CN102288967A - Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area - Google Patents
Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area Download PDFInfo
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- CN102288967A CN102288967A CN2011102023447A CN201110202344A CN102288967A CN 102288967 A CN102288967 A CN 102288967A CN 2011102023447 A CN2011102023447 A CN 2011102023447A CN 201110202344 A CN201110202344 A CN 201110202344A CN 102288967 A CN102288967 A CN 102288967A
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Abstract
The invention relates to an underwater ultrasonic ranging sub system and an intelligentized monitoring system and a control method for the intelligentized monitoring system under a turbid water area. A sensor of the ultrasonic ranging sub system is arranged below a lifting traction device; the input end of the sensor is connected with a ranging processing sub system and a direct current power supply in an embedded control system; and after the output end of the sensor is communicated with the ranging processing sub system, one circuit is communicated with a digital storage device and a wireless signal transmission device and the other circuit is communicated with a traction control sub system and an underwater power control sub system which are arranged in the embedded control system, and then connected with the lifting traction device and a power propulsion unit of an electric ship. The underwater ultrasonic ranging sub system is arranged in the intelligentized monitoring system; and the intelligentized monitoring system also comprises an underwater video monitoring sub system, an underwater water quality detection sub system or a combination of the underwater video monitoring sub system and the underwater water quality detection sub system. The electric ship, the intelligent monitoring system and the like are controlled to operate by a ground control system and the embedded control system by using underwater feedback signals provided by the ultrasonic ranging sub system.
Description
Technical field
The invention belongs to electronic device field, relate to a kind of muddy waters underwater ultrasound range finding subsystem and intelligent monitoring system and control method.
Background technology
Aquaculture is when pursuing maximum quantum of output, make cultivation density constantly increase, caused the accumulation of material culture metabolin and remaining feed too much easily, weakened the detergent power of breeding water body self, thereby causing breeding water body water quality and substrate goes from bad to worse, ammonia nitrogen and nitrite are higher, dissolved oxygen DO descends, the normal biochemical reaction function of water body environment counter productive such as be obstructed, material culture body tissue anoxic appears, growth, metabolism and vital movement slow down, and the resistance against diseases of material culture descends, and disease takes place frequently and popular grade occurs with the conflicting situation of the maximum quantum of output of pursuit.
Influenced by rainy weather, harmful microorganism is bred in a large number, be superfluous residual raise with a large amount of organism such as fish, a large amount of excremental accumulations of shrimp, excessively fertilising, biological corpse be decomposed at short notice, deamination, consume a large amount of dissolved oxygen DOs, produce objectionable impuritiess such as a large amount of sulfuretted hydrogen, ammonia nitrogen,, cause the decline of material culture appetite, physique to die down the toxic action of material culture generation under water, premunition reduces, and causes a large amount of material culture death thereby break out disease.
For effectively solving the problem that occurs in the aquaculture process, to specifying the waters assigned address to carry out in real time video monitoring and water quality detection under water under water, in time grasp the distribution situation of the waters water body quality and the fishes and shrimps of dying of illness under water, carry out epidemic prevention and cleaning pointedly, make this waters water body quality reach pollution-free food fresh water, sea-farming water water quality standard that country formulates, lay a good foundation for the aquaculture good quality and high output, will seem very necessary.
Summary of the invention
The present invention is in patent of invention " the muddy waters Intellectualized monitoring monitoring system " applying date 2011 year 06 month 17 day of applicant in first to file, on the basis of application number 201110163020.7, by further improvement control setting and control system, thereby finish the present invention, claim 3 of the present invention, 5 and 11 proposes right of priority on the basis of above patented claim.
One of purpose of the present invention is to provide a kind of being implemented in to specify the waters assigned address to carry out the muddy waters underwater ultrasound range finding subsystem of real-time underwater monitoring.
Two of purpose of the present invention is to provide a kind of being implemented in to specify the waters assigned address to carry out the muddy waters intelligent monitoring system of real-time underwater monitoring.
Three of purpose of the present invention is to provide a kind of being implemented in to specify the waters assigned address to carry out the control method of the muddy waters underwater intelligent supervisory system of real-time underwater monitoring.
One of purpose of the present invention is achieved in that it comprises lifting draw-gear, embedded control system, digitizing memory storage, wireless signal transmission and the direct supply that is installed on the electric ship, and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, the ultrasonic ranging sensor is located at the below of lifting draw-gear, ultrasonic ranging sensor input end is connected with range finding processing subsystem and direct supply in the embedded control system by the power supply electric wire, after output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system is communicated with, one the tunnel with the digitizing memory storage, wireless signal transmission is communicated with, the traction control subsystem and the underwater engine control subsystem that are provided with in another road and the embedded control system are communicated with, the traction control subsystem is communicated with the lifting draw-gear, and the underwater engine control subsystem is communicated with the Powerpush Unit of electric ship.
