provided between plus master controller and a photocoupler circuit for debugging instructions;

[0008] 光电耦合电路与调节电路之间加设ニ极管,用于保护光电耦合电路; [0008] Ni added is provided between the optical coupling circuit adjustment circuit diode, for protecting the optical coupling circuit;

[0009] 主控制器与水下的I/O采集及输出模块间的隔离电路采用隔离运算放大器; [0009] The isolation circuit between the master controller and underwater I / O modules acquisition and isolation of the operational amplifier output;

[0010] 调节电路为第一〜ニ可控硅反并联结构,一端接由继电器构成的隔离电路,另ー端接水下灯。 [0010] - a first regulator circuit ni antiparallel thyristor structure, one end of the isolation circuit composed of a relay, the other end ー underwater lights.

[0011] 本发明具有如下优点: [0011] The present invention has the following advantages:

[0012] I.安全性高。 [0012] I. safe. 本发明的电源控制端和灯光调节控制端与水下灯的主控制器电源采用完全隔离的技术,因此,安全性高。 Power control terminal of the present invention and lighting adjustment control terminal and a main controller underwater lights fully isolated power technology, therefore, high safety.

[0013] 2.本发明采用电阻和ニ极管实现主控制器的脉冲同步,可省去传统电路上采用的同步变压器来实现电源同步信号输入,节省了同步变压器和相应的导线,提高了该装置的 [0013] 2. The present invention employs a resistor and a diode pulsed Ni master controller achieved synchronization, the synchronization may be omitted from the conventional circuit uses the transformer to synchronize the input signal power, saving synchronous transformer and respective leads, increase the device

可靠性。 reliability.

[0014] 3.本发明采用光电耦合器来实现可控硅的脉冲触发,省去了传统电路上采用的脉冲变压器,減少了该装置的尺寸、体积和重量。 [0014] 3. The present invention is implemented using a photocoupler SCR trigger pulse, eliminating the need for the pulse transformer used in the conventional circuit, reduce the size, weight and volume of the apparatus.

[0015] 4.本发明设计模块化,体积小,结构紧凑,重量轻,接ロ简单,随着水下灯増加,只需增加相应数量的水下光调节装置及相应的控制信号。 The modular design [0015] 4. The present invention is small, compact, lightweight, simple ro then, as to increase in underwater lights, simply increasing the number of corresponding underwater light adjusting device and a corresponding control signal. 另外,水下光调光装置之间彼此独立互不干扰,即每个水下灯亮度根据需要进行调节,而彼此互不影响。 Further, an underwater optical interference between light modulation device separate from one another, i.e. each underwater lamp brightness adjusted as desired, without affecting one another.

[0016] 5.由于本发明的电路设计简単,所以成本低,实用性强,可应用于水下机器人灯光调节,还可以应用于水下机器人或其它远、近距离调光的场合。 [0016] 5. Brief radiolabeling due to the circuit design of the present invention, the low-cost, practical, applicable as lighting ROV, AUV, or can also be applied to other far, near where dimming.

[0017] 6.本发明采用光纤通信,提高了信号传输的可靠性,降低了电气干扰,同时,也使水下机器人中的调光距离可以达到10KM,这对于大深度水下机器人的调光变得简单。 [0017] 6. The present invention utilizes optical fiber communication, improving the reliability of signal transmission, reducing electrical interference, but also from the dimming AUV can reach 10KM, which for large dimming depth AUV simple.

附图说明 BRIEF DESCRIPTION

[0018] 图I水下灯调光系统结构示意图。 [0018] Figure I a schematic view of an optical system configuration of the underwater light tone.

[0019] 图2水下灯调光装置电路原理图。 [0019] FIG. 2 underwater light dimming device circuit diagram.

[0020] 图3水下灯调光系统控制程序流程图。 [0020] The program flow chart of FIG. 3 underwater light dimming system control.

具体实施方式 detailed description

[0021] 下面结合附图和实施例对本发明作进ー步详细说明。 [0021] The following drawings and embodiments of the present invention will be described in further detail in conjunction with the intake ー.