Two of purpose of the present invention is achieved in that in muddy waters and is provided with underwater ultrasound range finding subsystem in the supervisory system under water; Muddy waters supervisory system under water comprises video monitoring subsystem, water quality detection subsystem or both combinations under water under water; Ultrasonic ranging sensor in the underwater ultrasound range finding subsystem or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water, or be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water, or distinguish setting simultaneously, or be arranged on the bottom of lifting draw-gear; Same set of lifting draw-gear, embedded control system, digitizing memory storage, wireless signal transmission and the direct supply that is installed on the electric ship adopted in underwater ultrasound range finding subsystem and muddy the waters subsystem in the supervisory system under water, and with the integrated and visualization system at the Ground Control interface of wireless signal transmission wireless communication.
The described subsystem of video monitoring under water comprises the integrated and visualization system at low-light camera device, lifting draw-gear, embedded control system, digitizing memory storage, wireless signal transmission, direct supply and Ground Control interface under water; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, the low-light camera device is located at the below of lifting draw-gear under water, low-light camera device input end is connected with video control subsystem and direct supply in the embedded control system by the power supply electric wire under water, output terminal, is communicated with digitizing memory storage, wireless signal transmission with after video control subsystem in the embedded control system is communicated with by video signal cable again.
The described subsystem of water quality detection under water comprises the integrated and visualization system at water quality detection sensor, lifting draw-gear, embedded control system, digitizing memory storage, wireless signal transmission, direct supply and Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, water quality detection sensor is located at the below of lifting draw-gear, the water quality detection sensor input end is connected with water quality detection control subsystem and direct supply in the embedded control system by the power supply electric wire, output terminal, is communicated with digitizing memory storage, wireless signal transmission with after water quality detection control subsystem in the embedded control system is communicated with by the water quality detection signal wire again.
Electric ship be provided with in three kinds of equipment of automatic detection device of the automated navigation system of automatic station-keeping system, hull of hull and hull equipment a kind of, two kinds or three kinds, and by serial ports respectively with embedded control system in Automatic Positioning Control subsystem, self-navigation control subsystem, Automatic Detection and Control subsystem in a kind of, two kinds or three kinds be connected.
Three of purpose of the present invention is achieved in that control method is as follows:
(1), the integrated and visualization system at Ground Control interface control electric ship sails a certain position of the water surface into;
(2), the integrated and visualization system at Ground Control interface is by the traction control subsystem work in the wireless signal transmission control embedded control system, the traction control subsystem is powered to the lifting draw-gear by the control direct supply, thereby control lifting draw-gear starts and lifting, and range finding processing subsystem while in the embedded control system or time-delay are passed through the control direct supply to ultrasonic ranging sensor power supply startup;
(3), the ultrasonic ranging sensor enters under water under the traction of lifting draw-gear, simultaneously, will find range feedback signal that normal place has clear to the detection range between the water-bed ground and the place ahead of ultrasonic ranging sensor feeds back to range finding processing subsystem in the embedded control system;
(4), the range finding processing subsystem in the embedded control system has the feedback signal of clear to be sent in the integrated and visualization system at Ground Control interface by digitizing memory storage, wireless signal transmission detection range and the place ahead on the one hand, on the other hand these feedback signals are compared processing, again the comparison process signal is sent to traction control subsystem, underwater engine control subsystem after the comparison process and monitors control subsystem under water;
(5), the lifting draw-gear is under the control of traction control subsystem, carry out the instruction of rising, stop or descend according to the comparison process signal, monitor control subsystem under water by controlling direct supply to watch-dog power supply under water, watch-dog is carried out monitoring work under water;
(6), Powerpush Unit is under water under the control of power control subsystem, the instruction of have or not obstacle information comparison process signal to carry out according to the place ahead to advance, acceleration, deceleration or lifting draw-gear rising;
(7), watch-dog reaches monitoring control subsystem under water in the embedded control system by signal monitoring cable with pilot signal under water, monitor control subsystem under water and be sent to pilot signal in the integrated and visualization system at Ground Control interface by digitizing memory storage, wireless signal transmission;
(8), the integrated and visualization system at Ground Control interface sends control signal, signal is handled and preserved to and received signal.
The range finding normal place is set to a certain position, lifting draw-gear lower end, a certain position, video monitoring subsystem bottom, a certain position, water quality detection subsystem bottom or ultrasonic ranging sensor instrument distance interface under water under water; When the range finding normal place is ultrasonic ranging sensor instrument distance interface, detection range is a ultrasonic ranging sensor instrument distance actual number, the range finding normal place is other a certain desired location, and detection range is the distance parameter sum that ultrasonic ranging sensor instrument distance actual number and a certain desired location arrive ultrasonic ranging sensor instrument distance interface; When a certain desired location is higher than ultrasonic ranging sensor instrument distance interface, is higher than part and is positive number; When a certain desired location is lower than ultrasonic ranging sensor instrument distance interface, is lower than part and is negative.
Range finding processing subsystem in the embedded control system feedback signal of adjusting the distance compares when handling, and a kind of is apart from comparing with the former built-in default monitoring of the range finding processing subsystem in distance feedback signal and the embedded control system; Another kind is the range finding processing subsystem in distance feedback signal and the embedded control system to be received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends compare.
A kind of is that the former built-in default monitoring distance of the range finding processing subsystem in distance feedback signal and the embedded control system is compared: if detection range is greater than default monitoring distance, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than default monitoring distance, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals default monitoring distance, the traction control subsystem will be carried out according to processing signals and stop instruction;
Another kind is the range finding processing subsystem in the embedded control system 22 to be received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends compare: if detection range is greater than monitoring distance in real time, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than monitoring distance in real time, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals to monitor in real time distance, the traction control subsystem will be carried out according to processing signals and stop instruction.
The method that the integrated and visualization system control electric ship at Ground Control interface sails a certain position of the water surface into is the manual positioning navigation, or adopt automatic station-keeping system and automated navigation system to control, integrated and the visualization system at Ground Control interface is by Automatic Positioning Control subsystem and self-navigation control subsystem in the control embedded control system, thereby the control electric ship sails a certain position of the water surface into.
Utilize the pre-designed electronic chart and the rectangular coordinate system that conform to actual waters, and the electronic chart that on the lcd screen of the integrated and visualization system at Ground Control interface, can show this waters, come to send instruction or data with click icon or map to hull, the final data of positioning system and the route on the map contrast, and the underwater engine control subsystem that is provided with in the embedded control system 22 is adjusted instant course automatically.
The under water feedback signal of the present invention by utilizing the ultrasonic ranging subsystem to provide, integrated and visualization system and work such as embedded control system control electric ship and intelligent monitoring system by the Ground Control interface have realized that the control of system is full intellectualized.Fields such as the present invention can be widely used in ocean development, cultures that monitoring, underwater operation, reservoir dam are monitored under water under water, scientific experiment under water, sightseeing under water, underwater salvage, submerged structure, seabed resources exploration and Military Application.
Description of drawings
The main TV structure synoptic diagram of Fig. 1, the embodiment of the invention 1.
The side-looking structural representation of Fig. 2, the embodiment of the invention 1.
The plan structure synoptic diagram of Fig. 3, the embodiment of the invention 1.
Among Fig. 1-3: electric ship 1, underwater propeller 2, tractor 3; connecting interface 4, member to undertake 5, microcomputer 6; low-light video camera 7, motorized zoom lens 8, protective cover 9; waterproof lampshade 10, the compensating illumination light source 11 under water, light color controller 12; form 13, sealing gasket 14, cover plate for sealing pad 15; seal cover board 16, combination cable 17, wireless image-sound transmitter antenna 18; ultrasonic ranging sensor 19, automated navigation system 20, automatic station-keeping system 21; embedded control system 22, control system receiving antenna 23, wireless image-sound transmitter 24; the automatic detection device 25 of equipment; direct current generator 26, motor fixed rack 27, twisted wire wheel 28; drag-line 29; direct supply 30, digitizing memory storage 31, device platform 32.
Embodiment
The present invention can specifically implement by the technology that illustrates in the summary of the invention, and by the following examples can the invention will be further described, yet scope of the present invention is not limited to following embodiment.
Embodiment 1: the muddy waters in the intelligent monitoring system of muddy waters supervisory system under water is video monitoring subsystem under water:
Muddy waters underwater ultrasound range finding subsystem, it comprises lifting draw-gear, embedded control system 22, digitizing memory storage 31, wireless signal transmission and the direct supply 30 that is installed on the electric ship 1, and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, embedded control system 22 is provided with each function control subsystem; Ultrasonic ranging sensor 19 is located at the below of lifting draw-gear, ultrasonic ranging sensor 19 input ends are connected with range finding processing subsystem and direct supply 30 in the embedded control system 22 by the power supply electric wire, after output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system 22 is communicated with, one the tunnel with digitizing memory storage 31, wireless signal transmission is communicated with, the traction control subsystem and the underwater engine control subsystem that are provided with in another road and the embedded control system 22 are communicated with, the traction control subsystem is communicated with the lifting draw-gear, and the underwater engine control subsystem is communicated with the Powerpush Unit of electric ship 1.Described ultrasonic ranging sensor 19 is to link to each other with Microprocessor Interface with receiving device with a pair of ultrasonic emitting, finds range in conjunction with the timer conter function of MCU.