[0022] 本发明水下灯调光系统采用光纤作为信号通信媒介,水面和水下都有基于以太网的I/O采集及输出模块进行信号采集及控制输出,在水面主控计算机的控制下完成水下灯的开关及売度调节。 [0022] Underwater light dimming system of the present invention uses an optical fiber as a communications medium signal, both surface and underwater Ethernet-based I / O module output signal acquisition and acquisition and control output, under control of the master computer in water complete underwater light switch and bai adjustment.

[0023] 如图I所示,系统结构包括I/O采集及输出模块、主控计算机、水下灯调光装置,主控计算机通过以太网接收来自水面的I/O采集及输出模块的控制信号,将处理后的控制信号通过连接有光多路复用器的光纤送到水下的I/o采集及输出模块,水下的I/O采集及输出模块根据主控计算机命令将电源控制信号和灯光调节信号输出到模块化设置的水下灯调光装置,从而实现灯光的调整。 [0023] FIG. I, the system configuration includes I / O capture and output modules, the host computer, underwater lights dimming device, the host computer receives the water from the Ethernet I Control / O acquisition and output modules signal, the control signal processed by the connection to the underwater fiber optical multiplexer I / o acquisition and output modules, underwater I / O acquisition module and the output power according to the control host computer commands the light adjustment signal and the signal to the modular underwater lights dimming device is provided, thereby achieving adjustment of light.

[0024] 调光是通过操作水面操作面板上的开关来使水下调光装置上电,面板上的调节旋钮来控制水下灯的亮度。 [0024] dimming down to the water on the light-power device by operating a switch on the operation panel surface, the adjustment knob on the panel to control the brightness of the underwater light. 所述水下调光装置上电和水下灯的亮度这两个信号通过带有以太网接ロ的水面的I/o采集及输出模块进行采集,主控计算机通过以太网将这两个信号读入,经过主控计算机中的水下灯控制程序通过接有光多路复用器的光通信设备传到水下的I/o采集及输出模块,该模块中的数字量输出电源控制信号,该模块中的模拟量输出水下灯的灯光调节信号。 The water cut luminance on the light means and the power of these two signals underwater light collection, the master computer via I / o acquisition and output module connected with an Ethernet ro water surface by these two signals read Ethernet into, the host computer through the control program underwater light optical multiplexer connected to an optical communication device to the underwater I / o acquisition and output modules, the digital power control module output signal, the analog output module underwater lamp lighting adjustment signal.

[0025] 如图2所示,水下调光装置包括主控制器U1、隔离电路及调节电路,其中所述主控制器Ul经过隔离电路接收水下的I/O采集及输出模块的调节信号,输出两路脉冲信号经光电耦合电路至调节电路控制端,控制电压的输出;所述调节电路经隔离电路接电源(作为电源控制信号),并经过光电耦合电路接收主控制器Ul的灯光调节信号,输出调节后的电、源信号至水下灯。 [0025] As shown, the water down the optical means includes a main controller U1, isolation circuit and regulating circuit, wherein the master controller Ul adjustment signal through isolation circuit receiving underwater I / O acquisition and output modules 2, outputs two pulse signals by the optical coupling circuit to the control terminal regulator circuit, controlling the output voltage; light adjusting circuit via an isolation circuit connected to said power source (a power control signal), and through the optical coupling circuit receives an adjustment signal of the main controller Ul , and output the adjusted electrical source signal to an underwater light. 主控制器Ul的水下电源同步信号经第二电阻(R2)和反并联第一〜ニニ极管Dl〜D2串联取样。 The main controller Ul underwater power source synchronization signal via a second resistor (R2) and a first anti-parallel diode Dl~D2 ~ ni ni series sampling.

[0026] 所述主控制器Ul与光电稱合电路之间加设第一〜ニ发光二极管LI〜L2,用于调试指示;光电耦合电路与调节电路之间加设三〜四ニ极管D3〜D4,用于保护光电耦合电路;主控制器Ul与水下的I/O采集及输出模块间的隔离电路采用隔离运算放大器Al。 [0026] The main controller Ul photoelectric said addition circuit is provided between the first engagement ~ ni LED LI~L2, for debugging instructions; plus disposed between the optical coupling circuit and regulating circuit of three to fourth diode D3 ni ~D4, for protecting the optical coupling circuit; isolation circuit between the main controller and the Ul underwater I / O modules, and an output isolation collecting operational amplifier Al.