Muddy waters intelligent monitoring system comprises electric ship 1, direct supply 30, the lifting draw-gear, ultrasonic ranging sensor 19, low-light camera device under water, wireless signal transmission, automatic station-keeping system, automated navigation system, underwater ultrasound range finding subsystem, the automatic detection device of equipment, combination cable 17, digitizing memory storage 31, integrated and the visualization system at embedded control system and Ground Control interface, embedded control system is divided into hardware unit and described each function control subsystem of embedded control system 22, the low-light camera device is connected with electric ship 1 by the lifting draw-gear under water, direct supply 30 is connected with each consumer by combination cable 17, each signal collecting device is by combination cable 17 and embedded control system 22, digitizing memory storage 31, wireless signal transmission connects, and the integrated and visualization system at Ground Control interface is by wireless signal and wireless signal transmission wireless communication.
Each consumer comprises electric ship 1, lifting draw-gear, embedded control system 22, digitizing memory storage 31, wireless signal transmission, automatic station-keeping system, automated navigation system, the automatic detection device of equipment, ultrasonic ranging sensor 19 and low-light camera device under water.
Each signal collecting device comprises ultrasonic ranging sensor 19 and low-light camera device under water.
The lifting draw-gear, embedded control system 22, digitizing memory storage 31, wireless signal transmission, automatic station-keeping system, automated navigation system, the automatic detection device of equipment is installed in the device platform 32 on the electric ship 1; The low-light camera device is located at the below of lifting draw-gear under water, and ultrasonic ranging sensor 19 is located at underwater camera unit protection cover outside, and embedded control system 22 is connected with wireless signal transmission by digitizing memory storage 31.
The automatic detection device of automatic station-keeping system, automated navigation system and equipment is connected with embedded control system 22 by serial ports.
Described lifting draw-gear comprises direct current generator 26, twisted wire wheel 28, tractor 3, drag-line 29 and connecting interface 4; Twisted wire wheel 28 is connected with the arbor of direct current generator 26, and drag-line 29 1 ends are taken turns 28 with twisted wire and are connected; Tractor 3 is made up of the more piece drag spring thimble, and adjacent drawing between the sleeve pipe is in axial sliding connection, and radial location connects, and an end of tractor 3 is fixed on the below of twisted wire wheel 28; Drag-line 29 is built in the die of more piece drag spring thimble or outside the pipe shaft, the other end of the other end of tractor 3 and drag-line 29 is connected with the upper end of connecting interface 4 respectively, connecting interface 4 following to being connected with member to undertake 5.
The described device of low-light camera under water comprises microcomputer 6, low-light video camera 7, and motorized zoom lens 8, waterproof lampshade 10, the compensating illumination light source 11 under water, light color controller 12, combination cable 17 and protective cover; Protective cover comprises seal cover board 16, cover plate for sealing pad 15, protective cover 9, form 13 and sealing gasket 14; Seal cover board 16, cover plate for sealing pad 15 are connected with the top of protective cover 9, and form 13, sealing gasket 14 are connected with the bottom of protective cover 9; Seal cover board 16 upper ends are connected with member to undertake 5;
Compensating illumination light source 11, light color controller 12 are built in the waterproof lampshade 10 under water, and waterproof lampshade 10 is connected with the bottom peripheral flange platform of protective cover;
The locating platform that is provided with in the described protective cover 9, low-light video camera 7 is installed in protective cover 9 inner tops by locating platform, and low-light video camera 7 upper ends are connected with microcomputer 6, and the lower end is connected with motorized zoom lens 8; Motorized zoom lens 8 front end eyeglass outside surface summits are the sighting distance that Underwater Camera increases to the distance between the form outside surface; Since the increase of shooting sighting distance, monitoring visual angle and the also corresponding increase of angular field of view, and the effective monitoring area also increases thereupon; Protective cover 9 outer setting have ultrasonic ranging sensor 19, are connected with embedded control system 22 by combination cable 17.
Described motorized zoom lens, employing can focus on the 1/3 inch CCD target surface, can realize field angle scope 30o-115o, by long-range wireless remote control, signal motorized zoom lens 8 by embedded control system and microcomputer 6 controls, motorized zoom lens 8 can be realized the lens focus stepless transformation, in zooming range, MTF is at 70lp/mm, and scenery can amplify or dwindle as required under water, and monitoring range is also adjustable.
Described chroma compensation illumination light source under water 11 is also different according to different its light angles of divergence of water quality, with water turbidity degree difference, the color compensating of light beam irradiates direction and light must be adjusted accordingly, and is provided with the light color controller 12 of the color of light beam irradiates direction regulator and light in the waterproof lampshade 10 according to the shooting needs.
According to the monitoring range needs, form 13 sightingpistons in the protective cover 9 before low-light video camera 7 camera lenses are changeable, and low-light video camera 7 camera lenses are changeable to the distance of form 13 sightingpistons.Protective cover 9 deadweights are greater than the buoyancy of water to it, are convenient to protective cover 9 and move down the location.
Compensating illumination light source 11 is provided with multiple colour light source under water, utilize light color controller 12 to change light source colour according to water quality difference, utilize the light source of multiple color to carry out the underwater camera illumination compensation, utilize the light illumination direction controller to adjust the lighting position and the direction of illumination of lamp, make illumination as far as possible in monitoring range.
The locating platform that is provided with in the protective cover 9, effectively resistance low-light video camera 7 is slided.
Low-light video camera 7 adopts low-light booster and CCD photoelectronic imaging device, makes its sensed image under half-light, utilizes the auto iris video driver to change integral time and the change aperture area of CCD, makes its illumination range corresponding with the dynamic range of low-light camera.
Described wireless signal transmission comprises wireless image-sound transmitter 24 and wireless signal transmission antenna 18, the wireless signal remote control receiving trap comprises embedded control system 22 and control signal receiving antenna 23, wireless image-sound transmitter 24 and embedded control system 22 are contained in respectively in the fixed bin of sealing, wireless image-sound transmitter antenna 18 and control signal receiving antenna 23 are derived by two seal bores respectively, wireless image-sound transmitter antenna 18 extends to electric ship 1 afterbody, and control signal receiving antenna 23 directly is connected with embedded control system 22.
Described embedded control system 22 internally is connected with the automatic detection device 25 of automated navigation system 20, automatic station-keeping system 21 and equipment respectively by the UART interface; , link to each other with direct supply 30 respectively with underwater propeller 2, ultrasonic ranging sensor 19, the low-light camera device links to each other under water by combination cable 17 by combination cable 17; Externally receive the instruction of the integrated and visualization system at Ground Control interface by control signal receiving antenna 23.
Described embedded control system 22 is to be the embedded system of core with the 32-bit microprocessor.Its processing speed is fast, amount of ram is big, the interior system resource of sheet is abundant, can carry embedded real-time operating system; Just can realize functions such as above-mentioned electronic chart, mouse control, the liquid crystal display of high definition picture and text thus.
The automatic detection device 25 of described equipment comprises automatic detection microcomputer and serial ports; Automatically detect microcomputer and be fixed in the electric ship 1, the serial ports of the automatic detection device 25 of described equipment is respectively with underwater propeller 2, Automatic Detection and Control subsystem, wireless image-sound transmitter 24, digitizing memory storage 31, direct current generator 26, direct supply 30 link to each other in low-light camera device, ultrasonic ranging sensor 19, automated navigation system 20, automatic station-keeping system 21, embedded control system 22 and the embedded control system 22 under water.
The automatic detection device 25 of described equipment is initial in start, and its inner computer carries out self check to the every functional parameter of total system equipment, transfers out the result.In operational process, also can comprise monitoring, and when being lower than normal index, report to the police, make a return voyage automatically the fault self-checking analysis to power supply.
The automatic station-keeping system 21 of described hull comprises boat-carrying machine, ground fixing machine and serial ports; The boat-carrying machine is fixed in the electric ship 1, is connected with Automatic Positioning Control subsystem in the embedded control system 22 by serial ports.The automatic station-keeping system 21 of described hull is to adopt the GPS technology.In view of we can only obtain the general civil signal of gps satellite at present, the unit measuring accuracy is low, therefore will carry out multimachine relative measurement technology.Specific embodiments is, GPS receiver of boat-carrying, and ground is provided with a GPS receiver to the Duo Tai fixed position (quantity is many certainly, relative positional accuracy height, two of operated by rotary motion are formed a baseline) on the bank.During work, boat-carrying machine and ground fixing machine synchronous operation (because gps system has clock signal, this point can be realized fully); The data of all each machines are all wanted recorded and stored, and subsequent treatment obtains the coordinate position of hull relative fixed point at a moment.
The automated navigation system 20 of described hull comprises autopilot and serial ports; Autopilot is fixed in the electric ship 1, is connected with self-navigation control subsystem in the embedded control system 22 by serial ports.The automated navigation system 20 of described hull, on the basis of locating automatically, make the route navigation of hull by appointment, at first to design the electronic chart and the rectangular coordinate system that conform to actual waters, in use, the final data of positioning system and the route on the map contrast, and the power propulsion control system of hull is adjusted instant course automatically.The user just need not estimate and the remote control ship motion in real time like this, but can send to hull to pre-set route data (coordinate of every straight-line segment two-end-point), allows it automatically perform.
During use, wireless image-sound transmitter and receiver to wireless image-sound transmitter 24 carry out the frequency modulation butt joint, make video image the truest, the most clear, then, with electric ship 1 and tractor 3, protective cover 9 and under water compensating illumination light source 11 place water, utilize member to undertake 5, connecting interface 4 and tractor 3, protective cover 9 is linked to each other with electric ship 1, combination cable 17 links to each other with socket in the electric ship 1; Turn on the power switch, the computer in the automatic detection device 25 carries out self check to the every functional parameter of total system equipment, transfers out the result.