[0027] 调节电路为第一〜ニ可控硅Gl〜G2反并联结构,一端接由继电器RELl构成的隔离电路,另一端接水下灯。 [0027] - a first regulator circuit ni antiparallel thyristors Gl~G2 structure, a termination circuit including a relay isolation RelL, underwater lights the other end.

[0028] 如图3所示,所述控制程序具体流程为:由水面的I/O采集及输出模块通过以太网通信设备获得操作面板的操作状态,然后采集电源控制开关的状态及灯光调节的变化值到主控计算机,对采集到的数据进行打包处理,再通过接有光多路复用器的光纤输出至水下I/o采集及输出模块,水下的I/O采集及输出模块的数字量将电源控制信号送到水下灯调光装置,用来控制水下灯的电源,其模拟量输出灯光调节信号到中的主控制器Ul,用来调节水下灯的亮度(以上程序流程周期性的执行)。 [0028] As shown, the specific flow of the control program 3: obtain the operation state of the operation panel surface by an I / O module and an output collecting Ethernet communication device, and then collect the state of the power control switch and lighting adjustment variation value to the host computer, the data collection process to be packaged, through the optical multiplexer connected to an underwater optical output I / o acquisition and output modules, underwater I / O module and an output collection the digital power control signal to the underwater lights dimming device for controlling underwater light power, which adjust the light output of the analog signal to the main controller Ul is used to adjust the brightness (above underwater light periodically executed program flow).

[0029] 工作原理:所述水下调光装置接收的I/O采集及输出模块的电源控制信号和灯光调节信号,经过隔离电路,使水下调光装置的主控制器U1、可控硅组成的调节电路输出相应的输出电压,从而实现灯光的调节。 [0029] The working principle: the water cut of the light receiving device I / O module and an output collecting power control signal and the lighting adjustment signal through the isolation circuit, the water cut of an optical device main controller U1, a thyristor of adjusting circuit outputs an output voltage corresponding to achieve adjustment of the light.

[0030] 电源控制信号连接到水下灯调光装置的D0_1端子控制继电器REL1,IlOV交流输入电源通过继电器RELl的触点3,使水下灯调光装置上电。 [0030] The power control signal is connected to an underwater lamp dimming device control relay terminals D0_1 REL1, IlOV RELl AC input power through the relay contacts 3, electrical underwater lamp dimming device. 主控制器Ul的脉冲同步信号来自于主电源IlOV输入端,经电阻R2和反并联ニ极管Dl、D2串联取样,输入到主控制器Ul中。 The main controller Ul pulse sync signal from the main power source IlOV input, via a resistor R2 and a diode antiparallel ni Dl, D2 serial sampling of the input to the main controller Ul. I/O采集及输出模块的模拟量调节信号输出接到水下灯调光装置的A0_1端子,该信号通过隔离运算放大器Al接到主控制器Ul的控制端,此时主控制器Ul输出两路脉冲信号输出到由第一〜ニ光电I禹合器U2〜U2'组成的光电f禹合电路的输入端,第一〜ニ光电f禹合器U2和U2'的输出端分别与由第一〜ニ可控硅Gl〜G2组成的调节电路的触发端G相连,第一可控娃Gl的A端与第二可控娃G2的K端相连后接继电器RELl的触点4 ;第一可控娃Gl的K和第二可控硅G2的A相连,输出到水下调光装置的LAMP/L端,该端子接水下灯。 I / O acquisition and the analog output module to the adjustment signal output terminal A0_1 underwater lights dimming device, the signal through the operational amplifier Al isolation to a control terminal of the main controller Ul, Ul time the main controller outputs two passage from the first pulse signal is output to the Yu I ~ ni photo coupler U2~U2 'f and Yu photoelectric input circuit consisting of a first photo f ~ ni and Yu, U2 and U2' of the first output terminal, respectively a trigger terminal G ~ ni adjusting circuit consisting of thyristors connected Gl~G2, K a terminal of the first controllable doll Gl and G2 of the second controllable doll, after a contact connected to the relay 4 RELl; first K and controllable baby Gl G2 of the second a thyristor is connected to the output lAMP / L water cut end of the optical device, the terminal fitting underwater lights. 由于主控制器Ul输出的脉冲信号可以控制可控硅的导通的角度,因此本发明可以调节LAMP/L与110V/N间的电压,调节的范围为0〜110V,故水下灯由于其两端电压的改变而灯光全范围可调节。 Since the conduction angle of the thyristor of the pulse signal output from the main controller Ul may be controlled, thus the present invention can adjust the voltage between the LAMP / L and 110V / N, the range of adjustment 0~110V, so underwater lights due to its and changing the voltage across the full range of light can be adjusted.