The control method of muddy waters underwater intelligent supervisory system is as follows:
(1), the integrated and visualization system at Ground Control interface control electric ship 1 sails a certain position of the water surface into; Integrated and the visualization system at Ground Control interface utilizes the pre-designed electronic chart and the rectangular coordinate system that conform to actual waters, and the electronic chart that can show this waters on the lcd screen of the integrated and visualization system at Ground Control interface to send instruction or data to hull with click icon or map.The final data of positioning system and the route on the map contrast, and the power propulsion control system of hull is adjusted instant course automatically; Under automated navigation system 20 and automatic station-keeping system 21 effects, electric ship 1 is by the circuit operation of input;
(2), the traction control subsystem work in the integrated and visualization system at the Ground Control interface control embedded control system 22, the traction control subsystem is powered to the lifting draw-gear by control direct supply 30, thereby control lifting draw-gear starts and lifting, and range finding processing subsystem while in the embedded control system 22 or time-delay are passed through control direct supply 30 to the 19 power supply startups of ultrasonic ranging sensor;
(3), ultrasonic ranging sensor 19 enters under water under the traction of lifting draw-gear, simultaneously, will find range feedback signal that normal place has clear to the detection range between the water-bed ground and the place ahead of ultrasonic ranging sensor 19 feeds back to range finding processing subsystem in the embedded control system 22; The range finding normal place is set to ultrasonic ranging sensor 19 range finding interfaces; Detection range is ultrasonic ranging sensor 19 range finding actual numbers;
(4), the range finding processing subsystem in the embedded control system 22 has the feedback signal of clear to be sent in the integrated and visualization system at Ground Control interface by digitizing memory storage 31, wireless signal transmission detection range and the place ahead on the one hand, there is the feedback signal of clear to compare processing to detection range and the place ahead on the other hand, again the comparison process signal is sent to traction control subsystem, underwater engine control subsystem and video monitoring control subsystem under water after the comparison process;
(5), the lifting draw-gear is under the control of traction control subsystem, carry out the instruction of rising, stop or descend according to the comparison process signal, to low-light camera device power supply under water, the low-light camera device is carried out video monitoring work to the video monitoring control subsystem under water by control direct supply 30 under water;
Range finding processing subsystem in the embedded control system 22 feedback signal of adjusting the distance compares when handling, and a kind of is apart from comparing with the former built-in default monitoring of the range finding processing subsystem in distance feedback signal and the embedded control system 22; Another kind is the range finding processing subsystem in distance feedback signal and the embedded control system 22 to be received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends compare.
To compare apart from the former built-in default monitoring distance of the range finding processing subsystem in feedback signal and the embedded control system 22: if detection range is greater than default monitoring distance, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than default monitoring distance, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals default monitoring distance, the traction control subsystem will be carried out according to processing signals and stop instruction;
Range finding processing subsystem in the embedded control system 22 is received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends to be compared: if detection range is greater than monitoring distance in real time, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than monitoring distance in real time, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals to monitor in real time distance, the traction control subsystem will be carried out according to processing signals and stop instruction.
The low-light camera device is carried out video monitoring work under water: the low-light camera device is according to the instruction of the control subsystem of video monitoring under water in the embedded control system 22 under water, make low-light camera device execution work under water, the light modulation focusing of control optical system, the width adjusting of the on/off of shooting booster and selection shutter, the switch of lighting source, brightness regulation, the inquiry of light state etc., compensating illumination light source 11 can utilize light color controller 12 to change light source colour according to water quality difference under water, utilize the light source of multiple color to carry out the underwater camera illumination compensation, utilize the light illumination direction controller to adjust the lighting position and the direction of illumination of lamp, make illumination as far as possible in monitoring range;
(6), Powerpush Unit is under water under the control of power control subsystem, the instruction of have or not obstacle information comparison process signal to carry out according to the place ahead to advance, acceleration, deceleration or lifting draw-gear rising;
(7), the low-light camera device reaches the control subsystem of video monitoring under water in the embedded control system 22 by video signal cable with vision signal under water, the video monitoring control subsystem is sent to vision signal in the integrated and visualization system at Ground Control interface by digitizing memory storage 31, wireless signal transmission under water.
(8), the integrated and visualization system at Ground Control interface sends control signal, signal is handled and preserved to and received signal.
The rising of rear haulage device is finished in work, recovers initial state, and electric ship 1 is got back to initial point.
In other embodiments, muddy waters supervisory system under water is water quality detection subsystem under water, or the combination of video monitoring subsystem and following water quality detection subsystem under water;
1 of electric ship is provided with a kind of in 25 3 kinds of equipment of automatic detection device of the automated navigation system 20 of automatic station-keeping system 21, hull of hull and hull equipment or two kinds, and is connected with Automatic Positioning Control subsystem, self-navigation control subsystem, Automatic Detection and Control subsystem in the embedded control system 22 respectively by serial ports.Integrated and the visualization system at Ground Control interface also may command electric ship 1 manual positioning navigation sails a certain position of the water surface into.
Ultrasonic ranging sensor 19 in the underwater ultrasound range finding subsystem can be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water, or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water and a side bottom of the water quality detection sensor in the water quality detection subsystem under water respectively simultaneously, or be arranged on the bottom of lifting draw-gear.
The range finding normal place is set to a certain position, lifting draw-gear lower end, a certain position, video monitoring subsystem bottom, a certain position, water quality detection subsystem bottom under water under water, detection range is the distance parameter sum that ultrasonic ranging sensor 19 range finding actual numbers and a certain desired location arrive ultrasonic ranging sensor 19 range finding interfaces, when a certain desired location is higher than ultrasonic ranging sensor 19 range finding interfaces, is higher than part and is positive number; When a certain desired location is lower than ultrasonic ranging sensor 19 range finding interfaces, is lower than part and is negative.
Claims (11)
1. muddy waters underwater ultrasound range finding subsystem, it comprises lifting draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission and the direct supply (30) that is installed on the electric ship (1), and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, it is characterized in that: ultrasonic ranging sensor (19) is located at the below of lifting draw-gear, ultrasonic ranging sensor (19) input end is connected with range finding processing subsystem and direct supply (30) in the embedded control system (22) by the power supply electric wire, after output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system (22) is communicated with, one the tunnel with digitizing memory storage (31), wireless signal transmission is communicated with, the traction control subsystem and the underwater engine control subsystem that are provided with in another road and the embedded control system (22) are communicated with, the traction control subsystem is communicated with the lifting draw-gear, and the underwater engine control subsystem is communicated with the Powerpush Unit of electric ship (1).
2. a muddy waters intelligent monitoring system is characterized in that: be provided with underwater ultrasound range finding subsystem in the supervisory system under water in muddy waters; Muddy waters supervisory system under water comprises video monitoring subsystem, water quality detection subsystem or both combinations under water under water; Ultrasonic ranging sensor (19) in the underwater ultrasound range finding subsystem or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water, or be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water, or distinguish setting simultaneously, or be arranged on the bottom of lifting draw-gear; Same set of lifting draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission and the direct supply (30) that is installed on the electric ship (1) adopted in underwater ultrasound range finding subsystem and muddy the waters subsystem in the supervisory system under water, and with the integrated and visualization system at the Ground Control interface of wireless signal transmission wireless communication.
3. a kind of muddy waters according to claim 2 underwater intelligent supervisory system is characterized in that: the described subsystem of video monitoring under water comprises the integrated and visualization system at low-light camera device, lifting draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission, direct supply (30) and Ground Control interface under water; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, the low-light camera device is located at the below of lifting draw-gear under water, low-light camera device input end is connected with video control subsystem and direct supply (30) in the embedded control system (22) by the power supply electric wire under water, output terminal, is communicated with digitizing memory storage (31), wireless signal transmission with after video control subsystem in the embedded control system (22) is communicated with by video signal cable again.
4. a kind of muddy waters according to claim 2 underwater intelligent supervisory system, it is characterized in that: the described subsystem of water quality detection under water comprises the integrated and visualization system at water quality detection sensor, lifting draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission, direct supply (30) and Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, water quality detection sensor is located at the below of lifting draw-gear, the water quality detection sensor input end is connected with water quality detection control subsystem and direct supply (30) in the embedded control system (22) by the power supply electric wire, output terminal, is communicated with digitizing memory storage (31), wireless signal transmission with after water quality detection control subsystem in the embedded control system (22) is communicated with by the water quality detection signal wire again.
5. a kind of muddy waters according to claim 2 underwater intelligent supervisory system, it is characterized in that: electric ship (1) be provided with in (25) three kinds of equipment of automatic detection device of the automated navigation system (20) of automatic station-keeping system (21), hull of hull and hull equipment a kind of, two kinds or three kinds, and by serial ports respectively with embedded control system (22) in Automatic Positioning Control subsystem, self-navigation control subsystem, Automatic Detection and Control subsystem in a kind of, two kinds or three kinds be connected.