Claims (5)

  1. 1. 一种水下灯调光系统,包括I/o采集及输出模块、主控计算机、水下灯调光装置,其特征在于:主控计算机通过以太网接收来自水面的I/o采集及输出模块的控制信号,将处理后的控制信号通过光纤送到水下的I/o采集及输出模块,水下的I/O采集及输出模块将电源控制信号和灯光调节信号输出到模块化设置的水下灯调光装置,通过主控计算机中控制程序实现灯光的调整; 所述水下灯调光装置包括主控制器(UI)、隔离电路及调节电路,其中所述主控制器(Ul)经过隔离电路接收水下的I/o采集及输出模块的调节信号,输出两路脉冲信号经光电耦合电路至调节电路控制端,控制电压的输出;所述调节电路经隔离电路接电源,并经过光电耦合电路接收主控制器(UI)的灯光调节信号,输出调节后的电源信号至水下灯;主控制器(Ul)的水下电源同步信号经第二电阻(R2 1. An underwater lamp dimming system, including I / o acquisition and output modules, the host computer, underwater lights dimming device, comprising: a master computer receiving the water from the Ethernet I / o Acquisition and a control signal output module, the control signal processed by the optical fiber to the underwater I / o acquisition and output modules, underwater I / O acquisition module and the output power control signal and outputs the light adjustment signal is provided to a modular underwater lamp dimming device, by a host computer a control program implemented in the adjustment of light; the underwater lamp dimming apparatus includes a main controller (the UI), the isolation circuit and regulating circuit, wherein said master controller (Ul ) adjusting signal I / o acquisition and output modules via the isolation circuit receives underwater output two pulse signals by the optical coupling circuit to the control terminal regulator circuit, controlling the output voltage; circuitry isolation circuit connected to said power adjustment, and after receiving the master controller circuit photocoupler (UI) signal light power adjustment signal to the output adjustment underwater lights; a main controller (Ul) underwater power source synchronization signal via a second resistor (R2 )和反并联的第一二极管(Dl)、第二二极管(D2)串联取样。 ) And a first anti-parallel diode (Dl), a second diode (D2) serially sampled.
  2. 2.按权利要求I所述水下灯调光系统,其特征在于:主控制器与光电耦合电路之间加设发光二极管,用于调试指示。 2. I claim the underwater lamp dimming system, comprising: adding disposed between the master controller and the photocoupler light-emitting diode circuit, indicated for debugging.
  3. 3.按权利要求I所述水下灯调光系统,其特征在于:光电耦合电路与调节电路之间加设二极管,用于保护光电耦合电路。 3. I claim the underwater lamp dimming system, comprising: adding circuit disposed between a photocoupler and a diode regulating circuit, for protecting the optical coupling circuit.
  4. 4.按权利要求I所述水下灯调光系统,其特征在于:主控制器(Ul)与水下的I/O采集及输出模块间的隔离电路采用隔离运算放大器(Al)。 4. I claim the underwater lamp dimming system, comprising: a main controller (Ul) and the isolation circuit between I / O acquisition module and the output of the operational amplifier underwater use of isolation (Al).
  5. 5.按权利要求I所述水下灯调光系统,其特征在于:调节电路为第一可控硅(Gl)和第二可控硅(G2)反并联结构,一端接由继电器(RELl)构成的隔离电路,另一端接水下灯。 5. I claim the underwater lamp dimming system, comprising: a first SCR control circuit (of Gl) and a second thyristor (G2) anti-parallel configuration, one end of a relay (RelL) isolation circuit configuration, the other end of the underwater light.
CN 200810010981 2008-04-11 2008-04-11 Dimming system of underwater lamp CN101557664B (en)

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CN105867264A (en) * 2016-06-21 2016-08-17 中国人民解放军军械工程学院 Underwater equipment optical fiber control switch

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