6. the control method of a muddy waters underwater intelligent supervisory system is characterized in that control method is as follows:
(1), the integrated and visualization system at Ground Control interface control electric ship (1) sails a certain position of the water surface into;
(2), the integrated and visualization system at Ground Control interface is controlled traction control subsystem work in the embedded control system (22) by wireless signal transmission, the traction control subsystem is powered to the lifting draw-gear by control direct supply (30), thereby control lifting draw-gear starts and lifting, and range finding processing subsystem while in the embedded control system (22) or time-delay are passed through control direct supply (30) to ultrasonic ranging sensor (19) power supply startup;
(3), ultrasonic ranging sensor (19) enters under water under the traction of lifting draw-gear, simultaneously, will find range feedback signal that normal place has clear to the detection range between the water-bed ground and the place ahead of ultrasonic ranging sensor (19) feeds back to range finding processing subsystem in the embedded control system (22);
(4), the range finding processing subsystem in the embedded control system (22) has the feedback signal of clear to be sent in the integrated and visualization system at Ground Control interface by digitizing memory storage (31), wireless signal transmission detection range and the place ahead on the one hand, on the other hand these feedback signals are compared processing, again the comparison process signal is sent to traction control subsystem, underwater engine control subsystem after the comparison process and monitors control subsystem under water;
(5), the lifting draw-gear is under the control of traction control subsystem, carry out the instruction of rising, stop or descend according to the comparison process signal, monitor control subsystem under water by controlling direct supply (30) to watch-dog power supply under water, watch-dog is carried out monitoring work under water;
(6), Powerpush Unit is under water under the control of power control subsystem, the instruction of have or not obstacle information comparison process signal to carry out according to the place ahead to advance, acceleration, deceleration or lifting draw-gear rising;
(7), watch-dog reaches monitoring control subsystem under water in the embedded control system (22) by signal monitoring cable with pilot signal under water, monitor control subsystem under water and be sent to pilot signal in the integrated and visualization system at Ground Control interface by digitizing memory storage (31), wireless signal transmission;
(8), the integrated and visualization system at Ground Control interface sends control signal, signal is handled and preserved to and received signal.
7. the control method of a kind of muddy waters according to claim 6 underwater intelligent supervisory system is characterized in that: the range finding normal place is set to a certain position, lifting draw-gear lower end, a certain position, video monitoring subsystem bottom, the interface of a certain position, water quality detection subsystem bottom or ultrasonic ranging sensor (19) range finding under water under water; When the range finding normal place is ultrasonic ranging sensor (19) range finding interface, detection range is ultrasonic ranging sensor (a 19) range finding actual number, the range finding normal place is other a certain desired location, and detection range is the distance parameter sum that ultrasonic ranging sensor (19) range finding actual number and a certain desired location arrive ultrasonic ranging sensor (19) range finding interface; When a certain desired location is higher than ultrasonic ranging sensor (19) range finding interface, is higher than part and is positive number; When a certain desired location is lower than ultrasonic ranging sensor (19) range finding interface, is lower than part and is negative.
8. the control method of a kind of muddy waters according to claim 6 underwater intelligent supervisory system, it is characterized in that: the feedback signal of adjusting the distance of the range finding processing subsystem in the embedded control system (22) compares when handling, and a kind of is apart from comparing with the former built-in default monitoring of the range finding processing subsystem in distance feedback signal and the embedded control system (22); Another kind is the range finding processing subsystem in distance feedback signal and the embedded control system (22) to be received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends compare.
9. the control method of a kind of muddy waters according to claim 8 underwater intelligent supervisory system, it is characterized in that: a kind of is that the former built-in default monitoring distance of the range finding processing subsystem in distance feedback signal and the embedded control system (22) is compared: if detection range is greater than default monitoring distance, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than default monitoring distance, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals default monitoring distance, the traction control subsystem will be carried out according to processing signals and stop instruction;
Another kind is the range finding processing subsystem in the embedded control system (22) to be received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends compare: if detection range is greater than monitoring distance in real time, the traction control subsystem will be carried out the instruction that descends according to processing signals, if detection range is less than monitoring distance in real time, the traction control subsystem will be carried out climb command according to processing signals, if detection range equals to monitor in real time distance, the traction control subsystem will be carried out according to processing signals and stop instruction.
10. the control method of a kind of muddy waters according to claim 6 underwater intelligent supervisory system, it is characterized in that: the method that the integrated and visualization system control electric ship (1) at Ground Control interface sails a certain position of the water surface into is the manual positioning navigation, or adopt automatic station-keeping system (21) and automated navigation system (20) to control, integrated and the visualization system at Ground Control interface is by Automatic Positioning Control subsystem and self-navigation control subsystem in the control embedded control system 22, thereby control electric ship (1) sails a certain position of the water surface into.
11. the control method of a kind of muddy waters according to claim 6 underwater intelligent supervisory system, it is characterized in that: utilize the pre-designed electronic chart and the rectangular coordinate system that conform to actual waters, and the electronic chart that on the lcd screen of the integrated and visualization system at Ground Control interface, can show this waters, come to send instruction or data with click icon or map to hull, the final data of positioning system and the route on the map contrast, and the underwater engine control subsystem that is provided with in the embedded control system (22) is adjusted instant course automatically.
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